(40%) Consider the following PR manipulator. The masses and moments of inertia Nout the center of mass of the links are m.. Lo. m, and La The friction coefficient at the prismatic joint is c1, while the revolute joint frietion is ignorable. The force/torque produced by the actuators at the joints are u, and ua- Find the kinetic energy, potential energy, the Lagrangian, and derive the dynamic equation of motion for this robot. y d Pc2 da 92 Pci
(40%) Consider the following PR manipulator. The masses and moments of inertia Nout the center of mass of the links are m.. Lo. m, and La The friction coefficient at the prismatic joint is c1, while the revolute joint frietion is ignorable. The force/torque produced by the actuators at the joints are u, and ua- Find the kinetic energy, potential energy, the Lagrangian, and derive the dynamic equation of motion for this robot. y d Pc2 da 92 Pci
Related questions
Question
(advanced physics)
Obtain the dynamic equations of the PR(Prismatic+rotarary) manipulator in the figure using the Lagrangian method.
Transcribed Image Text:(40%) Consider the following PR manipulator. The masses and moments of inertia
bout the center of mass of the links are m., Let, ma, and Lez. The friction coefficient at
the prismatic joint is ci, while the revolute joint friction is ignorable. The
force/torque produced by the actuators at the joints are us and ua.
Find the kinetic energy, potential energy, the Lagrangian, and derive the dynamic
equation of motion for this robot.
Pc2
da
92
Pci
Expert Solution
This question has been solved!
Explore an expertly crafted, step-by-step solution for a thorough understanding of key concepts.
This is a popular solution!
Trending now
This is a popular solution!
Step by step
Solved in 5 steps with 5 images
