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(Solved): \( 3.3 \) [25] The arm with three degrees of freedom shown in Fig. \( 3.29 \) is like the one in Ex ...
![\( 3.3 \) [25] The arm with three degrees of freedom shown in Fig. \( 3.29 \) is like the one in Example 3.3, except that joi](https://media.cheggcdn.com/study/d93/d9346153-318a-4216-bab3-b8a696d0ce70/image)
\( 3.3 \) [25] The arm with three degrees of freedom shown in Fig. \( 3.29 \) is like the one in Example 3.3, except that joint 1 's axis is not parallel to the other two. Instead, there is a twist of 90 degrees in magnitude between axes 1 and 2. Derive link parameters and the kinematic equations for \( { }_{W}^{B} T \). Note that no \( / 3 \) need be defined.
\( 3 \quad \) Manipulator Kinematics FIGURE 3.29: The \( 3 R \) nonplanar arm (Exercise 3.3).
Expert Answer
Answer: Given that: The arm with three degrees of freedom shown in Fig. 3.29 is like the one in Example 3.3, excep