CEG 4158 Lecture Notes - Lecture 4: Prismatic Joint, Revolute Joint, A465 Road
2 Dec 2018
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Given the 3 degrees-of-freedom scara-type manipulator illustrated below that contains revolute and prismatic joints: 40 cm: assign the x and z axes and determine the denavit-hartenberg parameters of this robot. Consider a serial manipulator having 5 degrees of freedom made of revolute and prismatic joints: 25 cm: define a reference frame for each degree of freedom following the denavit-hartenberg convention, determine the denavit-hartenberg parameters of this robot and fill in the table below. 5: determine the a matrices of this robot, calculate the direct transformation matrix that corresponds to the geometrical relationship from the robot base to the end effector. A 3 degree-of-freedom planar manipulator is made of a sequence of 1 revolute joint followed by 1 prismatic joint and another revolute joint, as shown below. The sets of (x, z) axes are given for all reference frames attached to the mechanism.
