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  • Examen Ejersicio 3

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    Alan Montes
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    The document contains information about multiple coordinate frames and transformations between them, including rotation matrices. It provides the x, y, z coordinates and rotation values for different reference frames (A1, A2, A3 etc.) and calculates the rotation matrices and transformed coordinates between them.

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    examen ejersicio 3

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    The document contains information about multiple coordinate frames and transformations between them, including rotation matrices. It provides the x, y, z coordinates and rotation values for different reference frames (A1, A2, A3 etc.) and calculates the rotation matrices and transformed coordinates between them.

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    © All Rights Reserved
    Download as XLSX, PDF, TXT or read online from Scribd
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    16 views1 page

    Examen Ejersicio 3

    Uploaded by

    Alan Montes
    The document contains information about multiple coordinate frames and transformations between them, including rotation matrices. It provides the x, y, z coordinates and rotation values for different reference frames (A1, A2, A3 etc.) and calculates the rotation matrices and transformed coordinates between them.

    Copyright:

    © All Rights Reserved
    Download as XLSX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as xlsx, pdf, or txt
    of 1

    Ejercicio

    problema 3

    A) xi xi zi-1 zi1
    i ai alfha i (Grados) di theta i
    1 10 -90 0 θ1
    2 0 90 5 θ2
    3 5 0 0 θ3

    B) xi xi zi-1 zi1
    i ai alfha i (Grados) alfha i (Radianes) di theta i (Grados) theta i (Radianes)
    1 178 90 1.5707963267949 0 120 2.0943951023932
    2 179 90 1.5707963267949 49 0 0
    3 180 0 0 50 30 0.523598775598299

    A1 A2 A3
    -0.500 0.000 0.866 -89.000 1.000 0.000 0.000 179.000 0.866 -0.500 0.000 155.885
    0.866 0.000 0.500 154.153 0.000 0.000 -1.000 0.000 0.500 0.866 0.000 90.000
    0.000 1.000 0.000 0.000 0.000 1.000 0.000 49.000 0.000 0.000 1.000 50.000
    0.000 0.000 0.000 1.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 1.000

    C) H0-3=A1*A2*A3 A2*A3 A1*A2


    0.00 1.00 0.00 -136.06 0.87 -0.50 0.00 334.88 -0.50 0.87 0.00 -136.06
    1.00 0.00 0.00 513.67 0.00 0.00 -1.00 -50.00 0.87 0.50 0.00 333.67
    0.00 0.00 -1.00 -50.00 0.50 0.87 0.00 139.00 0.00 0.00 -1.00 0.00
    0.00 0.00 0.00 1.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 1.00

    i j k
    r03/00 -136.06 513.67 -50.00
    r03/01 334.88 -50.00 139.00
    r03/02 155.885 90.000 50.000

    0-S03-1 1-S03-2 2-S03-3


    0 -136.06 -513.67 0 334.88 50.00 0 155.88 -90.00
    0 x 513.67 = -136.06 0 x -50.00 = 334.88 0 x 90.00 = 155.88
    1 -50.00 0.00 1 139.00 0.00 1 50.00 0.00

    0-S03-1 1-S03-2 2-S03-3


    0 0 0
    0 0 0
    1 1 1
    -513.67 50.00 -90.00
    -136.06 334.88 155.88
    0.00 0.00 0.00

    R0-1
    0 0 1 0 0 0 1
    1 0 0 0 0 0 0
    0 1 0 0 0 0 0
    0 0 0 #NAME? #NAME? #NAME? #NAME?
    0 0 0 #NAME? #NAME? #NAME? #NAME?
    0 0 0 #NAME? #NAME? #NAME? #NAME?

    R0-2
    0 1 0 0 0 0 0
    1 0 0 0 0 0 0
    0 0 -1 0 0 0 -1
    0 0 0 #NAME? #NAME? #NAME? #NAME?
    0 0 0 #NAME? #NAME? #NAME? #NAME?
    0 0 0 #NAME? #NAME? #NAME? #NAME?

    0 1 #NAME? 0-wx-3
    0 0 #NAME? 0-wy-3
    1 0 #NAME? w1 0-wz-3 Vx03 -562
    x =
    -514 #NAME? #NAME? w2 Vx03 Vy03 64
    -136 #NAME? #NAME? w3 Vy03 Vz03 -91
    0 #NAME? #NAME? Vz03

    Vx03 -562 -514 #NAME? #NAME? w1


    Vy03 = 64 = -136 #NAME? #NAME? x w2
    Vz03 -91 0 #NAME? #NAME? w3

    -1
    -514 #NAME? #NAME? #NAME? #NAME? #NAME?
    -136 #NAME? #NAME? = #NAME? #NAME? #NAME?
    0 #NAME? #NAME? #NAME? #NAME? #NAME?

    w1 #NAME?
    w2 = #NAME? rad/s
    w3 #NAME?

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