3.4 [22] The arm with three degrees of freedöom shown in Fig. 3.30 has joints i and 2 perpendicular and joints 2 and 3 parallel. As pictured, all joints are at their zero location. Note that the positive sense of the joint angle is indicated. Assign link frames (0) through (3) for this arm-that is, sketch the arm, showing the attachment of the frames. Then derive the transformation matrices T, T, and ?T.

3.4 [22] The arm with three degrees of freedöom shown in Fig. 3.30 has joints i and 2 perpendicular and joints 2 and 3 parallel. As pictured, all joints are at their zero location. Note that the positive sense of the joint angle is indicated. Assign link frames (0) through (3) for this arm-that is, sketch the arm, showing the attachment of the frames. Then derive the transformation matrices T, T, and ?T.

Precision Machining Technology (MindTap Course List)

2nd Edition

ISBN:9781285444543

Author:Peter J. Hoffman, Eric S. Hopewell, Brian Janes

Publisher:Peter J. Hoffman, Eric S. Hopewell, Brian Janes

Chapter8: Computer Numerical Control

Section8.8: Computer-aided Design And Computer-aided Manufacturing

Problem 5RQ: What is the definition of entity?

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