ME 192 Robotics #1, Oct.

9, 2001

Name __________________,_________________________ Last First

Note: This exam is close book, notes, homework, handout, etc., except an 8 x 11 sheet of paper (you can WRITE but NOT COPY) anything on both sides. You can use any type of calculator. The test is 50 minutes long.

1. (20 Points) A moving frame { B} first rotates relative to a fixed frame { A} about Z A by 90o , then translates 10 units in X B , 5 units in YA , and finally rotates YB by - 90o . Find A P , where
B

P = [1 0 2] .
T

(Note: X A , YA , Z A --- three principal axes of the frame { A} ; X B , YB , Z B --- three principal axes of the frame { B} )

TYA (5) RZ A (90o ) I TX B (10) RYB (90o )

1 0 0 0

0 0 0 cos(90o ) sin(90o ) o o 1 0 5 sin(90 ) cos(90 ) 0 1 0 0 0 0 0 1 0 0

0 0 1 0 0 0 1 0 0 0 1 0

0 0 10 cos(90o ) sin(90o ) o o 1 0 0 sin(90 ) cos(90 ) 0 1 0 0 0 0 0 1 0 0

0 0 0 0 1 0 0 1

1 0 0 0

0 1 0 0

0 0 1 0

0 0 1 5 1 0 0 0 0 1 0 0

0 0 1 0

0 1 0 0 0 0 1 0

0 1 0 0

0 10 0 0 0 1 1 0 0 0 1 0

1 0 0 0

0 0 1 0

0 1 0 = 0 0 0 1 0

0 1 0 0

0 0 0 15 1 0 0 1

1 0 A P= 0 0
So

0 1 0 0
A

0 0 1 1 0 15 0 = 15 1 0 2 2 0 1 1 1

P = [1 15 2]

2. (20 Points) One way to describe a frame { B} w.r.t. a reference frame { A} is Z-Y-X Euler angle, defined as follows: Start with the frame { B} coincident with { A} . First rotate { B} about Z B by an angle , Where X B , YB , Z B are the three principal axes of the frame { B} . The final orientation of { B} w.r.t. { A} is:
A B

then rotate about YB by an angle , and then rotate X B by an angle .

C C R( , , ) = S C S

C S S S C S S S + C C C S

C S C + S S S S C C S C C

Now the values of the final orientation of { B} w.r.t. { A} is given as:

What is , , , respectively?

.612 .3535 .707 A .3535 .707 B R ( , , ) = .612 .5 .866 0

3. (20 Points) The Unimation PUMA 560 is a robot with six DOF and all rotational joints (6R mechanism). It is shown in the Figure (1) with link frame assignments. Figure (2) shows detail of the forearm of the robot. List D-H Parameters in the table and find 4 5T .

Figure 1

Figure 2 D-H Parameters for PUMA 560

Link i 1 2 3 4 5 6

i 1

ai 1

di

4 5

T=

4. (20 Points) Show the attachment of link frames on:. (1) The three-link PRR manipulator

(2) The three-link RPP manipulator.

5. (8 Points) Multiple choice problems (circle one from (A), (B), (C), or (D)): (1) The number of degrees of freedom that a manipulator possesses is defined as the number of __________. (A) (B) (C) (D) links joints dimensions that the manipulator can move independent position variables

(2) The orientation of the end-effector of a manipulator can be represented by a 3 x 3 rotation matrix:

xx x y xz
I. II. III. IV. V. VI. (A) (B) (C) (D)

yx yy yz

zx zy zz

The determinant of this matrix equals to 1 Each row vector of this matrix is a unit vector Each column vector of this matrix is a unit vector Columns are mutually orthogonal Rows are mutually orthogonal Only three elements of this matrix are independent

All above statements, I to VI, are true Only I, II, III are true Only I, IV, and V are true Only I, II, III, IV, and V are true

(3) In the homogeneous transformation matrix:

xx x 0 y NT = xz 0
I. II. III. IV. V. (A) (B) (C) (D)

yx yy yz 0

zx zy zz 0

px py pz 1

The first-column vector, i.e. [ xx , x y , xz ]T , represents the coordinates of the x axis of the end-effector frame w.r.t. the base frame The second-column vector, i.e. [ y x , y y , y z ]T , represents the coordinates of the y axis of the end-effector frame w.r.t. the base frame The third-column vector, i.e. [ z x , z y , z z ]T , represents the coordinates of the z axis of the end-effector frame w.r.t. the base frame The fourth-column vector, i.e. [ p x , p y , p z ]T , represents the position of the origin of the end-effector frame w.r.t. the base frame In this matrix, only six elements are independent, which include p x , p y , and p z All above statements, I to V, are true Only I, II, III are true Only I, II, III, and IV, are true Only IV, and V are true

(4) A 3-dimensional manipulator means that the manipulator: (A) has 3 degrees of freedom (B) has 3 links (C) has 3 prismatic joints (D) can move in 3D space 6. (8 Points) Define Denavit-Hartenberg parameters in detail and label these parameters in the graph shown.

________________________________________________________________________ ________________________________________________________________________ ________________________________________________________________________ ________________________________________________________________________

7. (4 Points) Label the frame shown in the figure (e.g. Wrist frame, base frame, etc)