Determine the D-H parameters (D-H table) of the tool point Pe with respect to the basefor the following 6 DOF manipulator.Z2ZI0₁ZOFrame {2} &X3X2O₂ and O₂ are sameFrame {1}d2Frame {3}OoZ3X1Frame {0}хоZAX5Frame {4} &Figure 1 6-DOF (Industrial manipulator arm)Frame {5}X404 and 0, aresameZ5Z6Frame {6}X6End Effector P06حمد Provide the answers in Table FormatLink ii0112233445566TransformationsºT₁¹T₂2133T44T55T6JointLinkRevolute Joint Link Length Link TwistᎾaPrismatic Jointdα

To find: The 6-DOF (Industrial Manipulator arm) parameters.

Determine the D-H parameters (D-H table) of the tool point Pe with respect to the base for the following 6 DOF manipulator. Z2 ZI 0₁ Frame {2} & ZO X3 Frame {3} X2 O₂ and O₂ are same Frame {1} d2 Z3 XI Frame {0} ZA Xo X5 X4 8% Figure 1 6-DOF (Industrial manipulator arm) Frame {4} & Frame {5} O and O, are same Z5 26 Frame {6} X6 End Effector P 06

Determine the D-H parameters (D-H table) of the tool point Pe with respect to the base for the following 6 DOF manipulator. Z2 ZI 0₁ Frame {2} & ZO X3 Frame {3} X2 O₂ and O₂ are same Frame {1} d2 Z3 XI Frame {0} ZA Xo X5 X4 8% Figure 1 6-DOF (Industrial manipulator arm) Frame {4} & Frame {5} O and O, are same Z5 26 Frame {6} X6 End Effector P 06

Precision Machining Technology (MindTap Course List)

2nd Edition

ISBN:9781285444543

Author:Peter J. Hoffman, Eric S. Hopewell, Brian Janes

Publisher:Peter J. Hoffman, Eric S. Hopewell, Brian Janes

Chapter8: Computer Numerical Control

Section8.1: Cnc Basics

Problem 8RQ: Supposing a programmer, using absolute mode, mistakenly entered Z-3.689, when he or she intended to...

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