Kinematics and Dynamics of a Three-D RRR-RRR Manipulator Dionisio Del Vescovo 2014/2015 Course RRR-RRR Robot (2014/2015 Course) Mechanics of Robot Manipulator 1 / 14 Three-D RRR-RRR Robot Manipulator Articulated basic structure: three revolute principal joints (RRR), for which each axis is perpendicular to the previous one. Spherical wrist (RRR). Figure: Robot sketch RRR-RRR Robot (2014/2015 Course) Mechanics of Robot Manipulator 2 / 14 Part 1 - Kinematics of Position: analytical analysis For the depicted joint axes Ai , according to Denavit & Hartenberg locate the local reference frames and determine the parameters. In closed analytical form, calculate the homogeneous transformation matrices M0i , using the numerical values of the link twists αi . Solve the direct and inverse kinematic problems. Execute symbolic calculations, thinking of MATLABc programming. (a) Null joint variable configuration RRR-RRR Robot (2014/2015 Course) (b) Joint axes Mechanics of Robot Manipulator 3 / 14 Part 2 - Kinematics of Position: MATLABc programming In MATLAB environment, implement the Kinematics of Position performed in Part 1. To this purpose the archive Posizion.zip is supplied: the files contained in it may be completed and used to accomplish this assignment or just regarded as templates, especially for input and out arguments. Define a tool coordinate system, assuming a 2-jaw parallel gripper. Check the Kinematic Analysis of Position, i.e. the equations first formulated and then programmed, by means of the provided programs MoveJoints.m and Ver_Pos_Inv.m; these programs are both complete. Comment the results obtained by proposing different case studies from those provided. RRR-RRR Robot (2014/2015 Course) Mechanics of Robot Manipulator 4 / 14