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```									ME 456 - Fall 2001 - H3                           Name ________________________

Perform forward position solutions at POSITION A and inverse position solutions at POSITION
B for the simple manipulator geometries listed below. To resolve anthropomorphic elbow
configuration assume joint angles at POSITION B are within 10 degrees of corresponding angles
at POSITION A.

IN-LINE CYLINDRICAL
POSITION A                             |   POSITION B
r = 1000 mm       x = ____________     |   r = ____________     x = 689 mm
 = 30 deg        y = ____________     |    = ____________     y = 579 mm
z = 400 mm        z = ____________     |   z = ____________     z = 600 mm

IN-LINE SPHERICAL
POSITION A                             |   POSITION B
 = 900 mm        x = ____________     |    = ____________     x = 689 mm
 = 50 deg        y = ____________     |    = ____________     y = 579 mm
 = 25 deg        z = ____________     |    = ____________     z = 600 mm

IN-LINE ANTHROPOMORPHIC (r1 = 650 mm, r2 = 550 mm)
POSITION A                             |   POSITION B
 = 45 deg       x = ____________     |    = ____________    x = 689 mm
 = 20 deg       y = ____________     |    = ____________    y = 579 mm
 = 55 deg       z = ____________     |    = ____________    z = 600 mm

```
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