RAJNISH KUMAR

19209121
1.

(a) Rotation about Z axis.

X component i0.i1 = cos θ Y component will i1.j0=sin θ

X component j1..j0= cos θ Y component will be i0.j1=-sin θ

  0 ∧   0 ∧   0 ∧ 
 R  =   1 i   1 j   1 k 
0
1
      
 cos θ − sin θ 0 
 10 R : θ  =  sin θ cos θ

0 
 0 0 1  
RAJNISH KUMAR
19209121
(b) Rotation about Y axis

Z component k0.k1 = cos θ X component will k1.i0=sin θ

X component i1.i0= cos θ Z component will be i1. k0=-sin θ

  0 ∧   0 ∧   0 ∧ 
 R  =   1 i   1 j   1 k 
0
1
      
 cos θ 0 − sin θ  
 10 R : θ  =  0 1 0 

 sin θ 0 cos θ  
 RAJNISH KUMAR
19209121
(c) Rotation about X axis

Y component j0.j1 = cos θ Y component will j1.k0=sin θ

Z component k1.k0= cos θ Y component will be k1.j0=-sin θ

  0 ∧   0 ∧   0 ∧ 
 R  =   1 i   1 j   1 k 
0
1
      

 1 0 0 
 10 R : θ   0 cos θ
=

− sin θ  
 0 sin θ cos θ  
RAJNISH KUMAR
19209121

2.

 3 −1  1 0 0 0 
 0 11   
 2 2  0 −1
10 
3
 1 3   2 2 
U
A T =  0 −1
B
AT =  
 2 2  0 −20 
1 3
 0 0 1 8  2 2 
   
 0 0 0 1 0 0 0 1 

 3 −1 
 0 −3
 2 2 
 3 3 −1 
 −3
UT = 
C
4 4 2 
 1 3 3 
 3 
 4 4 2 

 0 0 0 1 

RAJNISH KUMAR
19209121
 3 1 
 0 −9.026 
 2 2 
−1  −1 
A
U T= T U
A
=
 2 2
3
0 6.37 

 0 0 1 −8 
 
 0 0 0 1 

 3 3 1 
 3.14 
 2 4 4 
 −1 3 3 
−1
U
C T= T C
U
= 2
 4 4
.2 

 −1 3 
 0 .633 
 2 2 
 0 0 0 1 

B
CT = BAT × UAT × UCT
 0.500 0.750 0.433 −6.5754 
 −0.75 0.625 −0.216 19.7877 
 CBT  =  
 −0.433 −0.216 0.875 −28.318
 
 0 0 0 1 
RAJNISH KUMAR
19209121
3.

 iB .iA jB .iA k B .iA x

i . j jB . j A kB . jA y 
A
T =  B A
B
iB .k A jB .k A k B .k A z
 
 0 0 0 1

 −1 0 0 2
 0 −1 0 0 
=
0 0 1 0
 
0 0 0 1
 RAJNISH KUMAR
19209121

 iC .iA jC .iA kC .iA x

i . j jC . j A kC . j A y 
A
T =  C A
C
iC .k A jC .k A kC .k A z
 
 0 0 0 1

 0 −0.5 0.866 2 
 0 0.866 0.5 0 
= 
 −1 0 0 2
 
 0 0 0 1 

4.

 0.5 x 0 
=R 0.433 y −0.866 
 0.75 z 0.5 
We know that:

RRT = I

 0.5 x 0  0.5 0.433 0.75 1 0 0 

⇒ 0.433 y −0.866  ×  x y z  =
0 1 0 
 
 0.75 z 0.5   0 −0.866 0.5  0 0 1 
   

0.5 × 0.5 + x × x =
1
0.433 × 0.433 + y × y + 0.866 × 0.866 =
1
0.75 × 0.75 + z × z + 0.5 × 0.5 =1
x = 0.866
y = 0.25
z = 0.433
RAJNISH KUMAR
19209121
5.
(a)
ZB

YB

XB
1

2
1

0  1  1  0 
    A R = 2 A R = 2
A R1 =  0  , A R2 =  0  , A 3
A A
 ,A 4  
0  0  0  0 

0  1  1  0 
    A   A  
A R5 =  0  , A R6 =  0  A R7 =  2  A R8 =  2 
A A
, ,
1  1  1  1 

2 2 0  0 
  B   B R = 1  B R = 0 
B R1 =  0  , B R2 = 1  , B 3
B
 , B 4  
0  0  0  0 

2 2 0 0 

  B      
B R8 =  0 
B
B R5 =  0  B R6 = 1  B R7 = 1 
B B
, , ,
1  1  1  1 
RAJNISH KUMAR
19209121

(b)

cos 90 − sin 90 0

 
B R =  sin 90

A
cos 90 0
 0 0 1 

0 −1 0 
 0 0 
B R = 1
A

0 0 1 

 0 1 0
A −1
R = B
R =  −1 0 0 
B A  
 0 0 1 
(c)

0 1 0 −2 
 −1 0 0 0 
A −1
BT =
0 0 1 0
 
0 0 0 1
 RAJNISH KUMAR
19209121
6.

