The following dimensions are given for the above robot: h1 = 1200mm, h2 = 200mm, h3 = 450mm, h4 = 170mm.
The robot is required to push a workpiece whose location is given in the base frame at (0mm, 540mm, 1130mm) along a line whose direction cosines are (0.3,0.50,-0.66) against a force of 50N.
1. Using the dimensions given above, find the motor efforts requited to overcome the resistance from the work piece. 25% of the mark
2. Assume the base frame has been accurately situated and the axis of the first joint is perfectly vertical, use the data given in the attached Excel file to estimate the actual dimensions of the robot. Verify the outcome, noting that the real dimensions of the robot will be provided upon presentation of a proof that the calibration calculations have been completed. 40% of the mark
3. For the same task described above, calculate the motor effort again. 15% of the mark 20% of the mark is given on neatness and quality of the presented report, appendices, list of references etc.
Attachment:- measured_data_3D.xls