ME 4135 Homework on Inverse Kinematics

testybelchMechanics

Nov 14, 2013 (3 years and 4 months ago)

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ME 4135 Homework on Inverse Kinematics

Due Friday 19 Oct

1. Build the IKS for the 6 axis Epson C3 robot in our lab. (Be careful as you apply standard models and
the
ir

frame
s

when considering what is
required
by

Epson
’s user interface
).

2. Build the IKS model for the 4 Axis G3 SCARA robot


it should be consider as holding a 1 jointed wrist

3. Build the IKS model for the Plastic hand robot (Lindeke’s Folly) from our lectures. Consider that the
d2 offset is 1.5 rather than 0.5 inches.
[
A
s this machine has 4 arm joints


it would have a very high
(infinite
?
) number of solutions to the 3
(

2
-


3


d4)
out of X0
-
Y0 planer joints so develop a boundary
based solution for

2
-


3


d4 variables in

XY


--


Z wrist center space

at either (ultim
ately both!) a right
shoulder or left shoulder

1 solution.]