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How does robot link length affect the workspace?
The area of workspace in the XZ and YZ plane goes on decreasing as the link length ratio increases. From the above workspace plots we observe that a link length ratio of 0.4 gives maximum diameter to the workspace. We have observed that when the link length ratio is small, the delta robot has a hollow workspace.
What is the main purpose to study the robot kinematics?
Robot kinematics studies the relationship between the dimensions and connectivity of kinematic chains and the position, velocity and acceleration of each of the links in the robotic system, in order to plan and control movement and to compute actuator forces and torques.
What is reachable workspace in robotics?
The reachable workspace is the volume whereby the end effector is capable of reaching each point within the space in at least one orientation while the dexterous workspace has the end effector capable of reaching all points in all orientations.
What is kinematic mapping?
Kinematic mapping is used for preliminary development of an algorithm for the approximate synthesis of planar four-bar mechanisms for rigid body guidance. Planar mechanism coupler motions are represented as the curves of intersection of a pair of quadric constraint surfaces, one for each of two dyads.
What does a robot manipulator link object hold?
Robot manipulator Link class A Link object holds all information related to a robot link such as kinematics parameters, rigid-body inertial parameters, motor and transmission parameters. Methods A link transform matrix RP
What are the parameters of a link object?
L= Link(options) is a link object with the kinematic and dynamic parameters specified by the key/value pairs. Options ‘theta’, TH joint angle, if not specified joint is revolute
What kind of information does a link hold?
A Link object holds all information related to a robot link such as kinematics parameters, rigid-body inertial parameters, motor and transmission parameters. Methods A