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  • Mechatronics System Design: Forward/Inverse Kinematics of A 5 Bar - 2 Dof Planar Mechanism by Ahmar Hayat

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    This document discusses forward and inverse kinematics calculations for a 5 bar planar mechanism with 2 degrees of freedom. It provides instructions to perform forward kinematics to find the x and y coordinates given the joint angles, and then to perform inverse kinematics to find the required joint angles to reach specified x and y coordinate points. The inverse kinematics process involves finding the link lengths, angles between links, and finally the joint angles needed to position the end effector at the target point.

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    Dr Ahmed Hussain Assignment

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    This document discusses forward and inverse kinematics calculations for a 5 bar planar mechanism with 2 degrees of freedom. It provides instructions to perform forward kinematics to find the x and y coordinates given the joint angles, and then to perform inverse kinematics to find the required joint angles to reach specified x and y coordinate points. The inverse kinematics process involves finding the link lengths, angles between links, and finally the joint angles needed to position the end effector at the target point.

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    36 views4 pages

    Mechatronics System Design: Forward/Inverse Kinematics of A 5 Bar - 2 Dof Planar Mechanism by Ahmar Hayat

    Uploaded by

    bakhtawar
    This document discusses forward and inverse kinematics calculations for a 5 bar planar mechanism with 2 degrees of freedom. It provides instructions to perform forward kinematics to find the x and y coordinates given the joint angles, and then to perform inverse kinematics to find the required joint angles to reach specified x and y coordinate points. The inverse kinematics process involves finding the link lengths, angles between links, and finally the joint angles needed to position the end effector at the target point.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
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    Mechatronics System Design

    Forward/Inverse Kinematics of a 5 Bar – 2 DoF Planar Mechanism


    By
    Ahmar Hayat
    Forward Kinematics
    • 

    • Ex=?, Ey=?
    Now find both angles for these values:
    • 

    Not possible? Because it’s a problem of Inverse


    Kinematics and we have done forward kinematics.
    So lets find out the points for the given set of
    angles:
    Assignment # 1: Perform Inverse kinematics
    • Do
      it yourself.
    • Hint:
    • Find
    • Find
    • Find
    • Finally find
    • Similarly for , find:

    • Finally find

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