For the planar 3R robot shown in Fig. 1, perform a forward dynamic simulation for 1.0 seconds. The desired motion starts from rest with applied constant joint torques of t1 = 10 Nm,, T2 = 5 Nm, and t3 = 5 Nm. Derive the equations of motion for the 3-DOF system a? = 0.8 m, a? = 1.1 m, a3 = 0.5 m m? = 15 kg, m? = 12 kg, m3 = 5 kg P(x,y) m3 a3 03 m? solutionspile.com

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For the planar 3R robot shown in Fig. 1, perform a forward dynamic simulation for 1.0 seconds. The desired motion starts from rest with applied constant joint torques of t1 = 10 Nm,, T2 = 5 Nm, and t3 = 5 Nm. Derive the equations of motion for the 3-DOF system a? = 0.8 m, a? = 1.1 m, a3 = 0.5 m m? = 15 kg, m? = 12 kg, m3 = 5 kg P(x,y) m3 a3 03 m? Y 0? T? ?1 a2 m1 02 X 4 solutionspile.com

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