User Account

All Pages

Determine the rotation angle of the second degree of freedom

Assignment Help Mechanical Engineering
Reference no: EM13943816

The serial manipulator shown in figure 1 (in the attachment) is set in a configuration such that the pose of the effector with respect to a world reference frame, Rworld, is defined by the composed homogeneous transformation matrix, Qgripper/world, that follows (defined with respect to evolving reference frames):

1400_mat.png

On the other hand, the pose of the robot base with respect to the world reference frame, Rworld, is defined by the composed homogeneous transformation matrix, Qbase/world, that follows (defined with respect to evolving reference frames):

1558_mat1.png

212_fig1.png

Moreover, the Denavit-Hartenberg parameters of the manipulator in this configuration are defined as follows:

2449_tab.png

Determine the rotation angle of the second degree of freedom, theta2, that must be used to bring the effector to the specified configuration.

Reference no: EM13943816

Questions Cloud

How does character development help control stress : How does character development help control stress management, contribute to manners, and strengthen dealings with the public.
Query this database for several types of information & sort : The steps for the queries are listed in the textbook alphabetically. Use this alphabetic list for naming your queries as you save them. For instance, name the query created in step a as Query A, and so forth.
Identify the groups type and structure : Create an 8- to 12-slide Microsoft PowerPoint presentation covering either three existing or three new different group types, explaining how they benefit addiction treatment approaches. Include the following: Identify the groups' type
Compute the amount of cash collected from customers : Singleton Inc. had accounts receivable of $365,000 at January 1, 2009, and $410,000 at December 31, 2009. Compute the amount of cash collected from customers.
Determine the rotation angle of the second degree of freedom : Determine the rotation angle of the second degree of freedom, theta2, that must be used to bring the effector to the specified configuration.
Compute the amount of cash payments to suppliers : Blackmon Company reported net income of $805,000 and cost of goods sold of $1,525,000 on its 2009 income statement. Compute the amount of cash payments to suppliers.
Examine the website and locate treatment plans : Conduct an Internet search using the words addiction treatment plan. Reference your state's department of health and human services. Examine the website and locate treatment plans, sometimes abbreviated as ITPs (individual treatment plans)
Internal temperature of the sphere : A Hollow steel sphere contains 100 watt electrical filament inside it for heating. The other relevant data are as follows- Internal and external radius of the sphere = 0.24 and 0.32 m respectively.
Compute the amount of cash payments for operating expenses : Luna Inc. reported operating expenses of $130,000, excluding depreciation expense of $36,000 for 2009. Compute the amount of cash payments for operating expenses.

Reviews

Write a Review

Mechanical Engineering Questions & Answers

  1 kg of air is allowed to expand reversibly in a cylinder

1 kg of air is allowed to expand reversibly in a cylinder behind a piston in such a way that the temperature remains

  Calculate the actual value of the measured temperature

A J-type thermocouple with an ice-reference junction showed a reading of 22 mV. After the experiment it was found that the actual temperature of the reference junction was 4 °C instead of 0 °C. Calculate the actual value of the measured temperature.

  A two-dimensional jet in the form of a liquid sheet is

a two-dimensional jet in the form of a liquid sheet is turned through an angle of 30 degrees by a curved vane. derive

  Electrical conductivity of stainless steel at room

electrical conductivity of stainless steel at room temperature is 0.2 x 107 ?-1 m-1. a 10 foot long piece of stainless

  Propeller thrust and power

Calculate the total net thrust generated by the propeller. Calculate the propeller power used to generate thrust. The turbine driving the propeller generates 416 kW of power. Calculate the efficiency of the propeller.

  Validating a password protection system

Suggest how you would go about validating a password protection system for an application that you have developed. Explain the function of any tools that you think may be useful.

  Mechanical engineering questions

Define dynamic viscosity, Determine the centroid, Pressure due to the height of liquid, Advantage of changing the liquid, Calculate the total moment about the hinge of the seal gate.

  What is the outlet temperature and velocity of the gas

air at 30 celcius and 2 mpa flows at steady state in a horizontal pipeline with a velocity of 25ms . it passes through

  What is the force exerted by the atmosphere downward on the

a pressure vessel of radius 11.0 in is filled with a gas at a pressure of 550.0 psi gauge. the top of the vessel is

  Determine the a temperature of air before it enters the

consider an air conditioning system where warm humid air flows first over cooling coils where it is cooled and

  Determine the maximum allowable tensile load before

a 1 meter section of 1040 steel square tubing is loaded in tesnion. the tubing has an outer edge length of 10mm and a

  The mass flow rate is 119 kgs neglecting potential energy

steam enters a well-insulated turbine operating a steady state operating at a steady state at 4 mpa with a specific

Free Assignment Quote

Assured A++ Grade

Get guaranteed satisfaction & time on delivery in every assignment order you paid with us! We ensure premium quality solution document along with free turntin report!

Submit Assignment

Academics

Major Subjects

Majors

Get In Touch

whatsapp: +1-415-670-9521

Phone: +1-415-670-9521

Email: [email protected]

TERMS & POLICIES

HELP & SUPPORT

All rights reserved! Copyrights ©2019-2020 ExpertsMind IT Educational Pvt Ltd