HW3 (2)

pdf

School

Drexel University *

*We aren’t endorsed by this school

Course

455

Subject

Computer Science

Date

Dec 6, 2023

Type

pdf

Pages

Uploaded by Ostree

MEM455 HW03 Part 1 - Matlab Reverse Displacement Analysis for the 3RRR Parallel Robot This assignment is for the 3RRR parallel robot discussed in class. The following Matlab conventions are consistent with the notes where for double subscripts the second index counts the robot leg (i.e. virtual serial robot). 1. Examine and run the program demo_robot_parallel.m . This draws a sample parallel robot showing the three virtual serial robots using data_3RRR_default.m . 2. Use the RobotSketch package to draw the configuration shown in the figure as a test. a) Make copies of the files and label them demo_robot_parallel_HW03.m and data_3RRR_HW03.m b) For data_3RRR_HW03.m use the figure to change dh.a, dh.elbowplus , dh.p1 and dh.t (note δ ei is part of dh.t ). c) To run, in demo_robot_parallel_HW03.m set dh_robot_data = ’data _3RRR_ HW03’ .

3. Update data_3RRR_HW03.m so instead of picking the joint angles off the figure they are calculated from end-effector location dh.Xe . (You can overwrite the previous figure values.) a) data_3RRR_HW03.m should call the function dh = RRR3_reverse(dh) that calculates the joint angles dh.t from end-effector location dh.Xe . b) RRR3_reverse should call the function dh.t(i,:) = RRR_RDA(dh_serial) that was written for the serial robot in HW02 and, i. i=1:3 counts the virtual serial robots. ii. The input dh_serial has the same structure as dh but is for virtual serial robot i only, similar to HW02. iii. The output dh.t(i,:) requires changing the HW02 function line, from: function dh = RRR_RDA(dh) %HW02 version to: function dht = RRR_RDA(dh) %HW03 version - note dht and not dh.t where dht is a copy of the dh.t calculated in the HW02 version. This is needed because dh.t cannot be used as an output variable in Matlab. 4. Hand-in the following: a) Program listings.( data_3RRR_HW03.m, RRR_RDA.m, RRR3_reverse.m ) (To maximize your points, make sure that the programs are well commented.) b) The inputs dh.a, dh.Xe, dh.elbowplus, and dh.p1 c) The calculated dh.t (including the δ ei ). d) Printout of the robot configuration.

Part2 1. For parallel robots, why are the grounded joints usually actuated ones? 2. The figure below shows a 3PRR parallel robot where the P joints are actuated. a. Based on your understanding of the 3RRR robots, convincingly reason that the 3PRR robot should have the same number of solutions to the forward displacement problem. (You may use a figure.) b. What are the total number of solutions to the reverse displacement problem? c. Sketch one alternative solution to the reverse displacement problem.

Your preview ends here

Eager to read complete document? Join bartleby learn and gain access to the full version

Access to all documents
Unlimited textbook solutions
24/7 expert homework help

Related Documents

Tech 4010 - Assignment 3-2.pdf

206 Lab G - Struct and Dynamic memory.pdf

Homework2_Solution.pdf

LAB 4_instruction.pdf

HW1.pdf

COS-1010_WA9.docx

CS3305-A09-Graphs.pdf

HW7csc 137-25AryaAswini.docx

Recommended textbooks for you

C++ for Engineers and Scientists

Computer Science

ISBN:9781133187844

Author:Bronson, Gary J.

Publisher:Course Technology Ptr

C++ Programming: From Problem Analysis to Program...

Computer Science

ISBN:9781337102087

Author:D. S. Malik

Publisher:Cengage Learning

Programming Logic & Design Comprehensive

Computer Science

ISBN:9781337669405

Author:FARRELL

Publisher:Cengage

EBK JAVA PROGRAMMING

Computer Science

ISBN:9781337671385

Author:FARRELL

Publisher:CENGAGE LEARNING - CONSIGNMENT

Systems Architecture

Computer Science

ISBN:9781305080195

Author:Stephen D. Burd

Publisher:Cengage Learning

New Perspectives on HTML5, CSS3, and JavaScript

Computer Science

ISBN:9781305503922

Author:Patrick M. Carey

Publisher:Cengage Learning

SEE MORE TEXTBOOKS

Recommended textbooks for you

C++ for Engineers and Scientists
Computer Science
ISBN:9781133187844
Author:Bronson, Gary J.
Publisher:Course Technology Ptr
C++ Programming: From Problem Analysis to Program...
Computer Science
ISBN:9781337102087
Author:D. S. Malik
Publisher:Cengage Learning
Programming Logic & Design Comprehensive
Computer Science
ISBN:9781337669405
Author:FARRELL
Publisher:Cengage
EBK JAVA PROGRAMMING
Computer Science
ISBN:9781337671385
Author:FARRELL
Publisher:CENGAGE LEARNING - CONSIGNMENT
Systems Architecture
Computer Science
ISBN:9781305080195
Author:Stephen D. Burd
Publisher:Cengage Learning
New Perspectives on HTML5, CSS3, and JavaScript
Computer Science
ISBN:9781305503922
Author:Patrick M. Carey
Publisher:Cengage Learning