2. Use the DH convention to describe the forward kinematics for our Epson arm between the base plate and the point betwe

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2 Use The Dh Convention To Describe The Forward Kinematics For Our Epson Arm Between The Base Plate And The Point Betwe 1 (542.96 KiB) Viewed 21 times

2. Use the DH convention to describe the forward kinematics for our Epson arm between the base plate and the point between the two gripper tips. Details of the joints and dimensions are shown in Figure 1. The gripper and pneumatic cylinder (shown in black in the picture) measure 260mm from the mounting position on the end of the arm to the tip of the gripper. What is the position of the tip of the gripper for the following joint angles (assuming all angles are measured positive up or out of the page): (0₁-0, 0₂=-π/2, 03-π/2, 04-0, 05-л/2, 06-0) Arm #4 Joint #4 Joint #4 J5+ J4- >J3+ J6 -Arm #3 Arm #6- EPSON J5- (a) Gripper 198 n 77 154 160 4-M4 depth 5- S 526 Egg 5 *1:(@60H7) A- 55+ 0.05 27 81 2-M4 depth 10 250 *2: 6H7 depth 5- *2:2-M8 depth 16- 65 154 + 0.05. 415 25 2006 06H7- 86 5 614.5 15 6*0.012 CITA - G 4-M4 depth 7 FIRED HILD SHIFTED 100 48 90 180 Joint #6 150 90 109.5 15 -4-011 75 +0.05 (Tolerance is optimum for Ø6H7) J6+ Arm #5 90 Space for cables 20 2: 2-M4 depth 7 199.5 (c) Dimensions Figure 1 The robot arm J4+ J3 Joint #5 Joint #2 Arm #1 (Lower Arm) J2- 76 23 A J1- Joint #1 Base (b) Joints [Unit: mm] 238 2-M4 depth 7 J2+ Joint #3 Arm #2 J1+