Kinematics of Industrial Robots by Wilmer Sanz
Author:Wilmer Sanz
Language: eng
Format: mobi
Published: 2016-01-27T22:00:00+00:00
Meanwhile, an elegant relationship between the vector s and the angle θ4 is easily obtained by dividing the entries(2,2)and (2,1) of the T matrix:
CHAPTER 6
KINEMATICS OF CYLINDRICAL ROBOT
“Dripping water hollows out stone, not through force but through persistence.”
Publio Ovidio Nasón
6.1.FUNCTIONAL REPRESENTATION AND COORDINATE SYSTEMS
The following analysis corresponds to the Cylindrical-UC Robot which was together developed by the School of Mechanic Engineering and the Laboratory of Robotics and Industrial Vision of the School of Electrical Engineering of the University of Carabobo (Venezuela). This Manipulator has a revolute joint constituting a fourth degree of freedom added after the standard RPP configuration of all cylindrical robots.
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