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 87 times
- General Indications Use The Initial Frame Of Reference According To Illustration 1 The Robot Has Three Rotational D 2 (221.65 KiB) Viewed 87 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