Individual homework #3

Student name: Phm Minh Thin Thnh

Student ID: 21303683

Class / group: CK13KSCD

My student ID is 21303683. Thus
XX = 21
UU = 30
YY = 36
ZZ = 83
a. Schematic diagram

b. Coordinate frames

1 10,4t

l1 21

2 11,3t

l 2 51

3 11,9t

l3 57

c. D-H parameters
i

ai

di

-900

21

51

57

d. Transformation matrices
cos1
sin
1
0

1T
0

cos 2
sin
2
1

2T
0

0 sin 1
0 cos1
1
0
0
0

sin 2
cos 2
0
0

0
0
21

0 51cos 2
0 51sin 2
1
0

0
1

 cos 3
sin
3
2

3T
0

sin 3
cos 3
0
0

0 57 cos 3
0 57 sin 3

1
0

0
1

cos 1 cos( 2 3 ) cos 1 sin( 2 3 ) sin 1

sin cos( ) sin sin( ) cos
1
2
3
1
2
3
1
0

3
sin( 2 3 )
cos( 2 3 )
0

0
0
0

51 cos 1 cos 2 57 cos 1 cos( 2 3 )

51sin 1 cos 2 57 sin 1 cos( 2 3 )

21 51sin 2 57 sin( 2 3 )

e. Forward-pose kinematics solution

x 51 cos 1 cos 2 57 cos 1 cos( 2 3 )

y 51sin 1 cos 2 57 sin 1 cos( 2 3 )

z
21 51sin 2 57 sin( 2 3 )

f. Coordinates of point D in {0} when

1 2 3 0

x D 108

yD 0
z 21
D

g. Plot of changes in coordinates of point D