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Part-1
Link parameters
• a) Draw a CAD model of an RR link shown in Fig.
You may represent an R joint as in Fig or using a cylinder.
• b) Create a coordinate frame on the link following the D-H convention.
• c) The parameters shown in Fig. are different from the D-H link parameters. Give the D-H parameters of the link.
Kinematic modelling of a planar robot
• a) Create a CAD model of the planar robot and the target object shown in Fig using a CAD software.
• b) Derive the matrice
• c) Obtain using CAD software.
• d) Verify
• e) Can the end-effector reach the target?
• f) Verify whether the following equation is true Kinematic modelling of a planar robot
Part-3
Target location:
Link parameters:
Joint angles:
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