Q3) For the Fig. Q3 shown below:1- Assign the coordinate frames base on D-H representation.2- Fill out the parameters table.3- Write all the T matrices.4- Write 9T in terms of T matrices.d2d,Fig.Q3Given:The general form of the Forward Kinematics (Link Transformation matrix):0.s0;ca-1 c0,ca;-1 -sa;-1 -sa;-1d%3Di= s6,sa; _1 cô,sa;-1 ca-1 ca;-1d,ca; -1d;0.1

Q3) For the Fig. Q3 shown below: 1- Assign the coordinate frames base on D-H representation. 2- Fill out the parameters table. 3- Write all the T matrices. 4- Write 9T in terms of T matrices. 02 d2 d,

Q3) For the Fig. Q3 shown below: 1- Assign the coordinate frames base on D-H representation. 2- Fill out the parameters table. 3- Write all the T matrices. 4- Write 9T in terms of T matrices. 02 d2 d,

Structural Analysis

6th Edition

ISBN:9781337630931

Author:KASSIMALI, Aslam.

Publisher:KASSIMALI, Aslam.

Chapter2: Loads On Structures

Section: Chapter Questions

Problem 1P

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Question

Q3) For the Fig. Q3 shown below:
1- Assign the coordinate frames base on D-H representation.
2- Fill out the parameters table.
3- Write all the T matrices.
4- Write 9T in terms of T matrices.
d2
d,
Fig.Q3
Given:
The general form of the Forward Kinematics (Link Transformation matrix):
0.
s0;ca-1 c0,ca;-1 -sa;-1 -sa;-1d
%3D
i= s6,sa; _1 cô,sa;-1 ca-1 ca;-1d,
ca; -1d;
0.
1

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