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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 .
(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
twist Vab and the time-derivative of the transformation gab is given by
Vab = gca gab gbc
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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- Fall '13