Answer Happy

three degree of freedom manipulator, with first joint prismatic and last ite, it is given that Tz = 4, 4, A3 where 1 0 0 0 [Co,-se, 0 1 Ce-se 0 0 1 0 0 SO, CO 0 0 ᏚᎾ ᏟᎾ 0 0 0 1 d. 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 ermine the joint variables if the manipulator orientation and position is Tz - TO -1 0 1.5 1 0 0 0.866 0 0 1 3 0 0 0 1 GIVEN: = + k verse+co k_k,verso-k se kyk verso + Rot(k,6)= kyk,verso +k_s0 k verse+co k,kverse - kyk verso – k,se kyk,verse+k-se k verso where verso =1-c0 and co= cos , so=sin 0 + 1 =

QUESTION-2) For a three degree of freedom manipulator, with first joint prismatic and last two joints revolute, it is given that Tz = 4, A2A, where = 0 ſi 0 0 0 ſco, -S0,0 1 [Coz-0 1 0 1 0 0 se сө, 0 0 Soz coz 0 0 4 A2 = 0 0 1 d 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 Determine the joint variables if the manipulator orientation and position is desired to be To -1 0 1.5 1 0 0 0.866 Tz 0 0 1 3 0 0 0 1 GIVEN: k verse+co kyk,verse - k_s0 kyk verso + k,so Rot(k,0) = k,k,verso +k_se k verso +co k, k.verse - kyse kyk verso – k,se kyk verso + k,.so k vers8+co where verso =1-c0 and co= cos , so= sin 0 y -