Scribd
Upload
30 views5 pages

Homework 03 Robot

Uploaded by

phatclover55
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
30 views5 pages

Homework 03 Robot

Uploaded by

phatclover55
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 5

Homework 3

Problem 1: RPR (1.5-2đ)

Figure 1: RPR robot

Determine
- DH frames and table of D-H parameters
- plot kinematic chain of the Robot at HOME position (all R join variables are zero, all P
join variables at minimum value)
- DH matrices T 01, T 12, T 23, T 03
- direct kinematics of the center of the end point P (O3) in symbolic form. Check the
solution at HOME position
- Inverse kinematics to find the close form of join variables as functions of end point
position
- Find Jacobean matrix of the robot and find velocity of the endpoint
- Find the static force at the end point of the robot as a function of join forces/torques
- Find singularities of the robot and plot the configuration of the robot at the singularities
(det(J)=0)
Problem 2: SCARA robot

Figure 2: SCARA robot

Determine
- frames and table of D-H parameters
- plot kinematic chain of the Robot at HOME position (all R join variables are zero, all P
join variables at minimum value)
- DH matrices T 01, T 12, T 23, T 34,T 04
- direct kinematics of the center of the end point (O4) in symbolic form. Check the solution
at HOME position
- Inverse kinematics to find the close form of join variables as functions of end point
position and direction of x4 relative to x0 (40)
- Find Jacobean matrix of the robot and find velocity of the endpoint and angular velocity
of the end-effector
- Find the static force at the end point of the robot as a function of join forces/torques
- Find singularities of the robot and plot the configuration of the robot at the singularities
Problem 3: Gimbal joystick

Determine
- frames and table of D-H parameters
- DH matrices T 01, T 12, T 23,T 03
- direct kinematics of the center of the end point (P) in symbolic form. Check the solution
at current position
- Inverse kinematics to find the close form of join variables as functions of end point
position
- Find Jacobean matrix and find velocity of the endpoint P and angular velocity of the end-
effector
- Find the static force at the end point of the robot as a function of join forces/torques
- Find singularities of the robot and plot the configuration of joystick at the singularities
Problem 4: Stanford Robot

Figure 3: Stanford (Spherical) Robot

Determine
- frames and table of D-H parameters
- plot kinematic chain of the Robot at HOME position (all R join variables are zero, all P
join variables at minimum value)
- DH matrices T 01, T 12, T 23,…. T 56,T 06
- direct kinematics of the center of the end point (O6) in symbolic form. Check the solution
at HOME position
- Find Jacobean matrix of the robot and find velocity of the endpoint and angular velocity
of the end-effector
- Find the static force at the end point of the robot as a function of join forces/torques
Problem 5: Puma Robot

Figure 4: PUMA (Elbow) Robot

Determine
- frames and table of D-H parameters
- plot kinematic chain of the Robot at HOME position (all R join variables are zero, all P
join variables at minimum value)
- DH matrices T 01, T 12, T 23,…. T 56,T 06
- direct kinematics of the center of the end point (O6) in symbolic form. Check the solution
at HOME position
- Find Jacobean matrix of the robot and find velocity of the endpoint and angular velocity
of the end-effector
- Find the static force at the end point of the robot as a function of join forces/torques

You might also like