Evaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to determine 1. Linear velocity and 2. Angular velocity NOTE: for JOINT 3 ( 03 ) only Connected to robot arm Pitch Roll Yaw Figure 2: Wrist assembly The known position and orientation of the end of the arm point is. [-G,S2C3 + S1S3 C,S2S3 + S1C3 |-S,S2C3 – C1S3 C2C3 C,C2 0] S,C2 S2 1 S,S2S3 + C,C3 -C2S3 °T3=°T¡'T2²T3=
Evaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to determine 1. Linear velocity and 2. Angular velocity NOTE: for JOINT 3 ( 03 ) only Connected to robot arm Pitch Roll Yaw Figure 2: Wrist assembly The known position and orientation of the end of the arm point is. [-G,S2C3 + S1S3 C,S2S3 + S1C3 |-S,S2C3 – C1S3 C2C3 C,C2 0] S,C2 S2 1 S,S2S3 + C,C3 -C2S3 °T3=°T¡'T2²T3=
Elements Of Electromagnetics
7th Edition
ISBN:9780190698614
Author:Sadiku, Matthew N. O.
Publisher:Sadiku, Matthew N. O.
ChapterMA: Math Assessment
Section: Chapter Questions
Problem 1.1MA
Related questions
Question
![Evaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to
determine
1. Linear velocity and
2. Angular velocity
NOTE: for JOINT 3 ( 03 ) only
Connected
to robot
arm
Pitch
Roll
Yaw
Figure 2: Wrist assembly
The known position and orientation of the end of the arm point is.
C, C2
[-C,S2C3 + S¼S3
-S;S2C3 – C1S3
C2C3
C¡S2S3 + S1C3
S4S2S3 + C,C3
-C2S3
01
S,C2
S2
1
°T3=°T¡'T2²T3](/v2/_next/image?url=https%3A%2F%2Fcontent.bartleby.com%2Fqna-images%2Fquestion%2F95c39ab9-3b37-46f1-a8c4-1dbfb16acfca%2Fcfb72196-cddd-4776-ac18-0b84be1ac63b%2F4ol3xst_processed.png&w=3840&q=75)
Transcribed Image Text:Evaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to
determine
1. Linear velocity and
2. Angular velocity
NOTE: for JOINT 3 ( 03 ) only
Connected
to robot
arm
Pitch
Roll
Yaw
Figure 2: Wrist assembly
The known position and orientation of the end of the arm point is.
C, C2
[-C,S2C3 + S¼S3
-S;S2C3 – C1S3
C2C3
C¡S2S3 + S1C3
S4S2S3 + C,C3
-C2S3
01
S,C2
S2
1
°T3=°T¡'T2²T3
Expert Solution
![](/static/compass_v2/shared-icons/check-mark.png)
This question has been solved!
Explore an expertly crafted, step-by-step solution for a thorough understanding of key concepts.
This is a popular solution!
Trending now
This is a popular solution!
Step by step
Solved in 2 steps with 1 images
![Blurred answer](/static/compass_v2/solution-images/blurred-answer.jpg)
Knowledge Booster
Learn more about
Need a deep-dive on the concept behind this application? Look no further. Learn more about this topic, mechanical-engineering and related others by exploring similar questions and additional content below.Recommended textbooks for you
![Elements Of Electromagnetics](https://www.bartleby.com/isbn_cover_images/9780190698614/9780190698614_smallCoverImage.gif)
Elements Of Electromagnetics
Mechanical Engineering
ISBN:
9780190698614
Author:
Sadiku, Matthew N. O.
Publisher:
Oxford University Press
![Mechanics of Materials (10th Edition)](https://www.bartleby.com/isbn_cover_images/9780134319650/9780134319650_smallCoverImage.gif)
Mechanics of Materials (10th Edition)
Mechanical Engineering
ISBN:
9780134319650
Author:
Russell C. Hibbeler
Publisher:
PEARSON
![Thermodynamics: An Engineering Approach](https://www.bartleby.com/isbn_cover_images/9781259822674/9781259822674_smallCoverImage.gif)
Thermodynamics: An Engineering Approach
Mechanical Engineering
ISBN:
9781259822674
Author:
Yunus A. Cengel Dr., Michael A. Boles
Publisher:
McGraw-Hill Education
![Elements Of Electromagnetics](https://www.bartleby.com/isbn_cover_images/9780190698614/9780190698614_smallCoverImage.gif)
Elements Of Electromagnetics
Mechanical Engineering
ISBN:
9780190698614
Author:
Sadiku, Matthew N. O.
Publisher:
Oxford University Press
![Mechanics of Materials (10th Edition)](https://www.bartleby.com/isbn_cover_images/9780134319650/9780134319650_smallCoverImage.gif)
Mechanics of Materials (10th Edition)
Mechanical Engineering
ISBN:
9780134319650
Author:
Russell C. Hibbeler
Publisher:
PEARSON
![Thermodynamics: An Engineering Approach](https://www.bartleby.com/isbn_cover_images/9781259822674/9781259822674_smallCoverImage.gif)
Thermodynamics: An Engineering Approach
Mechanical Engineering
ISBN:
9781259822674
Author:
Yunus A. Cengel Dr., Michael A. Boles
Publisher:
McGraw-Hill Education
![Control Systems Engineering](https://www.bartleby.com/isbn_cover_images/9781118170519/9781118170519_smallCoverImage.gif)
Control Systems Engineering
Mechanical Engineering
ISBN:
9781118170519
Author:
Norman S. Nise
Publisher:
WILEY
![Mechanics of Materials (MindTap Course List)](https://www.bartleby.com/isbn_cover_images/9781337093347/9781337093347_smallCoverImage.gif)
Mechanics of Materials (MindTap Course List)
Mechanical Engineering
ISBN:
9781337093347
Author:
Barry J. Goodno, James M. Gere
Publisher:
Cengage Learning
![Engineering Mechanics: Statics](https://www.bartleby.com/isbn_cover_images/9781118807330/9781118807330_smallCoverImage.gif)
Engineering Mechanics: Statics
Mechanical Engineering
ISBN:
9781118807330
Author:
James L. Meriam, L. G. Kraige, J. N. Bolton
Publisher:
WILEY