For the type of robot shown in figure Q1 (last page): (a) (b) (c) Produce a diagram clearly showing the kinematic chain and assign co-ordinate frames using the Denavit-Hartenberg algorithm. From your results in (a) above evaluate the kinematic parameters for each axis and tabulate them. If the matrix describing the position of the end-effector relative to the wrist of the robot is given in the usual notation as: 3T= [c84c05c06-504506-c04c05506-504C06 C04505 с04505d6] s04c05c06+c84506-50₂05506+ CO₂c06 504505 504505d₁ 585586 εθς c05d6 1 0 -s05c06 0 -0.2165 0.875 0.433 0.625 -0.2165 0.75 0.75 0 Evaluate: i) ii) X y 0.433 -0.5 -100 0 0 1 the yaw pitch and roll angles 04, 05 and 06, the distance de and hence find the distances x and y of the end-effector relative to the wrist frame.

For the type of robot shown in figure Q1 (last page): (a) (b) (c) Produce a diagram clearly showing the kinematic chain and assign co-ordinate frames using the Denavit-Hartenberg algorithm. From your results in (a) above evaluate the kinematic parameters for each axis and tabulate them. If the matrix describing the position of the end-effector relative to the wrist of the robot is given in the usual notation as: 3T= [c84c05c06-504506-c04c05506-504C06 C04505 с04505d6] s04c05c06+c84506-50₂05506+ CO₂c06 504505 504505d₁ 585586 εθς c05d6 1 0 -s05c06 0 -0.2165 0.875 0.433 0.625 -0.2165 0.75 0.75 0 Evaluate: i) ii) X y 0.433 -0.5 -100 0 0 1 the yaw pitch and roll angles 04, 05 and 06, the distance de and hence find the distances x and y of the end-effector relative to the wrist frame.

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

(Robotics D-H representation question) Full working needed for the question in the image, thank you!

Q1.
For the type of robot shown in figure Q1 (last page):
(a)
(b)
(c)
Produce a diagram clearly showing the kinematic chain and
assign co-ordinate frames using the Denavit-Hartenberg
algorithm.
From your results in (a) above evaluate the kinematic
parameters for each axis and tabulate them.
If the matrix describing the position of the end-effector relative
to the wrist of the robot is given in the usual notation as:
3T=
[c04c05c06-504506-c04c05506-504C06 C04505 C04505d6
s04c05c06+c04506-504c05506 + c04c06 S0450₁ S04505d
S85506
c85
c05d6
1
0
0
[-0.2165 0.875 0.433
0.625 -0.2165
0.75
0.433
0.75
0
0
Evaluate:
i)
ii)
-s05c06
0
d₁
-0.5
0
the yaw pitch and roll angles 04, 05 and 06,
the distance de and hence find the distances x
and y of the end-effector relative to the wrist
frame.
253mm
X
y
-100
1
253mm
0.
CP
Figure Q1: The RTX robot.

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