《机器人导论》(英文版) MECH572-lecture9

Planar Manipulator Static analysis EE T 1(Es)T calar w 2-D vector · Example 3-R planar manipulator. Known Link length al = a2=a3= lm Joint angles 01= 02=03=45 Joint Torquesτ=τ2=-√2Nm,c3=1-2Nm Seek: Wrench acting at EE w=[n, frUiT

Planar Manipulator • Static Analysis • Example 3-R planar manipulator. Known: Link length a1 = a2 = a3 = 1m Joint angles 1 = 2 = 3 = 45º Joint Torques 1 = 2 = Nm, 3 = 1 Nm Seek: Wrench acting at EE − 2 − 2 Scalar 2-D vector

Planar Manipulator Example(cont'd) Solution 1+2 2,n=[均2 +√2/2 Er E2=-1-y22 应2/2 Er Fa-3=到 46 1-V2/2-V 2 [ 45 3 equations, 3 unknowns

Planar Manipulator • Example (cont'd) Solution: 3 equations, 3 unknowns