Design Constraints


Dimensions and Angles

VariablesTheta 1 = zero when first link is horizontal to the right of the origin. Points can be in the first or second quadrant with the shoulder axis being the origin, positive x extending to the right, and positive y extending upwards. ParametersL1 = 3 3/4" Be very careful that you measure these distances carefully; if you have any questions, talk to one of the TAs, and we can check it for you. If these distances are incorrect, you will not reach the appropriate point given a pair of joint angles. This would be a Very Bad Thing. The arm must be mounted on the board such that all points in the target quadrant are on the board. The boards that you will mount your robot on is a flat lego board, mounting should be very straightforward. A sample map of the world has been made to help you with your calculations. 