Evaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to determine 1. Linear velocity and 2. Angular velocity NOTE: for JOINT 3 ( 03 ) only Conneted arm Figure 2: Wrist assembly The known position and orientation of the end of the arm point is. [-C,S2C3 + S4S3 C;S2S3 +S¼C3 |-S,S2C3 – C,S3 S,S2S3 + C,C3 S2 C; C2 S,C2 °T3=°T1'T2?T3- C2C3 -C2S3 1 [G 0 S, SI 0 -G 0 07 %3D 1 0 0 1. --S2 0 C2 07 C2 0 S2 0 'T2 = 1 0 0 1 [C3 -S3 0 07 2T3= S3 C3 0 0 1 0 0 1

Evaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to determine 1. Linear velocity and 2. Angular velocity NOTE: for JOINT 3 ( 03 ) only Conneted arm Figure 2: Wrist assembly The known position and orientation of the end of the arm point is. [-C,S2C3 + S4S3 C;S2S3 +S¼C3 |-S,S2C3 – C,S3 S,S2S3 + C,C3 S2 C; C2 S,C2 °T3=°T1'T2?T3- C2C3 -C2S3 1 [G 0 S, SI 0 -G 0 07 %3D 1 0 0 1. --S2 0 C2 07 C2 0 S2 0 'T2 = 1 0 0 1 [C3 -S3 0 07 2T3= S3 C3 0 0 1 0 0 1

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

Section: Chapter Questions

Problem 1.1MA

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Evaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to determine 1. Linear velocity and 2. Angular velocity NOTE: for JOINT 3 ( 03 ) only Connected to robot arm Pitch Roll Yaw Figure 2: Wrist assembly The known position and orientation of the end of the arm point is. C, C2 [-C,S2C3 + S¼S3 -S;S2C3 – C1S3 C2C3 C¡S2S3 + S1C3 S4S2S3 + C,C3 -C2S3 01 S,C2 S2 1 °T3=°T¡'T2²T3
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