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Chapter 03
Work Envelope Basics
Page 2
Configurations
Robot Joint Movement ConfigurationQUESTION: If M1 & M2 motors are allowed to rotate 180 counter-clockwise, from their initial positions, then what will be the maximum area, where the gripper tip can reach, for the following initial positions? (Make suitable assumptions)
| Configuration 1 | Configuration 2 | Configuration 3 |
|---|---|---|
lx(1) = 0.0;
ly(1) = 0.0;
lx(2) = lx(1) + L1;
ly(2) = ly(1) ;
lx(3) = lx(2) ;
ly(3) = ly(2) +L2;
|
lx(1) = 0.0;
ly(1) = 0.0;
lx(2) = lx(1) + L1 ;
ly(2) = ly(1) ;
lx(3) = lx(2) +L2 ;
ly(3) = ly(2) ;
|
lx(1) = 0.0;
ly(1) = 0.0;
lx(2) = lx(1) + L1 ;
ly(2) = ly(1) ;
lx(3) = lx(2) ;
ly(3) = ly(2) - L2 ;
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| (M1 Range of movement 0 to 180) M2 Range of movement 90 to -90 |
(M1 Range of movement 0 to 180) M2 Range of movement 0 to 180 |
(M1 Range of movement 0 to 180) M2 Range of movement -90 to +90 |
The answer is given on next page ......
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