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Unformatted text preview: × ω + hω
0
Vab = ab = M
0
ωab
ω Assume that the various vectors in the ﬁgure are aligned with the closest coordinate axis, unless
indicated otherwise. You can use physical units of your own choosing, just make sure to include them
when describing the screw parameters (for example, pitch may be expressed as h = 3 mile/rad). 3 Properties and relations of twists In this exercise, we look at several properties and relations of twists of rigid bodies. We prove the
general properties and apply it to the robotic mechanism in the ﬁgure below. In later lectures, we
will review and use these properties as we discuss kinematics of general rigid mechanisms.
All links in the ﬁgure have length 1, the rotation axes and angles are deﬁned such that counter
clockwise rotation (when viewed from above) is positive, hence the minus signs for θ2 and θ3 in...
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This note was uploaded on 10/09/2013 for the course EE 125 taught by Professor Ruzenabajcsy during the Fall '13 term at University of California, Berkeley.
 Fall '13
 RuzenaBajcsy

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