planar pantograph-based leg, MATLAB Programming

The diagram shown on the next page represents a planar pantograph-based leg for a walking robot. This model utilizes only one DOF to generate the walking gait at the foot link 'n'. One rotary actuator drives joint 'q', while joints 'O' & 'U' are allowed to rotate about fixed axes.

  • You are to obtain the mathematical model equations of the leg's forward kinematics and to verify this model using simulation.

v Suggested Procedure: 

1)    Assign appropriate link frames.  Note that:

a)     This mechanism is a closed link chain.

b)    There are two fixed frames:  { U } & { O }.

c)     Joint angle 'q ' is the input variable (one DOF).

d)    Link lengths a, b, c, d, q and the distance 'm' are known.

2)    Obtain the forward kinematics equation :   [ OnT(q) ] , then find the  expressions for the position vector at the origin of the foot frame ( OPnorg  ) and the orientation of this frame ( OnR ).

3)      Write a Matlab routine to calculate the Cartesian trajectory of the foot position in response to one rotation of the input joint 'q'.  The routine should plot the input and output trajectories in Cartesian space.  You are free to use the link dimensions provided on the next page or select your own.  Verify the resulting amplification factor of this mechanism in either case.

                                     121_one DOF pantograph.png

Posted Date: 2/27/2013 7:25:33 AM | Location : United States







Related Discussions:- planar pantograph-based leg, Assignment Help, Ask Question on planar pantograph-based leg, Get Answer, Expert's Help, planar pantograph-based leg Discussions

Write discussion on planar pantograph-based leg
Your posts are moderated
Related Questions

Printing - matrices: For matrices, the MATLAB unwinds the matrix column by column. For illustration, consider the random 2 × 3 matrix as shown below: >> mat = randint(2,3,[

The mass of the spring-mass-damper system shown below was initially displaced by 1 meter to the right and then released. The subsequent acceleration of the mass was measured using

This problem description is taken from Illingworth and Golosnoy [1]: For physical systems of inhomogeneous composition, di usion is often observed to cause a change of phase, even

Given the following image, 1 2 1 1 2 0 0 1 5 1 0 1


drow midpoint circle for scan converting acircle in matlab

if i have a 3x2 double.. how can i run a for loop for this matrix so tht it can subtracted values of he adjacent neighbors?

Order of precedence: As with the numerical operators, it is significant to know that the operator precedence rules. Table below shows the rules for the operators which  have b

Relational Expressions: The Conditions in if statements use expressions which are theoretically, or logically, either true or false. These expressions are termed as relational