Advanced Kinematics HM 2

Fall, 2019 Due by 11/21

1. (20%) Fig. 1 is the inverted crank slider. (1) Define the D-H matrices and solve the output
position of the link 4 in terms of input angle of link 2. Plot position diagram showing angular
position of link 4 versus 2. (2) Verify your answer by using vector loop method in Fig. 1(b).

2. (15%) Fig. 2 shows a three-degree-of-freedom RPR robot. Assume link frames {0} through
{3} for this arm. As pictured, blue arrows denote z-axes while red arrows are x axes. (a)
Derive the transformation matrices T1, T2, and T3. (b) Find the joint angles need to bring the
end effector of the manipulator to a given position q=[qx, qy, qz]T by the D-H method. Given q,
how many number of possible arm configurations exist? (Assume d1=50 mm, d3=50 mm,
2=90, a1=0, a2=75, a3=80 mm, 1=90, 2=90, 3=90)

3. (15%) Continue with Problem 2, (a) Derive the Jacobin matrix of the manipulator as in Fig. 2
in two ways: direct differentiation from the position equation and the recursive vector method
in the classnote (b) Find the singular conditions of the robot, if any?

4. (20%) Find the joint angles need to bring the end effector of the manipulator shown in Fig. 3
to a given position q=[qx, qy, qz]T by the D-H method. Given q, how many number of possible
arm configurations exist?

5. (15%) Continue the Problem 4. Derive the Jacobian matrix of the manipulator using the
recursive vector method in the notebook. Discuss the singular conditions and identify them if
any.

6. (15%) For the figure shown in Fig. 4, find the 44 homogeneous transformation matrices AAC,
D
AB , and CAB , and DAA. and CAD.

1
Advanced Kinematics HM 2
Fall, 2019 Due by 11/21

(a) (b)
Fig. 1

Fig. 2

Fig. 4
Fig. 3