(adsbygoogle = window.adsbygoogle || []).push({}); 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.

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# Homework Help: Serial link manipulator with rotational springs

Can you offer guidance or do you also need help?

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