7
tan θ =
3.5

θ = 63.43

 cos 90 cos 90 cos 0 

 
=0
1R cos(180 − 63.43)

cos 63.43 cos 90 
 cos 63.34 cos(180 − 63.34) cos 90 


 0 0 1
 0.894 0 
1 R =  −0.447
0

 −0.894 −0.447 0 

7.
 
Rodriquez’s formula for rotation of a vector Q about a line of k unit vector, by an angle θ to a final

position P .
RAJNISH KUMAR
19209121

 
n=
  ∧

{ }{ }
∧

m cos θ + n sin θ  k × m 


θ { }{ }
   ∧  
n = m cos θ + sin  k × m 
 
   ∧   
n= cos θ [ I ] + sin θ  k ×  m
  
{}
  ∧T   ∧  ∧ ∧  
=
Also, h =k ak  k kT  Q
   
 

and
   
{}
∧  ∧   
m = a − h =  [ I ] − k k T   Q
  
    ∧T ∧ 
 ∧   
Now, P = h + n = k
 

k  a + cos θ [ I ] + sin θ  k ×  m
  
{}
 ∧ ∧  ∧ ∧   ∧   
=  k . k T  + cos θ [ I ] − cos θ  k k T  + sin θ  k ×  Q
     

∧
= k T

∧ 
  ∧  
{} ∧  ∧   
k  a + cos θ [ I ] + sin θ  k ×   [ I ] − k k T   Q
      

  ∧ T   ∧   
P =−
 (1 cos θ )  k k  + cos θ [ I ] + sin θ  k ×  Q
   

8.
 RAJNISH KUMAR
19209121
 0 −hz hy 
  ∧

= h×  hz 0 −hx 
 − hy hx 0 

  
b= l + n
   ∧     ∧  ∧ 
l + cos θ [ I ] + sin θ  h   a −  a .h  . h 
=
      

      
∧ ∧
= a −  aT . h  .h 
m
   

  ∧ ∧   ∧     ∧  ∧ 
b=  a. h  . h + cos θ [ I ] + sin θ  h ×  a −  a. h  . h 
        
     ∧  ∧ 
= a −  a. h  . h 
m
   

  ∧  ∧    ∧ ∧

= a − h  hT . a=
 [ I ] a −  h .hT  a
    

  ∧ ∧  
= [ I ] −  h . hT   a
  

 ∧ ∧     ∧    ∧
∧
 
b  h . hT  a + cos θ [ I ] + sin θ  h×   I −  h . hT   a
=
       

  ∧   ∧    ∧  
∧
= [ I ] − cos θ [ I ] − sin θ  h×   h . hT  + cos θ [ I ] + sin θ  h×   a
       

9.

{a} = {0 2 0}
T

{h} = {1/ 2 }
T
3 / 4 3/ 4

{b=} cos θ [ I ] + {hh Τ } (1 − cos θ ) + sin θ [ h ×] a

  {}
 3 / 2 0 0  1/ 2  1 − 3 / 2 0 0  1/ 2 0 0   0 −3/ 4 3 / 4  0 
          
= {}
b  0

3/2 0  +  3 / 4 1/ 2, 3 / 4,3/ 4  0
 
1− 3 / 2 0  +  0 1/ 2 0   3/ 4

0 −1/ 2  2

 0 3 / 2  3/ 4   0 −   0 0 1/ 2   − 3 / 4 1/ 2 0  0 

0  0 1 3 / 2  
RAJNISH KUMAR
19209121

(2 3 − 9) / 8 
 
{}
b= (6 + 13 3) /16 
 
 (6 3 − 1) /16 
 −0.69198
{}
b = 1.78229 
0.587019 

10.

1 0 0  0  0 
 
{} {}
b = ba R  a = 0 cos 30ο

− sinο   2  = 3 
 0 sin 30ο cos 30ο  0  1 


{d=} cos θ [ I ] + {cc Τ } (1 − cos θ ) + sin θ [ c ×] b

  {}
{d=} cos 60ο [ I ] + {cc Τ }(1 − cos 60ο ) + sin 60ο [ c ×] b
  {}
 1/ 2 0 0   3/2   0 −1 1   0 

0  1 1 − 1/ 2 0 0 0
     
{}
=
d  0 1/ 2 0  + 1 [1,1,1]  0
  1 − 1/ 2 0 + 0 3/2 0   1 0 −1   3 
     
 0 0 1/ 2  1  0 0 1 − 1/ 2   0
 0 3 / 2   −1 1 0   1 

RAJNISH KUMAR
19209121

 1 −0.366 1.366  0 
 
{d } 
 1.366 1 −0.366   3 
 1  1 
 −0.366 1.366
0.7320 
{}d = 1.36605
3.6598 

Z1 Z2
11.

