3.2 Imagine an arm like the PUMA 560, except that joint 3 is replaced with a pris-matic joint. Assume the prismatic joint slides along the direction of in Fig.3.18;however, there is still an offset equivalent to to be accounted for. Make any additional assumptions needed. Derive the kinematic equations.
where:
3.8 In Fig.3.31, the location of the tool, , is not accurately known. Using force control, the robot feels around with the tool tip until it inserts it into the socket (or Goal) at location . Once in this“calibration" configuration (in which{G} and {T} are coincident), the position of the robot, , is figured out by read-ing the joint angle sensors and computing the kinematics. Assuming and are known, give the transform equation to compute the unknown tool frame, .
When {G}={T}, we have:
so:
3.9 For the two-link manipulator shown in Fig. 3.32(a), the link-transformationmatrices, and , were constructed. Their product is
The link-frame assignments used are indicated in Fig.3.32(b). Note that frame {0} is coincident with frame {1} when . The length of the second link is . Find an expression for the vector , which locates the tip of the arm relative to the {0} frame.
3.16 Assign link frames to the R P R planar robot shown in Fig. 3.36, and give the linkage parameters.
3.25 A certain human leg has the following dimensions (in cm): femur length =500, shank length = 400, ankle-to-heel distance = 50, ankle-to-toe distance = 150.For the leg shown in Fig.3.44, the three joint angles,, are zero when the leg is vertical.
a) Show the attachment of link frames on the leg.
b) Give values for the link parameters, assuming the frame origins are coplanar.
c) Compute the stride length, that is the distance along the ground from toe contact-point to heel contact-point, using the joint vectors and and assuming that the heel contact-point, the ankle joint, and the toe contact-point are collinear.