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For the robot shown in Fig 1. Midterm ME596 Robotics

Category: Engineering Paper Type: Online Exam | Quiz | Test Reference: APA Words: 500

a). Set up coordinate systems of all joints based on the procedure you observed in the class, and determine Davit- Harden berg parameters.

Translation along Zn

           

         Rotation about Zn 





n

d

1

0

0.3 m

0.30049

0.00043

2

0

0.25 m

0.30049

0.000087

3

0

0.1 m

0.30049

0.002094

4

0

0

0.30049

0

 

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