PRR Robot Info

a2
50 mm
a3
50 mm
3 = H
-90 deg
VH
50 mm/s
AH
0 mm/s^2
2 = 2

Letter
J bottom

Initials Plot Points

xH (mm) yH (mm)
Point #
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33

15
75
45
45
41
30.5
15
108.1
93.1
82.5
75
75
82.5
93.1
108.1
181.1
166.1
155.5
148
148
155.5
166.1
181.1
193.4
193.4
166.1
208.4
208.4
248.4
314.43
299.43
288.83
281.33

80
80
80
42
28
17.8
17.8
80
80
69.3
56.4
41.4
28.4
17.8
17.8
80
80
69.4
56.4
41.4
28.4
17.8
17.8
26.4
41.4
41.4
80
17.8
17.8
80
80
69.3
56.4

time (s)
0
1.2
1.8
2.56
2.851204
3.143977
3.453977
5.693303
5.993303
6.294534
6.59297
6.89297
7.193136
7.49295
7.79295
9.711057
10.01106
10.31087
10.61104
10.91104
11.2112
11.51102
11.81102
12.11118
12.41118
12.95718
14.10248
15.34648
16.14648
17.96073
18.26073
18.56196
18.8604

Inverse Position
s1 (mm)
2 (deg) 3 (deg)
-25
35
5
-4.355851
-3.899889
-7.751274
-23.25127
68.1
53.1
36.37506
25.41129
25.74515
37.40632
54.84873
69.84873
141.1
126.1
109.417
98.41129
98.74515
110.4063
127.8487
142.8487
149.3201
144.1452
116.8452
168.4
170.1487
210.1487
274.43
259.43
242.7051
231.7413

36.8699
36.8699
36.8699
-9.206896
-26.10388
-40.09074
-40.09074
36.8699
36.8699
22.70584
7.354035
-9.904124
-25.59455
-40.09074
-40.09074
36.8699
36.8699
22.83011
7.354035
-9.904124
-25.59455
-40.09074
-40.09074
-28.1642
-9.904124
-9.904124
36.8699
-40.09074
-40.09074
36.8699
36.8699
22.70584
7.354035

-126.8699
-126.8699
-126.8699
-80.7931
-63.89612
-49.90926
-49.90926
-126.8699
-126.8699
-112.7058
-97.35404
-80.09588
-64.40545
-49.90926
-49.90926
-126.8699
-126.8699
-112.8301
-97.35404
-80.09588
-64.40545
-49.90926
-49.90926
-61.8358
-80.09588
-80.09588
-126.8699
-49.90926
-49.90926
-126.8699
-126.8699
-112.7058
-97.35404

34
35
36
37
38
39
40
41
42
43

Joint 1
x
-25
35
5
-4.355851
-3.899889
-7.751274
-23.25127
68.1
53.1
36.37506
25.41129
25.74515
37.40632
54.84873
69.84873
141.1
126.1
109.417
98.41129
98.74515
110.4063
127.8487
142.8487
149.3201
144.1452
116.8452
168.4
170.1487
210.1487

y
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100

281.33
288.83
299.43
314.43
334.4
334.4
334.4
364.4
364.4
364.4

41.4
28.4
17.8
17.8
80
17.8
48.9
48.9
17.8
80

19.1604
19.46057
19.76038
20.06038
21.36692
22.61092
23.23292
23.83292
24.45492
25.69892

232.0752
243.7363
261.1787
276.1787
294.4
296.1487
284.4121
314.4121
326.1487
324.4

Joint Trajectories
Joint 2
Joint 3 (end effector)
x
y
x
y
15
130
15
80
75
130
75
80
45
130
45
80
45
92
45
42
41
78
41
28
30.5
67.8
30.5
17.8
15
67.8
15
17.8
108.1
130
108.1
80
93.1
130
93.1
80
82.5
119.3
82.5
69.3
75
106.4
75
56.4
75
91.4
75
41.4
82.5
78.4
82.5
28.4
93.1
67.8
93.1
17.8
108.1
67.8
108.1
17.8
181.1
130
181.1
80
166.1
130
166.1
80
155.5
119.4
155.5
69.4
148
106.4
148
56.4
148
91.4
148
41.4
155.5
78.4
155.5
28.4
166.1
67.8
166.1
17.8
181.1
67.8
181.1
17.8
193.4
76.4
193.4
26.4
193.4
91.4
193.4
41.4
166.1
91.4
166.1
41.4
208.4
130
208.4
80
208.4
67.8
208.4
17.8
248.4
67.8
248.4
17.8

