机器人学导论(克雷格)课后习题第四章作业答案

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1、3.2Solution:Accordingtothequestion,weneedtocalculatethetotalkineticenergyofthesystem,includingthekineticenergyofthelinkandtheroller.Themassoftherollerisnegligible,sothekineticenergyoftherollercanbeneglected.Thekineticenergyofthelinkrodincludestwoparts:oneisaboutthelinearmo

2、tion,andanotherisabouttherotationmotion.Particularly,wecannoticethatthevelocityofthependulumisthesummationofthevelocityoftherollerandofthelinkrodrelativetotheroller,orAndWhen“I”ismomentofinertiaofthelinkrod,wecangetthat3.4Solution:Forasix-axiscylindrical-RPYrobot,joints1an

3、d3areprismatic,joints2,4,5,6arerevolute.TheconstantmatrixQRforrevolutejointsisasfollows:Theconstantmatrixforprismaticjointsisasfollows:Accordingtoequation4.25inthetextbook:Thus,weget:4.8Solution:Accordingtothegivenconditions:Accordingtoequations4.68inthetextbook,weget:Thus

4、,wegetthefinalresult: