Question

b) A mechanism with 3-degree of freedom (DOF) is shown in the following figure. d3 02 01 (3 marks) (4 marks) (6 marks) Assign coordinate frames as necessary based on D-H representation. Fill out the parameter table. iii) Determine the homogenous transformation matrix UTH ARi) "To Determine all the A matrices and iv) (2 marks)

Answer 1

Soluion (b O As signment of Co-ordinate system X 2 A d3 Manipulato end-point Frame) 0 Raseframe ) talal e Variablę 9) Joint parameter Lin k parameler Link di ai レ2 2 da d3 (ii) All A' matrices : we know: aico -soi cai CPi Tj: soiSine - So Si cfs&i cdf Coi Cdi Sdi Sei Caicsdi SAiSindi C Cos OT 0 o-C

-L2S2 is- C2 co SO 2 & 2T2 TH (iv Homageneous tran s formafie n makrix UTH- -S L2S L2 C OC2 ts t1- pts - st1+ Ep7, - - CS2 -s, [s2d2] ts's - - C2 d 3+L2 cztL UTH -SS2 -S -C 2 LI S position hame Assuming L2 home position get We position of end- effector is 6units fro m frame alons Zo qxis is veri fied o o o- o