Consider the Four-Degree-of-Freedom robot shown in figure Q1, and usethe following hints in your answer:Hint 1- Use frames {OO}, {O1} and {O4} as indicated in figure Q1.Hint 2- A joint can undergo a twist and a rotation at the same time Y4{0,}.04LsL4L301ZoL1YoХоFig. Q1.A-Assign appropriate frames for D.-H, representation of all joints? (you need (9)to redraw the robot on you answer book to do this).(20]B-Fill out the parameters in the following table?i-1adJoint typei122.33

Answered: Image /qna-images/answer/ce29ada6-ae4a-4781-b31f-00f9d70303cd.jpg

Answered: Y. {O•}. 04 Ls L4 L3

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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Consider the Four-Degree-of-Freedom robot shown in figure Q1, and use
the following hints in your answer:
Hint 1- Use frames {OO}, {O1} and {O4} as indicated in figure Q1.
Hint 2- A joint can undergo a twist and a rotation at the same time

Y4
{0,}.
04
Ls
L4
L3
01
Zo
L1
Yo
Хо
Fig. Q1.
A-
Assign appropriate frames for D.-H, representation of all joints? (you need (9)
to redraw the robot on you answer book to do this).
(20]
B-
Fill out the parameters in the following table?
i-1
a
d
Joint type
i
1
2
2.
3
3

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