Hi Priyank,
To rotate the links of a TRR (Twist-Rotate-Rotate) configuration robot, you need to control each joint individually. Here's a step-by-step guide to performing these actions:
- Twist the First Link (Vertical Line):
- This involves rotating the first joint, which is typically a revolute joint allowing rotation around a vertical axis.
- Control Mechanism: Use a motor or actuator to rotate the joint to the desired angle.
- Programming: Send a command to rotate the joint by a specific angle. This could be done using a robotic control software or an embedded system that interfaces with the motor.
2.Rotate the Second Link (Horizontal Line):
- The second joint, also a revolute joint, allows rotation around a horizontal axis.
- Control Mechanism: Similar to the first joint, use a motor or actuator to achieve the desired rotation.
- Programming: Adjust the joint angle by sending a command to your control system. Ensure the rotation is smooth and within the mechanical limits of the joint.
3. Rotate the Third Link (Horizontal Line):
- The third joint also rotates around a horizontal axis, typically parallel to the second link's axis.
- Control Mechanism: Use a motor or actuator to rotate this joint.
- Programming: Command the joint to rotate to the required angle, taking into consideration the desired end-effector position and orientation.
General Considerations:
- Coordinate System: Ensure you have a clear understanding of the robot's coordinate system and joint limits to prevent collisions or damage.
- Kinematics: If you're calculating positions programmatically, use forward and inverse kinematics equations to determine the necessary joint angles for a desired end-effector position.
- Safety: Implement safety checks and limits in your control system to avoid exceeding mechanical limits or causing harm to the robot or its surroundings.
Thanks
