Questions On The Robotic Fundamentals Module - 1089 Words

This document explains my approach to solve the coursework questions for the Robotic Fundamentals module. The coursework is divided into three different parts. The first part of the coursework asks to derive the forward and inverse kinematics of a serial manipulator (Lynxmotion arm AL5B) and plot its workspace and trajectories. The second part asks to develop a kinematic simulation of the parallel robot. The third part is an open-ended relevant topic. Matlab software is used here to create model for simulation. 2. Serial Robot Kinematics (Part 1) The 5 degree of freedom Lynxmotion arm AL5B consists of a base, a shoulder, a elbow, a wrist, a wrist rotation and a gripper. To analysis its kinematics, we need to first know the relationship between each link of the robot arms. Figure 2.0 AL5B Lynxmotion Robotic Arm 3.1 Joint and Link Structure Figure 2.1 Joint and Link Labeling First and foremost, we need to set up a model for analysis purposes. The names of joint and link are labeled accordingly. All joints here are revolute and the end effector is assigned as i6. (Figure 2.1) 3.2 Reference Frame for General Convention Figure 2.2 Reference Frame for General Convention For general convention, frames with same orientation are applied to all joints. (Figure 2.2) Each joint has a joint variable, either revolute or prismatic. The individual transformation matrix can be derived to describe the variable change from joint (i-1) to i. TheShow MoreRelatedHopping Motion With SEMG Patterns Lab Analysis1440 Words   |  6 Pagessynergies to simplify the generation of compliant dynamic gait, such as hopping, based on sEMG for biomechanical leg control. Two questions were analyzed and discussed in the paper, the first one concerning whether the same set of muscle synergies can explain the different phases of jumping movement with various velocities. 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