<content> CreateMesh </content>

d453ee08-0f5c-484c-9755-73d72091d335 330 4 5 false false 0 decimal

&[DATE] &[TIME] - &[FILENAME]

Puma manipulator

The working body of the manipulator moves along a given trajectory.
To solve the problem, 5 equations with six unknowns were used:
-Two links length equations
-Equations of the condition that the links are in the same plane
-Two space curve equations

u v F1 0.8 v sin * 0.8 v cos * u 31 mat : u v F 0.05 v sin * u 0.05 v cos * 31 mat : 12 mat platform F1 0.5 - 0.5 - 02 π * 16 CreateMesh : joint F 0.06 - 0.06 02 π * 48 CreateMesh : c joint 00 0.5 - 13 mat stack : 12 mat γ 0.8232 - 0.4194 - 0.3827 0.5677 0.6187 - 0.543 0.009 0.6643 0.7474 33 mat : t Ωz t φ cos t φ sin 0 t φ sin - t φ cos 000133 mat : 12 mat 41 line

<content> Draghilev Method </content>

Draghilev Method tmax D n f rows 1 + : k 1 n range : u k el x k el : 13 mat b 1 - (f u Jacobian 1 n 1 - n n submatrix * : A f u Jacobian 1 n 1 - 1 n 1 - submatrix : Δ 1 el b A 1 n 1 - 2 n 1 - submatrix augment det - : Δ n 1 - el A 1 n 1 - 1 n 2 - submatrix b augment det - : Δ n el A det - : k 2 n 2 - (range : 13 mat Δ k el A 1 n 1 - 1 k 1 - submatrix b A 1 n 1 - k 1 + n 1 - submatrix augment det - : 31 line k 1 n range : D2 k el Δ k el Δ norme / eval : t x D1 D2 : 13 mat x f f : X0 00000016 mat transpose x f al_nleqsolve eval : 12 mat X0 0 tmax N t x D1 rkfixed 71 line :

OA 2 :

AC 1 :

f x 1 el (2^x 2 el (2^+ x 3 el (2^+ OA 2^- x 1 el x 4 el - (2^x 2 el x 5 el - (2^+ x 3 el x 6 el - (2^+ AC 2^- x 2 el x 4 el * x 1 el x 5 el * - OAC plane equation ≡ x 4 el (2^x 5 el (2^+ x 6 el (2^+ 4 - 0.5 8 x 4 el * 9 x 5 el * + sin * x 6 el - 0.4 - 51 mat :

Line of intersection of two surfaces

Joints coordinate matrix.Displays the two-dimensional graph. tmax 49.2 : Δt 0.2 : N tmax Δt / : B tmax D : pA B 1 N 24 submatrix eval : 15 mat pC B 1 N 57 submatrix eval : t φ pC 2 col (t el pC 1 col (t el / atan : 12 mat pAγ2 pA γ * 1 col pA γ * 2 col augment eval : pCγ2 pC γ * 1 col pC γ * 2 col augment eval : 41 line

τ 1 N range :

0 0 1 2 mat pAγ2 t row pCγ2 t row stack pCγ2 platform t Ωz * γ * 1 col platform t Ωz * γ * 2 col augment pCγ2 1 col ( t el pCγ2 2 col ( t el . 15 red 1 5 mat joint t Ωz * γ * 1 col pAγ2 1 col ( t el + joint t Ωz * γ * 2 col pAγ2 2 col ( t el + augment c t Ωz * γ * 1 col c t Ωz * γ * 2 col augment 13 1 sys

t 65 :

x 2 el x 1 el / x 5 el x 4 el / -

A 2 col t el A 1 col t el / #

C 2 col t el C 1 col t el / #