A)

Z
X X2

X3

X4

Z4
RAJNISH KUMAR
19209121

Link ai-1 αi-1 θi di

1 0 90 90 0

2 0 0 θ1 L1

3 L2 0 θ2 0

4 0 90 0 L3

 cos θ i − sin θi 0 ai −1 
sin θ cos α cos θ i cos α i −1 − sin α i −1 
− sin α i −1d i 
 iT  = 
i −1 i i −1

 sin θi sin α i −1 cos θ i sin α i −1 cos α i −1 cos α i −1d i 

 
 0 0 0 1 
0 −1 0 0
0 0 −1 0 
 1T  = 
0
1 0 0 0
 
0 0 0 1
RAJNISH KUMAR
19209121
cos θ1 − sin θ1 0 0
 sin θ cos θ1 0 0 
 2T  = 
1 1
 0 0 1 l1 
 
 0 0 0 1
cos θ 2 − sin θ 2 0 l2 
 sin θ cos θ 2 0 0 
 3T  = 
2 2
 0 0 1 0
 
 0 0 0 1

1 0 0 0
0 0 −1 −l3 
 4T  = 
3
0 0 1 0
 
0 0 0 1 

0 
 
 4  0 
 4 rp  =  
 1  0 
1 

0  0 4 
 0 rp  =  1T  ×  2T  ×  3T  ×  3T  ×  4 rp 
1 2 4

 1   1 
 RAJNISH KUMAR
19209121
0 −1 0 0  cos θ1 − sin θ1 0 0  cos θ 2 − sin θ 2 0 l2   1 0 0 0  0 
0 0 −1 0   sin θ1 cos θ1 0 0   sin θ 2 cos θ 2 0 0  0 0 −1 −l3  0 
0  
 0 rp  = × × × × 
 1  1 0 0 0  0 0 1 l1   0 0 1 0  0 0 1 0  0 
       
0 0 0 1  0 0 0 1  0 0 0 1  0 0 0 1  1 
0 −10 0  cos θ1 − sin θ1 0 0  cos θ 2 − sin θ 2 0 l2   0 
 −1 0   sin θ1 cos θ1 0 0   sin θ 2 cos θ 2 0  −l3 
 0  0 0 0
 0 rp  = × × × 
 1  1 0 0 0  0 0 1 l1   0 0 1 0  0 
     
0 0 0 1  0 0 0 1  0 0 0 1   1 
0 −1 0 0  cos θ1 − sin θ1 0 0  l3 .sin θ 2 + l2 
0 0 −1 0   sin θ1 cos θ1 0 0   −l3 .cos θ 2 
0  
= 0 rp  × × 
 1  1 0 0 0  0 0 1 l1   0 
    
0 0 0 1  0 0 0 1  1 

0 −1 0 0  cos θ1 (l3 .sin θ 2 + l2 ) + l3 .sin θ1 cos θ 2 

0 0 −1 0  sin θ1 (l3 .sin θ 2 + l2 ) − l3 .cos θ1 cos θ 2 
0  
 0 rp  × 
 1  1 0 0 
0  l1 
   
0 0 0 1  1
− sin θ1 (l3 .sin θ 2 + l2 ) + l3 .cos θ1 cos θ 2 
 −l1 
0   
 0 rp  =  
 1   cos θ (l
1 3 .sin θ 2 + l2 ) + l3 .sin θ1 cos θ 2 
 1 
RAJNISH KUMAR
19209121
B)

Z1 X3

Z0

X1 Z3

Z2

X2

Link ai-1 αi-1 θi di

1 0 0 q1 0
2 0 90 270 L1 + q2 + L2
3 0 90 q3 0
 cos θi − sin θi 0 ai −1 
sin θ cos α cos θi cos α i −1 − sin α i −1 − sin α i −1di 
 i T  = 
i −1 i i −1

 sin θi sin α i −1 cos θi sin α i −1 cos α i −1 cos α i −1di 

 
 0 0 0 1 
cosq1 − sinq1 0 0 
 sinq cosq1 0 0 
 10 T  =  1

 0 0 1 0
 
 0 0 0 1

0 1 0 0 
0 0 −1 −( L1 + q2 + L2 ) 
 2T  = 
1
 −1 0 0 0 
 
0 0 0 1 
RAJNISH KUMAR
19209121

cos q3 − sin q3 0 0
 0 0 −1 0 
 23T  = 
 sin q3 cos q3 1 0
 
 0 0 0 1

 00 rp   3
3 rp

  =  1 T   2 T   3 T   
0 1 2

1  1 

cos q1 − sin q1 0 0  0 1 0 0  cos q3 − sin q3 0 0  L3 

 0  0 −1 −( L1 + q2 + L2 )   0 −1 0  0 
 0   sin q1 cos q1 0 0 0
 0 rp  = × × × 
1   0 0 1 0  −1 0 0 0   sin q3 cos q3 1 0  0 
     
 0 0 0 1  0 0 0 1   0 0 0 1   1 

cos q1 − sin q1 0 0  0 1 0 0   L3 cos q3 

 0   0 0 −1 −( L1 + q2 + L2 )   0 
 0   sin q1 cos q1 0
 0 rp  = × × 
 1   0 0 1 0   −1 0 0 0   L3 sin q3 
    
 0 0 0 1  0 0 0 1   1 
.

cos q1 − sin q1 0 0   0 
 sin q cos q1 0 0  −( L1 + q2 + L2 ) − L3 sin q3 
0  
 0 rp 
1
× 
 1   0 0 
1 0  − L3 cos q3 
   
 0 0 0 1  1
RAJNISH KUMAR
19209121

 sin q1[( L1 + q2 + L2 ) + L3 sin q3 ] 

 
 0  cos q1[−( L1 + q2 + L2 ) − L3 sin q3 ]
 0 rp  =  
 1   − L3 cos q3 
 1 

C)

