L2 02 L1 FIGURE 3.29: The 3R nonplanar arm (Exercise 3.3).
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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Note/I want solve question
The arm with three degrees of freedom shown in Fig. 3.29 is like the one in
Example 3.3, except that joint l's axis is not parallel to the other two. Instead,
there is a twist of 90 degrees in magnitude between axes 1 and 2. Derive link
parameters and the kinematic equations for Note that no 13 need be defined
![83
L2
L1
FIGURE 3.29: The 3R nonplanar arm (Exercise 3.3).](/v2/_next/image?url=https%3A%2F%2Fcontent.bartleby.com%2Fqna-images%2Fquestion%2F57c9b4ba-a5b5-4179-a06d-b5392a9b9903%2F46ef5d4e-016b-4f5e-a17a-2811d9b5e713%2Fnnboi2r_processed.jpeg&w=3840&q=75)
Transcribed Image Text:83
L2
L1
FIGURE 3.29: The 3R nonplanar arm (Exercise 3.3).
![EXAMPLE 3.3
Figure 3.6(a) shows a three-link planar arm. Because all three joints are revolute,
this manipulator is sometimes called an RRR (or 3R) mechanism. Fig. 3.6(b) is a
schematic representation of the same manipulator. Note the double hash marks
70 Chapter 3
Manipulator kinematics
(a)
(b)](/v2/_next/image?url=https%3A%2F%2Fcontent.bartleby.com%2Fqna-images%2Fquestion%2F57c9b4ba-a5b5-4179-a06d-b5392a9b9903%2F46ef5d4e-016b-4f5e-a17a-2811d9b5e713%2Fkryb13_processed.jpeg&w=3840&q=75)
Transcribed Image Text:EXAMPLE 3.3
Figure 3.6(a) shows a three-link planar arm. Because all three joints are revolute,
this manipulator is sometimes called an RRR (or 3R) mechanism. Fig. 3.6(b) is a
schematic representation of the same manipulator. Note the double hash marks
70 Chapter 3
Manipulator kinematics
(a)
(b)
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