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4. A 3-DOF robot arm has been designed for applying paint c Assign coordinate frames as necessary based on the D-H representa

engineering   Mechanical-Engineering   
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I have assumed the link parameters and joint parameters. Write in comment section for any query or problem.

O Coordinates Frame Repres entahsn Joints J,, Tuaizky This manipulotor has 3 J2, J3 22 LI 20 23 Same 3 is Tousonds ParallelTalle D-H Parameter a dA L1 Link 1 L2 2 Link 2 Link 3 O Matrices 1 Rot (,01) rans(x,L) Hen ce -SO [C01 1 1 C C 1. C01 L C81Hence 2T X 2 T X 3T UT COIL2 CIL O CO2 S02 C02 X 1 1 O O 1c20.L2tCo-L 3 X CCDt (162) S2 0L2SLi/ CLD1t02 (Ot2) O 1 C201Lt COiL S20 L2t S01L/ | S03 2 C03 c(OtB) 1 1 C2 CL) C(art0+ 0tOt0Herce C(0t 02+03) Cos a02 t03 c21(L) + COCL)= (cas201)L2t(eas01) L Cas201)2tearo1) L (in20) L2t (sin a)L Q. S201 tSor(L1)

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