Note/I want solve questionThe arm with three degrees of freedom shown in Fig. 3.29 is like the one inExample 3.3, except that joint l's axis is not parallel to the other two. Instead,there is a twist of 90 degrees in magnitude between axes 1 and 2. Derive linkparameters and the kinematic equations for Note that no 13 need be defined 83L2L1FIGURE 3.29: The 3R nonplanar arm (Exercise 3.3). EXAMPLE 3.3Figure 3.6(a) shows a three-link planar arm. Because all three joints are revolute,this manipulator is sometimes called an RRR (or 3R) mechanism. Fig. 3.6(b) is aschematic representation of the same manipulator. Note the double hash marks70 Chapter 3Manipulator kinematics(a)(b)

Answered: L2 02 L1 FIGURE 3.29: The 3R nonplanar…

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

Section: Chapter Questions

Problem 1.1MA

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Note/I want solve question

The arm with three degrees of freedom shown in Fig. 3.29 is like the one in
Example 3.3, except that joint l's axis is not parallel to the other two. Instead,
there is a twist of 90 degrees in magnitude between axes 1 and 2. Derive link
parameters and the kinematic equations for Note that no 13 need be defined

83
L2
L1
FIGURE 3.29: The 3R nonplanar arm (Exercise 3.3).

EXAMPLE 3.3
Figure 3.6(a) shows a three-link planar arm. Because all three joints are revolute,
this manipulator is sometimes called an RRR (or 3R) mechanism. Fig. 3.6(b) is a
schematic representation of the same manipulator. Note the double hash marks
70 Chapter 3
Manipulator kinematics
(a)
(b)

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