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Homework 03 Robot

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12 views

Homework 03 Robot

Uploaded by

phatclover55
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Homework 3

Problem 1: RPR (1.5-2đ)

Figure 1: RPR robot

Determine
- DH frames and table of D-H parameters
- plot kinematic chain of the Robot at HOME position (all R join variables are zero, all P
join variables at minimum value)
- DH matrices T 01, T 12, T 23, T 03
- direct kinematics of the center of the end point P (O3) in symbolic form. Check the
solution at HOME position
- Inverse kinematics to find the close form of join variables as functions of end point
position
- Find Jacobean matrix of the robot and find velocity of the endpoint
- Find the static force at the end point of the robot as a function of join forces/torques
- Find singularities of the robot and plot the configuration of the robot at the singularities
(det(J)=0)
Problem 2: SCARA robot

Figure 2: SCARA robot

Determine
- frames and table of D-H parameters
- plot kinematic chain of the Robot at HOME position (all R join variables are zero, all P
join variables at minimum value)
- DH matrices T 01, T 12, T 23, T 34,T 04
- direct kinematics of the center of the end point (O4) in symbolic form. Check the solution
at HOME position
- Inverse kinematics to find the close form of join variables as functions of end point
position and direction of x4 relative to x0 (40)
- Find Jacobean matrix of the robot and find velocity of the endpoint and angular velocity
of the end-effector
- Find the static force at the end point of the robot as a function of join forces/torques
- Find singularities of the robot and plot the configuration of the robot at the singularities
Problem 3: Gimbal joystick

Determine
- frames and table of D-H parameters
- DH matrices T 01, T 12, T 23,T 03
- direct kinematics of the center of the end point (P) in symbolic form. Check the solution
at current position
- Inverse kinematics to find the close form of join variables as functions of end point
position
- Find Jacobean matrix and find velocity of the endpoint P and angular velocity of the end-
effector
- Find the static force at the end point of the robot as a function of join forces/torques
- Find singularities of the robot and plot the configuration of joystick at the singularities
Problem 4: Stanford Robot

Figure 3: Stanford (Spherical) Robot

Determine
- frames and table of D-H parameters
- plot kinematic chain of the Robot at HOME position (all R join variables are zero, all P
join variables at minimum value)
- DH matrices T 01, T 12, T 23,…. T 56,T 06
- direct kinematics of the center of the end point (O6) in symbolic form. Check the solution
at HOME position
- Find Jacobean matrix of the robot and find velocity of the endpoint and angular velocity
of the end-effector
- Find the static force at the end point of the robot as a function of join forces/torques
Problem 5: Puma Robot

Figure 4: PUMA (Elbow) Robot

Determine
- frames and table of D-H parameters
- plot kinematic chain of the Robot at HOME position (all R join variables are zero, all P
join variables at minimum value)
- DH matrices T 01, T 12, T 23,…. T 56,T 06
- direct kinematics of the center of the end point (O6) in symbolic form. Check the solution
at HOME position
- Find Jacobean matrix of the robot and find velocity of the endpoint and angular velocity
of the end-effector
- Find the static force at the end point of the robot as a function of join forces/torques

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