For the 3DOF RRP type planar robot shown in Figure 1, a1=24cm, a2=24cm and d3=20cm are given. All questions will be answ

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For the 3DOF RRP type planar robot shown in Figure 1, a1=24cm,
a2=24cm and d3=20cm are given. All questions will be answered
accordingly.
Y-axis(cm)

For The 3dof Rrp Type Planar Robot Shown In Figure 1 A1 24cm A2 24cm And D3 20cm Are Given All Questions Will Be Answ 1 (42.61 KiB) Viewed 26 times

Figure 1.
3DOF RRP Robot Manipulator
1. Place the coordinate axes for each joint of the
robot.
2. Create the DH table.
3. Write the transformation matrices for each joint.
4. Find the homogeneous transformation matrix of the
robot.
5. If the X-axis and Y-axis show boundaries (eg, wall or
floor), draw the robot's workspace and specify its boundaries.
6. Find/display for each link the singularities of the
robot in the workspace.
7. Calculate the position of the terminal operator
numerically when 𝜃1 = 30o,
𝜃2 =
60o and 𝑑3 = 5𝑐𝑚.
8. Calculate the values of
𝜃1,𝜃2 and 𝑑3 numerically
by choosing one of the possible solution set so that the end
functional of the robot is (Xend-eff,
Yend-eff)=(50,40).
9. Find separately the Jacobian equations of angular
velocity for the 1st and 2nd joint.
10. Find the Jacobian equation for the angular velocity and
linear velocity of the terminal function.
30 70 50 50 40 30 20 10 0 a₁ 0 10 20 az ① d3 30 40 50 60 70 80