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MECH 302 - Assignment 3.2 Show all your work to receive credit! Link 0 (Column) Axis 2 Axis 3 and 4 Joint 1 (Shoulder) ?Axis 1 Joint 2 (Elbow) z1 Link 3 (Vertical Stroke) Link 2 (Fore Arm) L1 y1 x2 Link 1 (Arm) x0 Link 3 x1 d3 (Linear Actuator) L2 x3 Link 4 (Wrist) z4 Link 4 d4 (Gripper and Tool) d1 x4 Base Considering the seven digits of your student ID number = a-b-c-d-e-f-g d1=b; L1=c; L2=e; d3=f; d4=g Problem 1: Create the D-H table for the SCARA robot above with justification below the table describing the order of your work and thought process for each entry. Problem 2: Find the transformation matrix of the robot above using the D-H table and justifying your work.

          MECH 302 - Assignment 3.2
Show all your work to receive credit!
Link 0
(Column)
Axis 2
Axis 3 and 4
Joint 1
(Shoulder)
?Axis 1
Joint 2
(Elbow)
z1
Link 3
(Vertical Stroke)
Link 2
(Fore Arm)
L1
y1
x2
Link 1 (Arm)
x0
Link 3
x1
d3 (Linear Actuator)
L2
x3
Link 4
(Wrist)
z4
Link 4
d4
(Gripper and Tool)
d1
x4
Base
Considering the seven digits of your student ID number = a-b-c-d-e-f-g
d1=b; L1=c; L2=e; d3=f; d4=g
Problem 1:
Create the D-H table for the SCARA robot above with justification below the table
describing the order of your work and thought process for each entry.
Problem 2:
Find the transformation matrix of the robot above using the D-H table and justifying your
work.

MECH 302 - Assignment 3.2
Show all your work to receive credit!
Link 0
(Column)
Axis 2
Axis 3 and 4
Joint 1
(Shoulder)
?Axis 1
Joint 2
(Elbow)
z1
Link 3
(Vertical Stroke)
Link 2
(Fore Arm)
L1
y1
x2
Link 1 (Arm)
x0
Link 3
x1
d3 (Linear Actuator)
L2
x3
Link 4
(Wrist)
z4
Link 4
d4
(Gripper and Tool)
d1
x4
Base
Considering the seven digits of your student ID number = a-b-c-d-e-f-g
d1=b; L1=c; L2=e; d3=f; d4=g
Problem 1:
Create the D-H table for the SCARA robot above with justification below the table
describing the order of your work and thought process for each entry.
Problem 2:
Find the transformation matrix of the robot above using the D-H table and justifying your
work.

Added by Jonathan W.

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