Z3
X3

Z1
Z
0

X
1 Z2
X
1 2

LINK ai-1 αi-1 θi di

1 0 0 q1 L3+L2

2 0 90 q2 L1

3 0 90 0 L4+q3
RAJNISH KUMAR
19209121

 cos θ i − sin θi 0 ai −1 
sin θ cos α cos θ cos α − sin α − sin α d 
 i −1iT  =  i i −1 i i −1 i −1 i −1 i 

 sin θi sin α i −1 cos θ i sin α i −1 cos α i −1 cos α i −1d i 

 
 0 0 0 1 

cos q1 − sin q1 0 0 
 sin q cos q1 0 0 
 01T  =  1 
 0 0 1 L2 + L3 
 
 0 0 0 1 

cos q2 − sin q2 0 0 
 0 0 −1 − L1 
 2T  = 
1
 sin q2 cos q2 0 0 
 
 0 0 0 1 

1 0 0 0 
0 0 −1 −(q3 + L4 ) 
 3T  = 
2
0 1 0 0 
 
0 0 0 1 

0 
 
Let, {0} = 0 
0 
 

 00 rp   33 rp 
 =  1T   2T   3T   
0 1 2
Then, 
 1  1 
cos q1 − sin q1 0 0  cos q2 − sin q2 0 0  1 0 0 0  0 
 0   0 −1 − L1  0 0 −1 −(q3 + L4 )  0 
 0   sin q1 cos q1 0 0
 0=
rp  × × × 
 1   0 0 1 L2 + L3   sin q2 cos q2 0 0  0 1 0 0  0 
       
 0 0 0 1   0 0 0 1  0 0 0 1  1 

cos q1 − sin q1 0 0  cos q2 − sin q2 0 0   0 

 sin q 0   0 −1 − L1  −(q3 + L4 ) 
 
0  cos q1 0 0
 0 rp =  × ×
1

 1   0 0 1 L2 + L3   sin q2 cos q2 0 0   0 
   
 0 0 0 1   0 0 0 1   1 
RAJNISH KUMAR
19209121
cos q1 − sin q1 0 0   0 
 sin q 0   sin q2 (q3 + L4 ) 
 
0   cos q1 0
 0 rp 
1
× 
 1   0 0 1 L2 + L3  − cos q2 (q3 + L4 ) 
 
 0 0 0 1   1 

 − sin q1.sin q2 ( q3 + L4 ) 
 
 0   cos q1 sin q2 ( q3 + L4 ) 
 0 rp  =  
 1   − cos q2 ( q3 + L4 ) + L2 + L3 

 1 


D)

Link ai-1 αi-1 θi di

1 0 0֯ q1 L1

2 0 0֯ 0 L2+q2

3 0 90֯ q3 0
RAJNISH KUMAR
19209121
 cos θi − sin θi 0 ai −1 
sin θ cos α cos θi cos α i −1 − sin α i −1 −di sin α i −1 
 i −1iT  =  i i −1

 sin θi sin α i −1 cos θi sin α i −1 cos α i −1 di cos α i −1 

 
 0 0 0 1 

cos q1 − sin q1 0 0
 sin q cos q1 0 0 
 1T  = 
0 1

 0 0 1 L1 
 
 0 0 0 1

1 0 0 0 
0 1 0 0 
 2T  = 
1

0 0 1 L2 + q2 
 
0 0 0 1 

 cos q3 − sin q3 0 0
 0 0 −1 0 
 3T  = 
2

 sin q3 cos q3 0 0
 
 0 0 0 1
Let, 2 L3 
 
{ 3
r}= 0 
3 c
 0 
 
Then,

 00 rc   33 rc 
  =  1T   2T   3T   
0 1 2

1 1
cos q1 − sin q1 0 0  1 0 0 0  cos q3 − sin q3 0 0  2 L3 
 00 rc   sin q1 cos q1 0 0  0 1 0 0   0 0 −1 0   
 0 
 =     
1   0 0 1 L1  0 0 1 L2 + q2   sin q3 cos q3 0 0  0 
    
 0 0 0 1  0 0 0 1  0 0 0 1   1 

RAJNISH KUMAR
19209121
cos q1 − sin q1 00  1 0 0 0 2 L3 cos q3 
 00 rc   sin q1 cos q1 0 0  0 1 0 0
 0 

 =    
1  0 0 1 L1  0 0 1 L2 + q2   2 L3 sin q3 
   
 0 0 0 1  0 0 0 1   1 

cos q1 − sin q1 0 0   2 L3 cos q3 

 00 rc   sin q1 cos q1 0 0   0 

 =  
1  0 0 1 L1  2 L3 sin q3 + ( L2 + q2 ) 
 
 0 0 0 1   1 

 2 L3 cos q3 cos q1 
 00 rc   2 L3 sin q1 cos q3 

   = 
  
1 2 L3 sin q 3 + ( L2 + q2 + L1 ) 
 1 

E)

Z2 X3
Z
X2

X
RAJNISH KUMAR
19209121

LINK ai-1 αi-1 θi di

1 0 0 q1 L1 (c)
2 0 0 0 q2+L2

3 0 90 q3 0

 cos θ i − sin θi 0 ai −1 
sin θ cos α cos θ cos α − sin α − sin α d 
 iT  = 
i −1 i i −1 i i −1 i −1 i −1 i 
 sin θi sin α i −1 cos θ i sin α i −1 cos α i −1 cos α i −1d i 
 
