The RPH robot of Figure 3 is shown in its zero position. Determine the end- effector zero position configuration M, and the screw axes S; in {s}. n. F -inter Sorow of Zs № {s} ŷs Lo 0₁5 L2 02 {b} D03 zb = pitch h = Ấb ŷb 0.1 m/rad L3 Figure 3: An RPH open chain shown at its zero position. All arrows along/about the joint axes are drawn in the positive direction (i.e., in the direction of increasing joint value). The pitch of the screw joint is 0.1 m/rad, i.e., it advances linearly by 0.1 m for every radian rotated. The link lengths are Lo 4, L₁= 3, L2= 2, and L3 = 1 (figure not drawn to scale).
The RPH robot of Figure 3 is shown in its zero position. Determine the end- effector zero position configuration M, and the screw axes S; in {s}. n. F -inter Sorow of Zs № {s} ŷs Lo 0₁5 L2 02 {b} D03 zb = pitch h = Ấb ŷb 0.1 m/rad L3 Figure 3: An RPH open chain shown at its zero position. All arrows along/about the joint axes are drawn in the positive direction (i.e., in the direction of increasing joint value). The pitch of the screw joint is 0.1 m/rad, i.e., it advances linearly by 0.1 m for every radian rotated. The link lengths are Lo 4, L₁= 3, L2= 2, and L3 = 1 (figure not drawn to scale).
Elements Of Electromagnetics
7th Edition
ISBN:9780190698614
Author:Sadiku, Matthew N. O.
Publisher:Sadiku, Matthew N. O.
ChapterMA: Math Assessment
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Problem 1.1MA
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Question
![Problem 3:
The RPH robot of Figure 3 is shown in its zero position. Determine the end-
effector zero position configuration M, and the screw axes S; in {s}.
n. F -inta. Sorowo-
Zs
{s}
Xs
L₁
ŷs
Lo
0₁5
L2
02
{b}
zb
103
pitch h = 0.1 m/rad
Ấb
ŷb
L3
Figure 3: An RPH open chain shown at its zero position. All arrows along/about the
joint axes are drawn in the positive direction (i.e., in the direction of increasing joint
value). The pitch of the screw joint is 0.1 m/rad, i.e., it advances linearly by 0.1 m for
every radian rotated. The link lengths are Lo = 4, L₁= 3, L2= 2, and L3= 1
(figure not drawn to scale).](/v2/_next/image?url=https%3A%2F%2Fcontent.bartleby.com%2Fqna-images%2Fquestion%2F264c8d26-bec6-4d7b-8ae9-5722f54632ea%2F935a7432-0dc0-4266-8dea-2757ceff76ad%2F54z9mb_processed.jpeg&w=3840&q=75)
Transcribed Image Text:Problem 3:
The RPH robot of Figure 3 is shown in its zero position. Determine the end-
effector zero position configuration M, and the screw axes S; in {s}.
n. F -inta. Sorowo-
Zs
{s}
Xs
L₁
ŷs
Lo
0₁5
L2
02
{b}
zb
103
pitch h = 0.1 m/rad
Ấb
ŷb
L3
Figure 3: An RPH open chain shown at its zero position. All arrows along/about the
joint axes are drawn in the positive direction (i.e., in the direction of increasing joint
value). The pitch of the screw joint is 0.1 m/rad, i.e., it advances linearly by 0.1 m for
every radian rotated. The link lengths are Lo = 4, L₁= 3, L2= 2, and L3= 1
(figure not drawn to scale).
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