Elements Of Electromagnetics
Elements Of Electromagnetics
7th Edition
ISBN: 9780190698614
Author: Sadiku, Matthew N. O.
Publisher: Oxford University Press
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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
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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
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
expand button
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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