Question

Problem 3a: An RR robot has two links of length 0.75 m and 1.0 m, respectively. Assuming that the global coordinate system is defined at J1, determine the following: (a) The coordinates of the end-effector point if the joint rotations are 35 degrees at both joints as shown in the handout. (b) Joint rotations if the end-effector is located at (1.875, 0.45). Problem 3b: The telescopic arm of an industrial robot obtains its vertical motion by rotating about a horizontal axis. The total range of rotaion is 90 degrees. The robot possesses a 12 bit storage capacity for this axis. When fully extended, the robot telescoping arm measures 45 in. from the pivot point. When fully retracted, the arm measures 25 in. from the pivot point. Determine (a) the robot's control resolution for this axis in degrees of rotation, (b) the robot's control resolution on a linear scale in both the fully extended and fully retracted position, (c) sketch the side view of the work volume for this axis.

Answer 1

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Answer- 316) Robot's comprel resolution for this ang in depree 90/212 18 0002197 ologree ( 0 ) 45-25 20 Resolution 212 212 Ooooyo iren The side ( S ) view of toboot's work volume volume