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Serial link manipulator with rotational springs

  1. Sep 1, 2010 #1
    1. The problem statement, all variables and given/known data
    if i have a three link massless manipulator (each with length l1 l2 l3) that has rotational springs at each joint, k1 k2 k3, and I apply a force on the third link, what will be the joint angles at equilibrium?

    2. Relevant equations
    k = Fd/theta

    3. The attempt at a solution

    do I just find the lever arm to each joint and multiply that by the force to find the angles?
    i.e.
    theta1 = (l1 + l2 + l3) * F / k1
    theta2 = (l2 + l3) * F / k2
    theta3 = l3* F / k3

    Somehow that doesn't seem right to me because the base joint will go crazy.
     
  2. jcsd
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