 0 0 0 1 
cos q1 − sin q1 0 0
 sin q cos q 0 0 
 1T  = 
0 1 1

 0 0 1 L1 
 
 0 0 0 1

1 0 0 0 
0 1 0 0 
 2T  = 
1

0 0 1 q2 + L2 
 
0 0 0 1 

cos q3 − sin q3 0 0
 0 0 −1 0 
 3T  = 
2

 sin q3 cos q3 0 0
 
 0 0 0 1

 L3 
 
{ 3
let, 3 c
r } = 0
0
 

 00 rc   33 rc 
  =  1T   2T   3T   
0 1 2

1 1
RAJNISH KUMAR
19209121
cos q1 − sin q1 0 0  1 0 0 0  cos q3 − sin q3 0 0  L3 
0
 r   sin q1 0 0  0 0   0 −1 0 
0
cos q1 1 0 0  
 =  
0 c
 
1   0 0 1 L1  0 0 1 q2 + L2   sin q3 cos q3 0 0 0
     1 
 0 0 0 1  0 0 0 1   0 0 0 1

cos q1 − sin q1 0 0  1 0 0 0   L3 cos q3 

 cos q1 0 0  0 0   
 00 rc   sin q1  1 0  0 
 =  0  
0 1 L1  0 0 1 q2 + L2   L sin q 
1    
3 3

 0 0 0 1 0 0 0 1   1 

cos q1 − sin q1 0 0  L3 cos q3 

 00 rc   sin q1 cos q1 0 0  
 0 

 = 0 1 L1 
 
1 
0  L3 sin q3 + q2 + L2 
  
 0 0 0 1 1

 L3 cos q3 
 00 rc   L3 cos q3 sin q1 
  =  L sin q + q + L + L 
1  3 3 2 2 1
 1 
F)

X3
Z1

X2 Z3

Z2 X1

Link ai-1 αi-1 θi di

1 0 0 θ1 0
RAJNISH KUMAR
19209121
2 0 90 θ2 0

3 0 90 0 r

 cos θi − sin θi 0 ai −1 
sin θ cos α cos θi cos α i −1 − sin α i −1 − sin α i −1di 
 i T  = 
i −1 i i −1

 sin θi sin α i −1 cos θi sin α i −1 cos α i −1 cos α i −1di 

 
 0 0 0 1 

cos θ1 − sin θ1 0 0
 sin θ cos θ1 0 0 
 1 T  = 
0 1

 0 0 1 0
 
 0 0 0 1

cos θ 2 − sin θ 2 0 0
 0 0 −1 0 
 2 T  = 
1

 sin θ 2 cos θ 2 0 0
 
 0 0 0 1

1 0 0 0
0 0 −1 − r 
 3 T  = 
2

0 1 0 0
 
0 0 0 1

 00 rp   33 rp 
  =  1 T   2 T   3 T   
0 1 2

1  1 
cos θ1 − sin θ1 0 0  cos θ 2 − sin θ 2 0 0  1 0 0 0  0 
 00 rp   sin θ1 cos θ1 0 0   0 0 −1 0  0 0 −1 −r  0 
 =  
 1   0 0 1 0   sin θ 2 cos θ 2 0 0  0 1 0 0  0 
   
 0 0 0 1  0 0 0 1  0 0 0 1  1 
RAJNISH KUMAR
19209121
cos θ1 − sin θ1 0 0  cos θ 2 − sin θ 2 0 0  0 
 00 rp   sin θ1 cos θ1 0 0   0 0 −1 0  −r 
 =  
 1   0 0 1 0   sin θ 2 cos θ 2 0 0  0 
  
 0 0 0 1  0 0 0 1   1 

cos θ1 − sin θ1 0 0   r sin θ 2 

 00 rp   sin θ1 cos θ1 0 0   0 

 =  
 1   0 0 1 0  − r cos θ 2 
 
 0 0 0 1   1 

r sin θ 2 cos θ1 
 00 rp   r sin θ 2 sin θ1 
 = 
  
1 − r cos θ 2 
 1 
G)
X3

Z3
X2 Z1

Z2 X1

Link ai-1 αi-1 θi di

1 0 0 ψ1 0

2 l1 90 ψ2 0

3 0 90 0 l2
RAJNISH KUMAR
19209121

 cos θi − sin θi 0 ai −1 
sin θ cos α cos θi cos α i −1 − sin α i −1 − sin α i −1di 
 i T  =
i −1  i i −1

 sin θi sin α i −1 cos θi sin α i −1 cos α i −1 cos α i −1di 

 
 0 0 0 1 

cosψ 1 − sinψ 1 0 0
 sinψ cosψ 1 0 0 
 1 T  = 
0 1

 0 0 1 0
 
 0 0 0 1

cosψ 2 − sinψ 2 0 l1 
 0 0 −1 0 
 2 T  = 
1

 sinψ 2 cosψ 2 0 0
 
 0 0 0 1

1 0 0 
0
0 0 −1 −l2 
 32 T  = 
0 1 0 0 
 
0 0 0 1 
 00 rp   33 rp 
  =  1 T   2 T   3 T   
0 1 2

1  1 
cosψ 1 − sinψ 1 0 0  cosψ 2 − sinψ 2 0 l1  1 0 0 0  0 
 00 rp   sinψ 1 cosψ 1 0 0   0 0 −1 0  0 0 −1 −l2  0 
 =  
 1   0 0 1 0   sinψ 2 cosψ 2 0 0  0 1 0 0  0 
   
