• Use the initial frame of reference according to Illustration
1
• The robot has three rotational degrees of freedom t1, t2 and
t3.
• Rotations t2 and t3 occur at the point of intersection between L1
and L2.
• Assume cylindrical links with radii: R1, R2 and R3 (see
Illustration 2).
• Assume that the length of the first link is h1=L1.
• Assume that the length of the second link is h2
• Assume that the length of the third link is h3=L2+L3
• The links have mass: m1, m2 and m3.
• The center of mass of the first link is in the middle of L1
• The center of mass of the second link is located at a distance
L1
• The center of mass of the third link is located at a distance
L2
• Gravity acts on the z axis
- General Indications Use The Initial Frame Of Reference According To Illustration 1 The Robot Has Three Rotational D 1 (100.38 KiB) Viewed 50 times
- General Indications Use The Initial Frame Of Reference According To Illustration 1 The Robot Has Three Rotational D 2 (221.65 KiB) Viewed 50 times
a) Find the position of the center of mass for each link.
b) Obtain the translational Jacobian for each link.
c) Obtain the dynamic inertia ID1, ID2 and ID3.
d) Obtain the inertia matrix (M) of the robot.
e) Obtain the Coriolis vector (V) and the Gravity vector (G) of the
robot.
f) Obtain the dynamic model of the robot.
Pitch Roll L3 L2 C L1 Yaw X IZ z у
Cilindro macizo Eje de simetría MR2 2 R Por el centro, paralelo al diámetro M 3 R h