Explain why singularity must occur at the boundary of a manipulator workspace.
I . ( 30%) Consider a three-link RRR manipulator its Jacobian matrix with respect to the base frame given in the following 3023 Based on the above Jacobian matrix, draw schematically the robot with the correct frame to each link, where 12 and /3 are the link length for link 2 and 3, respectively. Give the reason why it is so. a) b) Obtain the 'J for the given J based on the frame assignment in a); o) Using either...
Please answer the following question: Ifo, and θ2 can rotate from 0° to 180°, draw the approximate workspace of the manipulator shown below. Don't forget to consider the prismatic joint d3 while sketching the workspace. da 82 Ifo, and θ2 can rotate from 0° to 180°, draw the approximate workspace of the manipulator shown below. Don't forget to consider the prismatic joint d3 while sketching the workspace. da 82
Explain why the temperature boundary layer grows much more rapidly than the velocity boundary layer for liquid metal?
What about the workspace is already optimized or ideal? Why do these things work well? What about the workspace could be improved? Are there problems or difficulties that you repeatedly experience? What behaviors, functions, and interactions that take place in your workspace seem interesting or notable?
1-25 For the two-link planar manipulator of Figure 1.24 is it possible for there to be an infinite number of solutions to the inverse kinematic equations? If so, explain how this can occur. 22 X1 A → XO Fig. 1.24 Coordinate frames for two-link planar robot.
What's Singularity, Why doesn't black holes follow laws of physics and quantum mechanics.
The following reaction will not proceed as written. Clearly explain why this reaction will not occur. The following reaction will not proceed as written. Clearly explain why this reaction will not occur. CH3CI AICI:
Can some help with coding?? Problem 1 Given the 3R manipulator with coordinate frames shown, you must simulate the robot picking an object from the ground and sliding it into a slot. Do not freak out, just read and follow the instructions very carefully. All necessary boundary conditions are provided below. If you follow these, the robot will automatically go to the poses (x.y. y) for initial po (0.3.0,-), midpoint Pm (0.3,0.25.0), and final point pm (0.4, 0.25,0). An example...
The following reaction will not proceed as written. Clearly explain why this reaction will not occur. The following reaction will not proceed as written. Clearly explain why this reaction will not occur. 1. LDA ix 2. Br
1. Consider the SCARA manipulator shown in the figure. (a) Perform the forward displacement analysis for the manipulator relating the the twist T= Se in terms of the joint angles Oj, i=1,2,4 and dz. The variable (e is measured in reference to the fixed X axis. If de = 0, then the gripper is aligned with the fixed X axis. Use Homogenous Transformation Matrices. (b) Find the Jacobian J of the manipulator relating the twist T = in terms of...