ENGIN5304 Advanced Robotics Assignment

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Reference no: EM132647786

ENGIN5304 Advanced Robotics - Federation University

It is required to trace the surface of the semicircular work piece whereby the tool r3 has to remain aligned along the radius during the operation.

The radius of the work piece is 70 mm and its centre, c, is located at (190 mm, 300 mm).

The robot origin is located at (406.5 mm, 425 mm) and its dimensions, r2 and r3, are given as 250 mm and 80 mm, respectively. During tracing, a radial contact force of 50 N will apply.

Calculate the number of degrees of freedom of the robotic structure

Suggest a reasonable value for the linear actuator displacement during the tracing process and justify your choice.

Graph the trajectories of the joint displacements during the tracing process

Graph the trajectory of the motor effort (torque or force) during the tracing process

Neatness, adequacy and formatting of the report and graphs Expectation:
• Neatly typed report to explain the theory and process used with typed equations to describe the mathematical models.
• Matlab code to show the workings of the problem and the obtained results
• A conclusion at the end of the report to discuss the results

Reference no: EM132647786

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ENGIN5304 Advanced Robotics Assignment : ENGIN5304 Advanced Robotics Assignment Help and Solution, Federation University - Assessment Writing Service

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