CAREDA | FERNANDO
Mee 193
SHowN BELOW IS A Const
ONE PRISMATIC JOINT
OFFSET oF f, From THE
DISTANCE BETWEEN POINT 9 ANG PONT
A
BETWEEN GA AND AG IS 90 a ConsTANT =AS WELL -
WHOSE DISPLACEMENT IS GIVEN By ouTANCE J , A VARIABLE , USING
PARAMETERS AND JONT OSPLACEMENTS qHown IN HeuRE , ANSWER THE:
fo) OBTAIN He KINEMATIC EOATONS RELATING THE END - EFFEcTER postion
ORIENTATION TO THE JOINT PISA CEMENT
th) gowT 1 can Rorare = ferween 45" ano n5"
| Pep goin 3
90° % +90" WHE JON 2 caw wove Feom J, To 2p, . SkercH THE Wo
OF THE ENP -EFFECrER E MMIN HE oy plane.
fe) SOLVE THE INVERSE KINEMATICS -PROMLEMm Te “FIND JOINT IS PLA CEWENTS LEADING
THe ENO-EFFEcTER fo A OESRED FOSMON AND ORIENTATION | Xe yu, , ghSoLotion
(a)
THe
be
Xe
Ce
—
= fi sine, 4 0 [se fone
Meee
2 xe 7 fos be
Yen he Se he
= ees)
= ht d® = 2fid esp
- (32
70"
be = tft ake
ee fale
Amar ae
fen b=) a co (Saas)
Ti