Individual homewirk #3

Student name: Nguyễn Quang Thiên Vinh Student ID: 1552433

Class/Group: Non-thesis Date: May 7, 2019

My student ID is 1552433. Thus

XX = 15

YY = 52

ZZZ = 433

a. Schematic diagram:
b. Coordinate frames
c. D-H parameters

Link a α d θ
1 0 -900 l1 θ1
2 l2 0 0 θ2
3 l3 0 0 θ3

d. Transfromation matrices

cos 1 0  sin 1 0 
 sin  0 cos 1 0 
0
T   1
1
 0 1 0 l1 
 
 0 0 0 1

cos 2  sin  2 0 l2 cos 2 

 sin  cos 2 0 l2 sin  2 
2T 
1  2

 0 0 1 0 
 
 0 0 0 1 

cos 3  sin  3 0 l3 cos 3 

 sin  cos 3 0 l3 sin  3 
3T 
2  3

 0 0 1 0 
 
 0 0 0 1 
 e. Forward-pose kinematics solution

T  01T 21T 23T

0
3

cos1 0  sin 1 0  cos 2  sin  2 0 l 2 cos 2  cos 3  sin  3 0 l3 cos 3 

 sin  0 cos1 0   sin  2 cos 2 0 l 2 sin  2   sin  3 cos 3 0 l3 sin  3 
 1

 0 1 0 l1   0 0 1 0  0 0 1 0 
   
 0 0 0 1  0 0 0 1  0 0 0 1 
cos1 cos 2  cos1 sin  2  sin 1 l 2 cos1 cos 2  cos 3  sin  3 0 l3 cos 3 
 sin  cos  sin 1 sin  2 cos1 l 2 sin 1 cos 2   sin  3 cos 3 0 l3 sin  3 
 1 2

  sin  2  cos 2 0 l1  l 2 sin  2   0 0 1 0 

  
 0 0 0 1  0 0 0 1 
c1c 2 c 3  c1 s 2 s 3  c1c 2 s 3  c1 s 2 c 3  s 1 l3 c1c 2 c 3  l3 c1 s 2 s 3  l 2 c1c 2 
 s c c  s s s  s1c 2 s 3  s1 s 2 c 3 c1 l3 s1c 2 c 3  l3 s1 s 2 s 3  l 2 s1c 2 
 1 2 3 1 2 3

  s 2 c 3  c 2 s 3 s 2 s 3  c 2 c 3 0  l3 s 2 c 3  l3 c 2 s 3  l1  l 2 s 2 
 
 0 0 0 1 
cos1 cos( 2   3 )  cos1 cos( 2   3 )  sin 1 l3 cos1 cos( 2   3 )  l 2 cos1 cos 2 
 sin  cos(   )  sin  cos(   ) cos l3 sin 1 cos( 2   3 )  l 2 sin 1 cos 2 
 1 2 3 1 2 3 1

  sin( 2   3 )  cos( 2   3 ) 0  l3 sin( 2   3 )  l1  l 2 sin  2 

 
 0 0 0 1 
 x  l2 cos1 cos 2  l3 cos1 cos( 2   3 )

 y  l2 sin 1 cos 2  l3 sin 1 cos( 2   3 )
 z  l1  l2 sin  2  l3 sin( 2   3 )


f. Coordinates of D in {0} when θ1 = θ2 = θ3 = 00

 l1  XX  15(m)

l2  XX  ZZZ  15  433  448(m)
 l  YY  ZZZ  52  433  485(m)
3

 xD  448 cos 00 cos 00  485 cos 00 cos(00  00 )  933(m)


 yD  448 sin 0 cos 0  485 sin 0 cos(0  0 )  0
0 0 0 0 0

 z D  15  448 sin 00  485 sin( 00  00 )  15(m)


g. Plot of changes in coordinates of point D