Problem 6 (17 marks)

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