 0 0 0 1  0 0 0 1  0 0 0 1  1 
RAJNISH KUMAR
19209121

cosψ 1 − sinψ 1 0 0  cosψ 2 − sinψ 2 0 l1   0 

 00 rp   sinψ 1 cosψ 1 0 0   0 0 −1 0  −l2 
 =  
 1   0 0 1 0   sinψ 2 cosψ 2 0 0  0 
  
 0 0 0 1  0 0 0 1   1 

cosψ 1 − sinψ 1 0 0  l sinψ 2 + l1 

 00 rp   sinψ 1 cosψ 1 0 0   0 

 =  
 1   0 0 1 0   −l2 cosψ 2 
 
 0 0 0 1   1 
(l2 .sin ϕ2 + l1 ) cos ϕ1 
 
 0   (l2 .sin ϕ 2 + l1 ) sin ϕ1 
 0 rp  =  
 1   −l 2 .cos ϕ 2 
 1 
H)

Link ai-1 αi-1 θi di

1 0 0֯ θ1 L1
RAJNISH KUMAR
19209121
2 L2 0֯ θ2 0

3 L3 180֯ 0֯ L4

 cos θi − sin θi 0 ai −1 
sin θ cos α cos θ cos α − sin α − d sin α 
 iT  = 
i −1 i i −1 i i −1 i −1 i i −1 
 sin θi sin α i −1 cos θi sin α i −1 cos α i −1 di cos α i −1 
 
 0 0 0 1 

cos θ1 − sin θ 1 0 0
 
sin θ1 cos θ1
 1T  = 
0 0 0
 0 0 1 L1 
 
 0 0 0 1 
cos θ 2 − sin θ 2 0 L2 
 sin θ cos θ 2 0 0 
 2T  = 
1 2

 0 0 1 0
 
 0 0 0 1

1 0 0 L3 
0 −1 0 0 
 3T  = 
2 
0 0 −1 − L4 
 
0 0 0 1 

0 
 
Let, { 3
3 rp } = 0 
0 
 

 00 rp   33 rp 
 =  1T   2T   3T  
0 1 2
 
 1   1 
RAJNISH KUMAR
19209121
cos θ1 − sin θ 1 0 0  cos θ 2 − sin θ 2 0 L2  1 0 0 L3  0 
 
 00 rp   sin θ1 cos θ1 0 0   sin θ 2 cos θ 2 0 0  0 −1 0 0  
0 

 =  
 1  0 0 1 L1   0 0 1 0  0 0 −1 − L4  0 
    
 0 0 0 1   0 0 0 1  0 0 0 1  1 

cos θ1 − sin θ 1 0 0  cos θ 2 − sin θ 2 0 L2   L3 

 
 00 rp   sin θ1 cos θ1 0 0   sin θ 2 cos θ 2 0 0  
 0 

 =  
1  0 0 1 L1   0 0 1 0   − L4 
  
 0 0 0 1   0 0 0 1  1  
cos θ1 − sin θ 1 0 0  L3 cos θ 2 + L2 
   L sin θ 
 00 rp   sin θ1 cos θ1 0 0  
 =
3 2
 
 1  0 0 1 L1   − L 
 
4

 0 0 0 1   1 

θ ( L cos θ + L ) − L sin θ sin θ 

 00 rp  cos 1 3 2 2

3 1 2

 =   sin θ ( L
1 cos3θ + L ) + L
2 cos θ sin
2 θ 

3 1 2

  
1 L − L 1 4 
 1 

I)

Z1 X2 X3

Z3

X1
Z2
RAJNISH KUMAR
19209121

Link ai-1 αi-1 θi di

1 0 0 θ1 l1

2 0 90 θ2 0

3 l2 90 0 l3

 cos θ i − sin θi 0 ai −1 
sin θ cos α cos θ cos α − sin α − sin α d 
 iT  = 
i −1 i i −1 i i −1 i −1 i −1 i 
 sin θi sin α i −1 cos θ i sin α i −1 cos α i −1 cos α i −1d i 
 
 0 0 0 1 
 cos θ1 − sin θ1 0 0
 sin θ cos θ1 0 0 
 1T  = 
0 1

 0 0 1 L1 
 
 0 0 0 1

cos θ 2 − sin θ 2 0 0
 0 0 −1 0 
 21T  = 
 sin θ 2 cos θ 2 0 0
 
 0 0 0 1

1 0 0 L2 
0 0 −1 L3 
 23T  = 
0 1 0 0
 
0 0 0 1
0 
 
Let, { 3
3 rp } = 0 
0 
 
RAJNISH KUMAR
19209121
 00 rp   33 rp 
  =  1T   2T   3T   
0 1 2

 1  1 
cos θ1 − sin θ1 0 0 cos θ 2 − sin θ 2 0 0  1 0 L2 
0 0 
 sin θ 0 0   0
 cos θ1
 0 −1 0  0 0 −1 L3   
0 
1
  
