Question

For this problem, refer to the drawings shown. The mechanisms are not necessarily drawn to scale. Use the GCS shown for each mechanism. All angles shown are measured from the positive x direction. Remember to use common conventions when necessary. a. Write a MATLAB script that calculates the position of point P on the robot (leftmost drawing) with respect to the GCS, and generates a plot of the kinematic diagram of the mechanism (just a "skeleton drawing" is fine) when $\theta_2 = \theta_5 = 300^\circ$, $\theta_4 = 210^\circ$, $\theta_6 = 20^\circ$. Let h = 0.03m, d = 0.5m, a = 1m, b = 0.6m, c = 0.4m, $L_1 = 0.4m$, $L_2 = 0.1m$. b. SPECIFY YOUR FINAL ANSWER for the global position of P. c. INCLUDE A PICTURE OF YOUR PLOT. d. Write a MATLAB script that calculates the positions of points Q and R on the linkage (rightmost drawing) with respect to the GCS when $\theta_2 = 0$. Let d = 1.2ft, a = 0.3ft, b = 0.9ft, c = 0.8ft, $L_1 = 0.4ft$, $L_2 = 0.3ft$. e. SPECIFY YOUR FINAL ANSWER for the global positions of Q and R.

          For this problem, refer to the drawings shown. The mechanisms are not necessarily drawn to scale.
Use the GCS shown for each mechanism. All angles shown are measured from the positive x direction.
Remember to use common conventions when necessary.
a. Write a MATLAB script that calculates the position of point P on the robot (leftmost drawing)
with respect to the GCS, and generates a plot of the kinematic diagram of the mechanism (just a
"skeleton drawing" is fine) when $\theta_2 = \theta_5 = 300^\circ$, $\theta_4 = 210^\circ$, $\theta_6 = 20^\circ$. Let h = 0.03m, d = 0.5m,
a = 1m, b = 0.6m, c = 0.4m, $L_1 = 0.4m$, $L_2 = 0.1m$.
b. SPECIFY YOUR FINAL ANSWER for the global position of P.
c. INCLUDE A PICTURE OF YOUR PLOT.
d. Write a MATLAB script that calculates the positions of points Q and R on the linkage (rightmost
drawing) with respect to the GCS when $\theta_2 = 0$. Let d = 1.2ft, a = 0.3ft, b = 0.9ft, c = 0.8ft,
$L_1 = 0.4ft$, $L_2 = 0.3ft$.
e. SPECIFY YOUR FINAL ANSWER for the global positions of Q and R.

For this problem, refer to the drawings shown. The mechanisms are not necessarily drawn to scale.
Use the GCS shown for each mechanism. All angles shown are measured from the positive x direction.
Remember to use common conventions when necessary.
a. Write a MATLAB script that calculates the position of point P on the robot (leftmost drawing)
with respect to the GCS, and generates a plot of the kinematic diagram of the mechanism (just a
"skeleton drawing" is fine) when θ2 = θ5 = 300^∘, θ4 = 210^∘, θ6 = 20^∘. Let h = 0.03m, d = 0.5m,
a = 1m, b = 0.6m, c = 0.4m, L1 = 0.4m, L2 = 0.1m.
b. SPECIFY YOUR FINAL ANSWER for the global position of P.
c. INCLUDE A PICTURE OF YOUR PLOT.
d. Write a MATLAB script that calculates the positions of points Q and R on the linkage (rightmost
drawing) with respect to the GCS when θ2 = 0. Let d = 1.2ft, a = 0.3ft, b = 0.9ft, c = 0.8ft,
L1 = 0.4ft, L2 = 0.3ft.
e. SPECIFY YOUR FINAL ANSWER for the global positions of Q and R.

Added by Becky S.

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