The relation between a general c twist vab and the

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Unformatted text preview: twist of link 3. 3 0 (h) Derive an expression for V13 , the relative twist of link 3 with respect to link 1 in Ψ0 . 3 (i) Derive an expression for V13 , the relative twist of link 3 with respect to link 1 in Ψ3 . (j) Twists are used to represent the relative velocity of two rigid bodies. The relation between a general c twist Vab and the time-derivative of the transformation gab is given by ˆc Vab = gca gab gbc ˙ − ˆa ˆb Use this expression to prove that Vab = gab gab1 and Vab = gab1 gab . ˙− ˙ (k) Consider now only the first joint of the mechanism with a new frame Ψ1 attached at the end of the first link, as shown in the figure below. Write down an expression for g01 as a function...
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