=  0 0 1 L1   sin θ 2 cos θ 2 0 0  0 1 0 0 0 
     
 0 0 0 1  0 0 0 1  0 0 0 1 1 


cos θ1 − sin θ1 0 0  cos θ 2 − sin θ 2 0 0   L2 

 sin θ 0 0   0
 1 cos θ1
 0 −1 0   
− L3 
= 0  
0 1 L1   sin θ 2 cos θ 2 0 0  0 
  
 0 0 0 1  0 0 0 1   1  
cos θ1 − sin θ1 0 0   L2 cos θ 2 + L3 sin θ 2 
 sin θ cos θ1 0 0   
 1 0 
 
= 0 0 1 L1   L2 sin θ 2 − L3 cos θ 2 
 
 0 0 0 1   1 

cos θ1 ( L2 cos θ 2 + L3 sin θ 2 ) 

 
 ( L2 cos θ 2 + L3 sin θ 2 ) sin θ1 
 
 L2 sin θ 2 − L3 cos θ 2 + L1 
=
 1 

J)

X3

Z3
Z1
X2

X1

Z2
RAJNISH KUMAR
19209121
Link ai-1 αi-1 θi di
1 0 0 θ1 0
2 0 90 θ2 0
3 0 90 0 r2

 cos θi − sin θi 0 ai −1 
sin θ cos α cos θi cos α i −1 − sin α i −1 − sin α i −1di 
 ii −1T  =  i i −1

 sin θi sin α i −1 cos θi sin α i −1 cos α i −1 cos α i −1di 

 
 0 0 0 1 

cos θ1 − sin θ1 0 0
 sin θ cos θ1 0 0 
 1 T  = 
0 1

 0 0 1 0
 
 0 0 0 1

cos θ 2 − sin θ 2 0 0
 0 0 −1 0 
 2 T  = 
1

 sin θ 2 cos θ 2 0 0
 
 0 0 0 1

1 0 0 0 
0 0 −1 −r2 
 3 T  = 
2

0 1 0 0 
 
0 0 0 1 

 00 rp   33 rp 
  =  1 T   2 T   3 T   
0 1 2

 1   1 
RAJNISH KUMAR
19209121
cos θ1 − sin θ1 0 0  cos θ 2 − sin θ 2 0  1
0 0 0  0 
0
 00 rp   sin θ1 cos θ1 0 0   0 0 −1 0  0 0 −1 −r2  0 
 =  
 1   0 0 1 0   sin θ 2 cos θ 2 0 0  0 1 0 0  0 
   
 0 0 0 1  0 0 0 1  0 0 0 1  1 

cos θ1 − sin θ1 0 0  cos θ 2 − sin θ 2 0 0  0 

 00 rp   sin θ1 cos θ1 0 0   0 0 −1 0  −r2 
 =  
 1   0 0 1 0   sin θ 2 cos θ 2 0 0  0 
  
 0 0 0 1  0 0 0 1   1 

cos θ1 − sin θ1 0 0   r2 sin θ 2 

 00 rp   sin θ1 cos θ1 0 0   0 

 =  
 1   0 0 1 0  − r2 cos θ 2 
 
 0 0 0 1   1 

r2 sin θ 2 cos θ1 

 00 rp   r2 sin θ 2 sin θ1 
 = 
  
1 − r2 cos θ 2 
 1 
K)

Z
T
Z X
X
X3
RAJNISH KUMAR
19209121
Link ai-1 αi-1 θi di
1 0 0 θ1 L2+L1
2 0 90 θ2 0
3 L3 0 θ3 0

 cos θ i − sin θi 0 ai −1 
sin θ cos α cos θ i cos α i −1 − sin α i −1 − sin α i −1d i 
 iT  = 
i −1 i i −1

 sin θi sin α i −1 cos θ i sin α i −1 cos α i −1 cos α i −1d i 

 
 0 0 0 1 
cos θ1 − sin θ1 0 0 
 sin θ cos θ1 0 0 
 1T  = 
0 1

 0 0 1 L1 + L2 
 
 0 0 0 1 

cos θ 2 − sin θ 2 0 0
 0 0 −1 0 
 2T  = 
1

 sin θ 2 cos θ 2 0 0
 
 0 0 0 1

cos θ3 − sin θ3 0 L3 
 sin θ cos θ3 0 0 
 3T  = 
2 3

 0 0 1 0
 
 0 0 0 1

 L4 
{ 33rT } =  0 
0
 

 00 rT  0  3
3 rT

  =  1T   2T   3T   
1 2

 1  1 
RAJNISH KUMAR
19209121
cos θ1 − sin θ1 0 0  cos θ 2 − sin θ 2 0 0 cos θ3 − sin θ3 0 L3   L4 
 r
0
  sin θ cos θ1 0 
 0 0 −1 0   sin θ cos θ3
 
