Solution 2
Solution 2
Solution 2
(a) Assign and label the axes of frames {0} through {3}. Also, include the parameters θ1 ,
d2 , and θ3 , on your schematic. Assume that this diagram shows a configuration where
θ1 = 0. For the case when Ẑi and Ẑi+1 axes are intersecting, take the perpendicular to
both in the point of intersection and assign X̂i along it in such a direction that the angle
αi from axis i to axis i + 1 is measured in a positive sense.
(b) Find the Denavit-Hartenberg parameters for this manipulator – that is, fill in the entries
for the following table:
i ai−1 αi−1 di θi
1
2
3
(c) Derive the forward kinematics for this manipulator – that is, find the matrix 03 T .
2. Consider the following RRP manipulator.
(a) Draw a schematic of this manipulator, and assign link frames {0} through {3} for the
manipulator – that is, sketch the coordinate axes of each frame. For the case when Ẑi
and Ẑi+1 axes are intersecting, take the perpendicular to both in the point of intersection
and assign X̂i along it in such a direction that the angle αi from axis i to axis i + 1 is
measured in a positive sense.
(b) Find the Denavit-Hartenberg parameters for this manipulator – that is, fill in the entries
for the following table:
i ai−1 αi−1 di θi
1
2
3
(c) Derive the forward kinematics for this manipulator – that is, find the matrix 03 T .
3. Consider the following 5-DOF RPPPR manipulator.
(a) Assign link frames {0} through {5}. For the case when Ẑi and Ẑi+1 axes are intersecting,
take the perpendicular to both in the point of intersection and assign X̂i along it in such
a direction that the angle αi from axis i to axis i + 1 is measured in a positive sense.
Also, remember to follow the conventions for the first and last link, as described in the
course reader. The axes for the second joint are labeled for you.
(b) Find the Denavit-Hartenberg parameters for this manipulator.
i ai−1 αi−1 di θi
1
2
3
4
5