Tutorial 2-2

Robotics and Automation (EPM4066)

T2-2017/2018

Question 1

For the 3-DOF manipulator arm shown in Fig. Q1

(a) Draw and label the frame assignment.

(b) Define the joint link parameters.

(c) Obtain the overall homogeneous transformation matrix.

(d) Calculate the rotation matrix that describes the orientation of the tool relative to the
T
base for q  60 20 30  .

Fig. Q1. A 3-DOF manipulator arm

Question 2

For the 3-DOF (RRP) manipulator arm shown in Fig. Q2, assume that the last two links are
vertically aligned when in the home position.

(a) Determine the frame assignment.

(b) Determine the joint link parameter.

(c) Obtain the overall homogeneous transformation matrix.

(d) Calculate the rotation matrix that describes the orientation of the tool relative to the base
  
for q =   100mm  with x1 = 20mm and x2 = 50mm.
2 4 

Fig. Q2. A 3-DOF (RRP) Spherical Configuration Manipulator Arm

Question 3

For the 3-DOF (RPR) manipulator arm shown in Fig. Q3,

(a) Determine the frame assignment.

(b) Determine the joint link parameter.

(c) Obtain the overall homogeneous transformation matrix.

(d) Calculate the rotation matrix that describes the orientation of the tool relative to the base for q
= [30o 20 60o]T.
 Fig. Q3. A 3-DOF (RPR) Configuration Arm

Question 4

A manipulator with three degrees of freedom is shown in its home position in Fig. Q4.

Fig. Q4. A 3-DOF (PRP) robotic manipulator arm

a) Assign the coordinate frames based on D-H representation.

b) Fill out the kinematic parameters table.

c) Determine the overall transformation matrix.

Question 5

A manipulator (SCARA Robot) with four degrees of freedom is shown in its home position in
Fig. Q5. The first two joint axes and the fourth are revolute joints, while the third is a prismatic
joint.

Fig. Q5

(i) Draw the link-coordinate diagram of this robot at its home position. Add all the
necessary kinematic parameters and label them clearly based on Denavit-
Hartenberg algorithm.

(ii) Fill in the kinematic parameters in the following table.

Axis  d a  Home
1 0
2 0
3 10
4 /2

tool
(iii)Find the arm matrix Tbase (q ) at home position.