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 Conneted arm Figure 2: Wrist assembly The known position and orientation of the end of the arm point is. [-C,S2C3 + S4S3 C;S2S3 +S¼C3 |-S,S2C3 – C,S3 S,S2S3 + C,C3 S2 C; C2 S,C2 °T3=°T1'T2?T3- C2C3 -C2S3 1 [G 0 S, SI 0 -G 0 07 %3D 1 0 0 1. --S2 0 C2 07 C2 0 S2 0 'T2 = 1 0 0 1 [C3 -S3 0 07 2T3= S3 C3 0 0 1 0 0 1
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 Conneted arm Figure 2: Wrist assembly The known position and orientation of the end of the arm point is. [-C,S2C3 + S4S3 C;S2S3 +S¼C3 |-S,S2C3 – C,S3 S,S2S3 + C,C3 S2 C; C2 S,C2 °T3=°T1'T2?T3- C2C3 -C2S3 1 [G 0 S, SI 0 -G 0 07 %3D 1 0 0 1. --S2 0 C2 07 C2 0 S2 0 'T2 = 1 0 0 1 [C3 -S3 0 07 2T3= S3 C3 0 0 1 0 0 1
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
Related questions
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
Figure 2: Wrist assembly
The known position and orientation of the end of the arm point is.
[-C,S2C3 + S1S3 C;S2S3 +S1C3
|-S;S2C3 – C,S3 S,S2S3 + C,C3
-C2S3
C,C2
S,C2
S2
°T3=°T;'T2?T3=
C2C3
[G 0 S, 0
S, 0 -G 0
°T
1
0 0
1
-S2 0 C, 0°
C2 0 S, 0
'T2
1
1
[C3 -S3 0 07
S3 C3 0 0
2T3=
1 0
0 0 1
00010
II](/v2/_next/image?url=https%3A%2F%2Fcontent.bartleby.com%2Fqna-images%2Fquestion%2F95c39ab9-3b37-46f1-a8c4-1dbfb16acfca%2F1023cd32-ceba-4c54-b69f-cf8f296d0a09%2F2exy8li_processed.png&w=3840&q=75)
Transcribed Image Text: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
Figure 2: Wrist assembly
The known position and orientation of the end of the arm point is.
[-C,S2C3 + S1S3 C;S2S3 +S1C3
|-S;S2C3 – C,S3 S,S2S3 + C,C3
-C2S3
C,C2
S,C2
S2
°T3=°T;'T2?T3=
C2C3
[G 0 S, 0
S, 0 -G 0
°T
1
0 0
1
-S2 0 C, 0°
C2 0 S, 0
'T2
1
1
[C3 -S3 0 07
S3 C3 0 0
2T3=
1 0
0 0 1
00010
II
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