1. Mechanical structure of 3-DOF RPY wrist is shown in Figure 1 Joint 1 Joint 2 Joint 3 Tool point Arm end Roil Ptch Yaw Figure 1 3-DOF RPY wrist configuration Formulate the forward kinematic model and describe the steps for frame assignment to the links of the given manipulator. b. Determine the D-H parameters of the tool point P with respect to the base for the 3 DOF manipulator а. с. Compute the orientation and position of the too point P for the displacement variable el=60°, e2=120° and e3=30°.
1. Mechanical structure of 3-DOF RPY wrist is shown in Figure 1 Joint 1 Joint 2 Joint 3 Tool point Arm end Roil Ptch Yaw Figure 1 3-DOF RPY wrist configuration Formulate the forward kinematic model and describe the steps for frame assignment to the links of the given manipulator. b. Determine the D-H parameters of the tool point P with respect to the base for the 3 DOF manipulator а. с. Compute the orientation and position of the too point P for the displacement variable el=60°, e2=120° and e3=30°.
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Transcribed Image Text:1.
Mechanical structure of 3-DOF RPY wrist is shown in Figure 1
Joint 1
Joint 2
Joint 3
Tool point
P
Arm end
Roil
Pitch
Yaw
Figure 1 3-DOF RPY wrist configuration
Formulate the forward kinematic model and describe the steps for frame assignment to the links of the
given manipulator.
b. Determine the D-H parameters of the tool point P with respect to the base for the 3 DOF manipulator
а.
Compute the orientation and position of the too point P for the displacement variable el=60°, e2=120° and
ө3-30°.
с.
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