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part-1link parametersbull a draw a cad model of


Part-1

Link parameters

• a) Draw a CAD model of an RR link shown in Fig.

You may represent an R joint as in Fig or using a cylinder.

• b) Create a coordinate frame on the link following the D-H convention.

• c) The parameters shown in Fig. are different from the D-H link parameters. Give the D-H parameters of the link.

393_Create a CAD model of the planar robot.png

Kinematic modelling of a planar robot

• a) Create a CAD model of the planar robot and the target object shown in Fig using a CAD software.

• b) Derive the matrice 1710_Create a CAD model of the planar robot1.png

• c) Obtain 1402_Create a CAD model of the planar robot2.png using CAD software.

• d) Verify  243_Create a CAD model of the planar robot3.png

• e) Can the end-effector reach the target?

• f) Verify whether the following equation is true Kinematic modelling of a planar robot

2106_Create a CAD model of the planar robot4.png

Part-3

Kinematic modelling of a planar robot

Target location:

1115_Create a CAD model of the planar robot5.png

Link parameters:

2372_Create a CAD model of the planar robot5.png

Joint angles:

369_Create a CAD model of the planar robot6.png

965_Create a CAD model of the planar robot7.png

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