Evaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to determine 1. Linear velocity and 2. Angular velocity NOTE: for JOINT 3 ( 03 ) only Connected to robot arm Pitch Roll Yaw Figure 2: Wrist assembly The known position and orientation of the end of the arm point is. [-G,S2C3 + S1S3 C,S2S3 + S1C3 |-S,S2C3 – C1S3 C2C3 C,C2 0] S,C2 S2 1 S,S2S3 + C,C3 -C2S3 °T3=°T¡'T2²T3=

Evaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to determine 1. Linear velocity and 2. Angular velocity NOTE: for JOINT 3 ( 03 ) only Connected to robot arm Pitch Roll Yaw Figure 2: Wrist assembly The known position and orientation of the end of the arm point is. [-G,S2C3 + S1S3 C,S2S3 + S1C3 |-S,S2C3 – C1S3 C2C3 C,C2 0] S,C2 S2 1 S,S2S3 + C,C3 -C2S3 °T3=°T¡'T2²T3=

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

Section: Chapter Questions

Problem 1.1MA

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Question

Evaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to
determine
1. Linear velocity and
2. Angular velocity
NOTE: for JOINT 3 ( 03 ) only
Connected
to robot
arm
Pitch
Roll
Yaw
Figure 2: Wrist assembly
The known position and orientation of the end of the arm point is.
C, C2
[-C,S2C3 + S¼S3
-S;S2C3 – C1S3
C2C3
C¡S2S3 + S1C3
S4S2S3 + C,C3
-C2S3
01
S,C2
S2
1
°T3=°T¡'T2²T3

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