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MAE593 Project Presentation

MAE593 Project Presentation. PPRR Serial Manipulator By Weiliang Kong. PPRR Serial Manipulator. PPRR Serial manipulator has two End- Effecter-DOF,RR manipulator mounted on the base of two prismatic joints. The two prismatic joints slid on both X and Y axis.

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MAE593 Project Presentation

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  1. MAE593 Project Presentation PPRR Serial Manipulator By Weiliang Kong

  2. PPRR Serial Manipulator • PPRR Serial manipulator has two End- Effecter-DOF,RR manipulator mounted on the base of two prismatic joints. The two prismatic joints slid on both X and Y axis. • The project contains: Forward and Inverse Kinematics, Workspace analysis, and tracing a circle.

  3. Forward Kinematics 2-D PPRR serial manipulator has four degree of freedom, so there are four parameters. In the project, L1,L2,x0,y0 are 4, 4.5, 1 and 1 respectively.

  4. Inverse Kinematics • 4-DOF PPRR manipulator in 2-D workspace, is a redundant system. • Inverse Kinematics solutions are infinite. (Two equation, four unknown parameters) • Pseudo inverse of Jacobian matrix can get an ODE • Solve the ODE can get the solution vectors of the four unknown parameters.

  5. Jacobian matrix • General coordinate • Jacobian matrix

  6. Circle Tracing • Circle equation

  7. General coordinates ODE

  8. Workspace

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