
Elements Of Electromagnetics
7th Edition
ISBN: 9780190698614
Author: Sadiku, Matthew N. O.
Publisher: Oxford University Press
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Transcribed Image Text:Determine the D-H parameters (D-H table) of the tool point Pe with respect to the base
for the following 6 DOF manipulator.
Z2
ZI
0₁
ZO
Frame {2} &
X3
X2
O₂ and O₂ are same
Frame {1}
d2
Frame {3}
Oo
Z3
X1
Frame {0}
хо
ZA
X5
Frame {4} &
Figure 1 6-DOF (Industrial manipulator arm)
Frame {5}
X4
04 and 0, are
same
Z5
Z6
Frame {6}
X6
End Effector P
06
حمد

Transcribed Image Text:Provide the answers in Table Format
Link i
i
0
1
1
2
2
3
3
44556
6
Transformations
ºT₁
¹T₂
213
3T4
4T5
5T6
Joint
Link
Revolute Joint Link Length Link Twist
Ꮎ
a
Prismatic Joint
d
α
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- 1. How many points of contact are used to establish the following datums ? A _____________ B ____________ C _____________ Identify the following items for each of the datum targets :a) the datum reference, b) the specified number on the datum, c) the area size and the shape.arrow_forwardFor the two link manipulator shown below, the force acting on the origin of frame 2 is: F=f, f$ O Save X, L2 X, L, , Z2 *Zo,1 O [fi cos®2] Lf; sind2 O [ facos01 fysind1 fx O [ fa sind2 [ fycos02arrow_forwardWhich datum has size? Please refer to image attached.arrow_forward
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