Mae593 Project Presentation
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This document summarizes a project presentation on a PPRR serial manipulator. The manipulator has two degrees of freedom in the end effector and consists of an RR manipulator mounted on two prismatic joints that slide along the X and Y axes. The project involves forward and inverse kinematics analysis, workspace analysis, and using the manipulator to trace a circle. Inverse kinematics is challenging due to the redundant degrees of freedom.
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MECH572-lecture8.ppt introduction to robotics
This document summarizes key concepts in robot kinematics including inverse kinematics, velocity analysis, acceleration analysis, singularity analysis, and static analysis. It discusses the inverse kinematics problem for 6 degree-of-freedom decoupled manipulators and how to solve for individual joint angles. It also describes how the Jacobian matrix maps between joint and end-effector velocities and accelerations. Singularity analysis focuses on identifying configurations where the manipulator loses mobility. Static analysis establishes the relationship between joint torques and end-effector wrenches. The document concludes by assigning problems from the textbook.
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error.
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MAE593 Final Project Presentation
The document presents two types of robotic manipulators: a PPRR manipulator that can be positioned anywhere in its workspace to trace ellipses of different weights, and a 4RRR parallel manipulator with a rhombic link structure that can trace circles and ellipses through inverse kinematics and varying simulation parameters like link lengths and angles. Key implementation details are solving the differential equations through Runge-Kutta methods for the PPRR and using the null space for velocity-level kinematics in the 4RRR.
Industrial Robots
The document discusses manipulator kinematics, which refers to the position and orientation of a robot's end effector as a function of time, without regard to forces or mass. It describes different methods for representing an end effector's position, including joint space and world space methods. The key difference between forward and backward transformations is that forward transformation maps from joint space to world space, while backward transformation maps from world space to joint space. Accuracy refers to how well a robot can reach a desired location, while repeatability refers to how well it can return to a previously taught point.
4_6 Forward kinematics ROBOTICS ENGINNERING.ppt
The document discusses modeling and kinematics concepts for robotics including forward kinematics. It covers topics such as modeling assumptions, spatial coordinates to define pose as position and orientation, rotation matrices to represent orientation, homogeneous coordinates for compact representation of pose, and Denavit-Hartenberg parameters for assigning frames to robot links to enable kinematic analysis. The goal is to obtain an expression for the end effector pose as a function of joint variables and link geometry.
Dumitru Vulcanov - Numerical simulations with Ricci flow, an overview and cos...
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Introduction to Robotics.pptx
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Mae593 Project Presentation
- 1. MAE593 Project Presentation PPRR Serial Manipulator By Weiliang Kong
- 3. Forward Kinematics 2-D PPRR serial manipulator has four degree of freedom, so there are four parameters. In the project, L1,L2,x0,y0 are 4, 4.5, 1 and 1 respectively.
- 8. Workspace