Question

Calculate the D-H Parameter table for the system below in Figure 1. Also Calculate transformation matrices A1 and A2 only. LINK as zu ds 25 do 22 1. 20 TTT Arial 3(12) T. E. E.

Answer 1

DH parameters Given that VA O In this 1 and the axis are rotational Joint axis remaining all are prismatic . a, - distance from Zins to Ze measured along at; 2 - angle between Zo -, and Zi measured along si - angle between Ry-1 and to measured along 72-2 di -- distance from (se;-1) to Bl; fz-) measured along Zi-1

D-H parameters - 1 on * a; always zero because axis eie notated of translated in line with the previous axis + + 90 Canticlockwise rotation -qó (clockwise rotation) + * denotes variable. the D-H transformation matrix I coso - cosdi Sino; Sind, sino; a; caso 0; sin8; 08 dico; - Sindicob@; Sindi sind; C8 ci id; we got to values by [caso, sino, o o singgo -coso o Substituting link 1 volues TE TI 0 0 Lo 1

case, -14(90) sine sin 696) sing Oxedo, 7 Smilarly lindalues since o (05 E 10) cosen sin kąó) - SinEqolady Oxsing c(-76) de T 7 -sine, o rose o sino, ó T = TÓXT72 [ cose, o sino, o ] [ eso, o sing of sino, o acoso, o lx | singa o cose of o io di Torio di 0 0 0 1

| CSEI, COBO sing, cosez Til sine -sing, csc, 0 -sino, coso, -sige sine, (som das sing, -ds*o0, o a - نو په اړه رکی - I s,ca a -5, S2 daca si - Sine;
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