0 0   0 
 =  1 0
0 T
  3
 
 1   0 0 1 L1 + L2   sin θ 2 cos θ 2 0 0  0 0 1 0 0
     
 0 0 0 1   0 0 0 1  0 0 0 1   1 

cos θ1 − sin θ1 0  cos θ 2

0 − sin θ 2 0 0   L4 cos θ3 + L3 
   0 −1 0   L4 sin θ3 
 0   sin θ1 cos θ1 0 0
× 0
 0 rp=
 × 
 1   0 0 1 L1 + L2   sin θ 2 cos θ 2 0 0  0 
     
 0 0 0 1   0 0 0 1  1

cos θ1 − sin θ1 0 0  cos θ 2 ( L4 cos θ3 + L3 ) − sin θ 2 ( L4 sin θ3 ) 

 sin θ cos θ1 0 0   
0   0 
 0 rp 
1
× 
 1   0 0 1 L1 + L2  sin θ 2 ( L4 cos θ3 + L3 ) + cos θ 2 ( L4 sin θ3 ) 
 
 0 0 0 1   1 

 [cos θ 2 ( L4 cos θ3 + L3 ) − sin θ 2 ( L4 sin θ3 )]cos θ1 

 
 0   [cos θ 2 ( L4 cos θ3 + L3 ) − sin θ 2 ( L4 sin θ3 )]sin θ1 
 0 rp  =  
 1   sin θ 2 ( L4 cos θ 3 + L3 ) + cos θ 2 ( L4 sin θ 3 ) + L1 + L2
 1 

L)
RAJNISH KUMAR
19209121

Link ai-1 αi-1 θi di

1 0 0 θ1 0

2 0 0 180֯ d2

3 b1 90֯ 0 d3

 cos θi − sin θi 0 ai −1 
sin θ cos α cos θi cos α i −1 − sin α i −1 −di sin α i −1 
 iT  =
i −1  i i −1

 sin θi sin α i −1 cos θi sin α i −1 cos α i −1 di cos α i −1 

 
 0 0 0 1 

cos θ1 − sin θ 1 0 0
 
sin θ1 cos θ1
 1T  = 
0 0 0
 0 0 1 0
 
 0 0 0 1 

 −1 0 0 0
 0 −1 0 0 
 21T  = 
0 0 1 d2 
 
0 0 0 1

1 0 0 b1 
0 0 −1 − d3 
 3T  = 
2

0 1 0 0 
 
0 0 0 1 

0 
 
{ 3 p}
3
r = 0 
Let, 0 
 
RAJNISH KUMAR
19209121
 00 rp   33 rp 
 =  1T   2T   3T  
0 1 2
 
 1   1 
 cos θ1 − sin θ 1 0 0   −1 0 0 0  1 0 0 b1  0 
 
 00 rp   sin θ1 cos θ1 0 0   0 −1 0 0   0 0 −1 − d3   
0 
 =  
 1  0 0 1 0  0 0 1 d 2  0 1 0 0  0 
    
 0 0 0 1   0 0 0 1  0 0 0 1  1

cos θ1 − sin θ 1 0 0   −1 0 0 0   b1 
 
 00 rp   sin θ1 cos θ1 0 0   0 −1 0 0  −d3 
 =  
1  0 0 1 0  0 0 1 d2   0 
  
 0 0 0 1   0 0 0 1   1 

cos θ1 − sin θ 1 0 0  −b1 

  
 00 rp   sin θ1 cos θ1 0 0   d3 
 =  
1  0 0 1 0  d2 
 
 0 0 0 1   1 

 −b1 cos θ1 − d3 sin θ1 

 00 rp  −b1 sin θ1 + d3 cos θ1 
 = 
  
1 d 2 
 1 
RAJNISH KUMAR
19209121

M)

Z1
Z
X

Link ai-1 αi-1 θi di

1 0 0 θ1 l1

2 0 90 θ2 0
RAJNISH KUMAR
19209121

 cos θi − sin θi 0 ai −1 
sin θ cos α cos θ cos α − sin α − d sin α 
 iT  = 
i −1 i i −1 i i −1 i −1 i i −1 
 sin θi sin α i −1 cos θi sin α i −1 cos α i −1 di cos α i −1 
 
 0 0 0 1 
cos θ1 − sin θ1 0 0
 sin θ cos θ 0 0 
 1T  = 
0 1 1

 0 0 1 l1 
 
 0 0 0 1

cos θ 2 − sin θ 2 0 0
 0 0 −1 0 
 2T  = 
1

 sin θ 2 cos θ 2 0 0
 
 0 0 0 1

 00 rp   22 rp 
 =  1T   2T  
0 1
 
 1   1 
 cos θ1 − sin θ1 0 0   cos θ 2 − sin θ 2 0 0  l2 
 00 rp   sin θ1 cos θ1 0 0   0 0 −1 0  
0

 =  
 1   0 0 1 l1   sin θ 2 cos θ 2 0 0  0 
  
 0 0 0 1  0 0 0 1  1 

 cos θ1 − sin θ1 0 0  l2 cos θ 2 
 00 rp   sin θ1 cos θ1 0 0  
 0 

 =  
 1   0 0 1 l1   l2 sin θ 2 
 
 0 0 0 1   1 

l2 cos θ 2 cos θ1 
 00 rp   
 l2 cos θ 2 sin θ1 
 = 
 1   2 l sin θ 2 + 1 

 1 

RAJNISH KUMAR
19209121