For the below PPP robot in fig 1, Find the linear velocity of the end effector frame {e} expressed in {e}(V) as function

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For The Below Ppp Robot In Fig 1 Find The Linear Velocity Of The End Effector Frame E Expressed In E V As Function 1 (87.94 KiB) Viewed 41 times

For the below PPP robot in fig 1, Find the linear velocity of the end effector frame {e} expressed in {e}(V) as function of the joints velocities [d1, d2, d3]¹. Knowing that 0≤dı≤1, 0≤d₂≤ 1 and 0≤ d3 ≤1, and 0 -1 01 [1 0 0 1 0 ¹₂R = 0 0 1,3R 00 9 3R = 0 1 0 0 0] Lo 10 Xo -1 Zo Yo X1 = ZL + X3 X2 Z3 d₂ Fig 1: 3 DOF PPP manipulator Lo 0 22 Xe + d3 Ze Ye