MANU1417 – Advanced Robotics Semester 2, 2020 Assignment 4 Due: Nov. 3rd Objective The goal of this assignment is to evaluate a 3R robot that would move from a start position to an end position in a...

L1 = d1 = 0.2m L2 = 0.26m L3 = 53m


MANU1417 – Advanced Robotics Semester 2, 2020 Assignment 4 Due: Nov. 3rd Objective The goal of this assignment is to evaluate a 3R robot that would move from a start position to an end position in a desired path over a five second time frame. Then from this data torque values for each of the three motor joints based on a specific gravity and point-mass values for each joint would be found. For the purposes of this project the arms are assumed to be mass- less. Arm length • L1 has a constant length of 0.2m. • L2 is the second arm and is the sum of a person’s student ID number divided by 100, in meter. • L3 is the third arm and is the sum of a cell phone number with the area code divided by 100, in meters. Path point • Rest to rest path between the initial and final points. • Initial path point 1 is [.7(L1 + L2) 0.1 0.3] • Final path point 2 is .[-5(L1 + L2) -0.1 0.4] Forbidden zone for the tip point • there is no forbidden zone. The tip point can move on any path between the end points. Mass mass of the motor at second joint mass of the motor at third joint • m1=1kg • m2=1kg • m3=1kg mass of load at the tip point Rules: • Robot can’t go underground. Requirements: Torques, Joint coordinates, velocity, and acceleration, Joint variables, velocity and acceleration, as functions of time.