Question

The two-link planar robots illustrated in F have the link lengths RAO2 RBo3 and RPA RPB 400 mm. Theo500 mn carrying a small object labeled P. indicated the angular positions are θ2--45° and 63/2 is given because that is the angle controlled by the two robots are instant 63 At the -15° (Notice that the angle 63/2 r in joint A.) A second robot having identical moto dimensions is stationed at position 04, 1000 mm to ght. What angular positions must the two joints the ri 94 and 85/4 of the second robot have at this moment to allow it to take over possession of the object P? yt U5/4 3/2 4 Ul 4 Figure P5.7 Dimensions are: RAO Ro300 mm, RPA 400 mm.

Answer 1

03 4 95 04 p' 3 03-30° 300 los (us) +4oo (os (30) ps?

3 si ou' + sinos = 4.121 32 a6 a 2 4.12 132 uahon ム-12132 sínxt 4.41578 Co5χ = 43-4843 4.12132 sin χ t 1,41538 Co5x: 5.4355315 下_e 11A4" = 6S1 = 四u"-TT-@u,