ENGIN5304 - Calculate degrees of Freedom
Calculate degrees of freedom.
It is required to place the robot hand at the following pose;
x=58.54mm, y=29.20mm and α 2.44 rad where the maximum unaccounted for load applied at
point P is expected to be (0 N, 1 N, 0 Nm)
The stiffness of the three rotary joints as counting
from the ground up are given respectively as 10000,
8000 and 6000 Nm/rad
Given the following dimensions:
Find the best value for S2. 5 marks
Hint: S2_min = 90mm and S2_max= 190mm
With the hand orientation maintained unchanged, point P is now required to move vertically
downwards 15mm from the starting point, perform the following:
Graph the joint angles against the y values.
If the above load remains, graph the radial error against the y values
Neatness, adequacy and formatting of the report and graphs
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