Consider an RPR plannar robot shown in Figure Q6. The robotic system has
three-degrees of freedom; the joint variables are 8,, d, and 8. It is noted that the dimension
L₁ is fixed and the dimension d, is used to denote the movement of prismatic Joint 2. For
kinematic analysis, Frame (0) is the base frame; the base coordinate system ŽŸŻ, is shown
SINGAPORS UNIVERSITY OF SOCIAL SCIENCES (USS)
EAS401
(b)
in the figure with the 2, axis pointing out of the paper. Frame (3) is located at the axis of
Joint 3 which is the wrist of this robotic system.
d₂
Figure 06
Assign link frames to the robot arm. Appraise the consideration(s) in assigning frame
(2).
Obtain the Denavit-Hartenberg (DH) parameters from kinematic analysis. List your
results in the following table.
IT-
Table 06
Tutor-Marked Assignment
Formulate the transformation that relates frame (3) to frame (0), i.c. T.
0
0
Page 10
[fo -500x3
C0y
Analyse inverse kinematics to obtain relations for joint variables in terms of known
position and orientation of the origin of frame (3)
d₂
0 10
0 01
Fig: 1