You are to design a pick-and-place robot using an RRPR 4 DOF SCARA (Selective Compliance Assembly Robot Arm) robot shown in the figure below. Take L1 = 0.5 m, L2 = 0.4 m, L3 = 0.1 m, and L4 = 0.3 m. 1.Redraw the robot in a clean and tidy way, then assign the frames to the joints using the DH convention. You MUST follow the depicted orientation and direction of the joints. 2.Using the D-H method, construct the Joint/Link Parameter Table.
You are to design a pick-and-place robot using an RRPR 4 DOF SCARA (Selective Compliance Assembly Robot Arm) robot shown in the figure below. Take L1 = 0.5 m, L2 = 0.4 m, L3 = 0.1 m, and L4 = 0.3 m. 1.Redraw the robot in a clean and tidy way, then assign the frames to the joints using the DH convention. You MUST follow the depicted orientation and direction of the joints. 2.Using the D-H method, construct the Joint/Link Parameter Table.
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You are to design a pick-and-place robot using an RRPR 4 DOF SCARA (Selective Compliance Assembly Robot Arm) robot shown in the figure below. Take L1 = 0.5 m, L2 = 0.4 m, L3 = 0.1 m, and L4 = 0.3 m.
1.Redraw the robot in a clean and tidy way, then assign the frames to the joints using the DH convention. You MUST follow the depicted orientation and direction of the joints.
2.Using the D-H method, construct the Joint/Link Parameter Table.
Transcribed Image Text:Link parameters
a-1
d,
i
2
3
4
1,
Transcribed Image Text:L2
L4
L3
d3
L1
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