-9.904124
-25.59455
-40.09074
-40.09074
36.8699
-40.09074
-1.260609
-1.260609
-40.09074
36.8699

-80.09588
-64.40545
-49.90926
-49.90926
-126.8699
-49.90926
-88.73939
-88.73939
-49.90926
-126.8699

140
120
100
80

Y distance (mm)
60
40
20

-50

274.43
259.43
242.7051
231.7413
232.0752
243.7363
261.1787
276.1787
294.4
296.1487
284.4121
314.4121
326.1487
324.4

100
100
100
100
100
100
100
100
100
100
100
100
100
100

314.43
299.43
288.83
281.33
281.33
288.83
299.43
314.43
334.4
334.4
334.4
364.4
364.4
364.4

130
130
119.3
106.4
91.4
78.4
67.8
67.8
130
67.8
98.9
98.9
67.8
130

314.43
299.43
288.83
281.33
281.33
288.83
299.43
314.43
334.4
334.4
334.4
364.4
364.4
364.4

80
80
69.3
56.4
41.4
28.4
17.8
17.8
80
17.8
48.9
48.9
17.8
80

100
90
80
70
60
50
40
30
20
10
0

SH (mm)
x

Distance
SHy(mm)
60
-30
0
-4
-10.5
-15.5
93.1
-15
-10.6
-7.5
0
7.5
10.6
15
73
-15
-10.6
-7.5
0
7.5
10.6
15
12.3
0
-27.3
42.3
0
40
66.03
-15
-10.6
-7.5
0

0
0
-38
-14
-10.2
0
62.2
0
-10.7
-12.9
-15
-13
-10.6
0
62.2
0
-10.6
-13
-15
-13
-10.6
0
8.6
15
0
38.6
-62.2
0
62.2
0
-10.7
-12.9
-15

SH (mm)
60
30
38
14.56022
14.63865
15.5
111.9663
15
15.06154
14.9218
15
15.00833
14.99066
15
95.90537
15
14.99066
15.00833
15
15.00833
14.99066
15
15.00833
15
27.3
57.26474
62.2
40
90.71274
15
15.06154
14.9218
15

50

100

150

VH (mm/s)

VH (mm/s)

50
-50
0
-13.7360564
-35.863969
-50
41.5750135
-50
-35.1889637
-25.1310229
0
24.9861227
35.3553391
50
38.0583485
-50
-35.3553391
-24.9861227
0
24.9861227
35.3553391
50
40.9772412
0
-50
36.9337247
0
50
36.395109
-50
-35.1889637
-25.1310229
0

0
0
-50
-48.0761974
-34.8392842
0
27.7762174
0
-35.5209351
-43.2253593
-50
-43.3092793
-35.3553391
0
32.4277984
0
-35.3553391
-43.3092793
-50
-43.3092793
-35.3553391
0
28.650754
50
0
33.7031152
-50
0
34.2840494
0
-35.5209351
-43.2253593
-50

200

Velocity
Vs1 (mm/s)
50
-50
-37.5
-5.94347307
-18.7934534
-50
18.19293768
-50
-61.8296651
-43.2177554
-6.45308197
32.54801396
52.29064616
50
10.7605625
-50
-61.8718434
-43.2184554
-6.45308197
32.54801396
52.29064616
50
16.85897869
-26.7695541
-50
31.0490899
-37.5
50
7.534727106
-50
-61.8296651
-43.2177554
-6.45308197

250

300

7.5
10.6
15
19.97
0
0
30
0
0
-364.4

-13
-10.6
0
62.2
-62.2
31.1
0
-31.1
62.2
-80

15.00833 24.9861227 -43.3092793 32.54801396

14.99066 35.3553391 -35.3553391 52.29064616
15
50
0
50
65.32718 15.284602 47.606522 -24.7906642
62.2
0
-50
-37.5
31.1
0
50 -42.0901008
30
50
0
50
31.1
0
-50 1.100266297
62.2
0
50 -42.0901008
373.0782 -48.8369433 -10.7216121 -56.8781524

