LHW #3 ky thuat robot

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Objectives: L.O.1.5, L.O.2.1  L.O.2.3, L.O.5.2 IHW #3

A Requirement

An RRR planar robot with known frames {0}

and {3}, which are assigned to link 0 and link 3

respectively, is shown in the figure below

D

{0}

X0

Y0

Z0

{3}

X3

Z3

Y3

l1

l2

l3

X1

With this manipulator, do the followings:

a Draw the schematic diagram of the manipulator

b (L.O.2.1) Assign frames for link 1 and link 2 (with the convention: axis Zi is coincident

with the joint axis (i + 1)) so that

a Z1 and Z2 have the same direction as Z3

b X1 has the direction as shown in the figure

c (L.O.2.2) Determine D-H parameters (ai, i, di, i) for the frames {1}, {2}, and {3}

above

d (L.O.1.5) Derive the neighboring homogeneous transformation matrices: 0T1, 1T2, and

2T3

e (L.O.2.3) Derive the forward-pose kinematics solution, i.e 0xD, 0yD, and 0zD as a

function of 1, 2, and3

If link dimensions are given as constants: l1 = XX, l2 = XX+ZZZ, l3 = YY+ZZZ (m)

f Calculate 0pD (the coordinates of point D in {0}) when 1 = 2 = 3 = 00

g (L.O.5.2) Create a plot of changes in coordinates of point D (0xD, 0yD, and 0zD) during

the time from 0 to 10 seconds when the set of joint angles is given below

Your student ID is always formatted in a

form: XXYYZZZ For example, if your

student ID is 2930276

then:

XX = 29

YY = 30 ZZZ = 276



(degrees)

time (seconds)

(XX + YY)

(YY) (XX)

 Notes:

The report uploaded to BKEL has to be formatted in A4 pages as follows:

 File name: ‘IHW_3_XXXXXXX.pdf’ with XXXXXXX is your student ID

 Font style: Times New Roman

 Font size: 12pt

 Margin: Left: 3cm, Right: 2cm, Top: 3cm, Bottom: 3cm

 The contents should be organized as illustrated

Individual homework #3

Student name: Student ID:

Class / group: Date:

My student ID is xxyyzzz Thus

XX = xx

YY = yy

ZZZ = zzz

a Schematic diagram (Sample)

b Coordinate frames (Sample)

c D-H parameters (Sample)

d Transformation matrices (Sample)

e Forward-pose kinematics solution (Sample)

f Coordinates of point D in {0} when  1 =  2 =  3 = 0 0

g Plot of changes in coordinates of point D (Sample)

time

x

y

z

P