LHW #3 ky thuat robot

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Objectives: L.O.1.5, L.O.2.1  L.O.2.3, L.O.5.2 IHW #3

A Requirement

An RRR planar robot with known frames {0} and {3}, which are assigned to link 0 and link 3 respectively, is shown in the figure below

With this manipulator, do the followings:

a Draw the schematic diagram of the manipulator

b (L.O.2.1) Assign frames for link 1 and link 2 (with the convention: axis Zi is coincident with the joint axis (i + 1)) so that

a Z1 and Z2 have the same direction as Z3

b X1 has the direction as shown in the figure

c (L.O.2.2) Determine D-H parameters (ai, i, di, i) for the frames {1}, {2}, and {3}

If link dimensions are given as constants: l1 = XX, l2 = XX+ZZZ, l3 = YY+ZZZ (m)

f Calculate 0pD (the coordinates of point D in {0}) when 1 = 2 = 3 = 00

g (L.O.5.2) Create a plot of changes in coordinates of point D (0xD, 0yD, and 0zD) during the time from 0 to 10 seconds when the set of joint angles is given below

Your student ID is always formatted in a

form: XXYYZZZ For example, if your

The report uploaded to BKEL has to be formatted in A4 pages as follows:

 File name: ‘IHW_3_XXXXXXX.pdf’ with XXXXXXX is your student ID  Font style: Times New Roman

 Font size: 12pt

 Margin: Left: 3cm, Right: 2cm, Top: 3cm, Bottom: 3cm  The contents should be organized as illustrated

Individual homework #3

Student name: Student ID: Class / group: Date:

My student ID is xxyyzzz Thus XX = xx

YY = yy ZZZ = zzz

a Schematic diagram (Sample)

b Coordinate frames (Sample)

c D-H parameters (Sample)

d Transformation matrices (Sample)

e Forward-pose kinematics solution (Sample)

f Coordinates of point D in {0} when 1 = 2 = 3 = 00

g Plot of changes in coordinates of point D (Sample)