140
120
100
80

Prismatic Joint

Y distance (mm)

Revolute Joint

60

End Effector

40
20

-50

50

100

150

200

X distance (mm)

250

300

350

400

200

250

300

350

400

elocity
2 (rad/s)
0
0
-1.25
-0.974072915
-0.775932531
0
0.7261514228
0
-0.888023378
-0.937136401
-1.008294058
-0.879289685
-0.784041995
0
0.8477573306
0
-0.883883476
-0.939810966
-1.008294058
-0.879289685
-0.784041995
0
0.7490143631
1.1343031385
0
0.6842598642
-1.25
0
0.8962851519
0
-0.888023378
-0.937136401
-1.008294058

3 (rad/s)
0
0
1.25
0.97407292
0.77593253
0
-0.7261514
0
0.88802338
0.9371364
1.00829406
0.87928968
0.784042
0
-0.8477573
0
0.88388348
0.93981097
1.00829406
0.87928968
0.784042
0
-0.7490144
-1.1343031
0
-0.6842599
1.25
0
-0.8962852
0
0.88802338
0.9371364
1.00829406

As (mm/s )
2

Acceleration
2 (rad/s2)
3 (rad/s2)

0
0
0
0
97.65625
1.171875
48.0600592 -0.15379219
33.5229836 -0.295002256
0
0
34.4626353 -0.443878743
0
0
49.2865949 0.591439139
47.6003141 0.367474424
51.2544559 0.131211407
39.2423482 -0.134993678
34.0802662
-0.2944535
0
0
46.9718004 -0.604996789
0
0
48.828125
0.5859375
47.9160023 0.371828178
51.2544559 0.131211407
39.2423482 -0.134993678
34.0802662
-0.2944535
0
0
36.6669166 -0.472269885
72.9721942 -0.688857514
0
0
23.7647453 -0.081750724
97.65625
1.171875
0
0
52.5032881 -0.67624235
0
0
49.2865949 0.591439139
47.6003141 0.367474424
51.2544559 0.131211407

0
0
-1.171875
0.15379219
0.295002256
0
0.443878743
0
-0.59143914
-0.36747442
-0.13121141
0.134993678
0.2944535
0
0.604996789
0
-0.5859375
-0.37182818
-0.13121141
0.134993678
0.2944535
0
0.472269885
0.688857514
0
0.081750724
-1.171875
0
0.67624235
0
-0.59143914
-0.36747442
-0.13121141

-0.879289685 0.87928968 39.2423482 -0.134993678 0.134993678

-0.784041995
0.784042 34.0802662
-0.2944535
0.2944535
0
0
0
0
0
1.2445734863 -1.2445735 101.236049 -1.303920314 1.303920314
-1.25
1.25
97.65625
1.171875
-1.171875
1.3071459884 -1.307146 111.671484 -1.438328714 1.438328714
0
0
0
0
0
-1.000242088 1.00024209 50.036322 -0.022015982 0.022015982
1.3071459884 -1.307146 111.671484 -1.438328714 1.438328714
-0.268040304 0.2680403 4.49035027 0.053884203 -0.0538842

Prismatic Joint
Revolute Joint
End Effector

400

Y
15
45
75
45
41
30.5
15

X
80
80
80
42
28
17.8
17.8

Y
108.1
93.1
82.5
75
75
82.5
93.1
108.1

X
80
80
69.3
56.4
41.4
28.4
17.8
17.8

Y
181.1
166.1
155.5
148
148
155.5
166.1
181.1
193.4
193.4
166.1

80
80
69.4
56.4
41.4
28.4
17.8
17.8
26.4
41.4
41.4

Y
208.4
208.4
248.4

X
80
17.8
17.8

Y
314.43
299.43
288.83
281.33
281.33
288.83
299.43
314.43

X
80
80
69.3
56.4
41.4
28.4
17.8
17.8

334.4
334.4
334.4
364.4
364.4
364.4

Y
80
48.9
17.8
48.9
17.8
80