Assignment 1-8 Final

NPTEL Online Certification Courses
Indian Institute of Technology Kharagpur
Mechanism And Robot Kinematics

Assignment- 1
TYPE OF QUESTION: MCQ
Number of questions: 10 Total mark: 10 X 1 = 10
______________________________________________________________________________
QUESTION 1:
Find the degrees of freedom (DOF) of the mechanism shown in the figure.
a. 2
b. 1
c. 3
d. 0
Correct Answer: b
Detailed Solution: Number of Links (L)=6
Number of Revolute Pairs (R) = 6
Number of Prismatic Pairs (P) = 1
DOF of the mechanism= 3(L-1)-2(R+P)=1

P 4
R
R
5 6
R
R
R
1
2
Ans: (b) 1
_____________________________________________________________________________
QUESTION 2:
How many ternary links can be found in the following excavator?
a. 0
b. 3
c. 2
d. 1
Correct Answer: a
Detailed Solution:
The binary links are denoted by (B) and quaternary links are denoted by (Q) in the above figure.
As observed, there are no ternary links.
Ans: (a) 0
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QUESTION 3:
How many ternary links does the following mechanism have?
a. 2
b. 0
c. 3
d. 1
Correct Answer: a
Detailed Solution:
There are only two ternary links including the ground, shown as (T) in the figure above.
Ans: (a) 2
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QUESTION 4:
Find the DOF of the following mechanism. Neglect any contact between the saw (S) and the
cylindrical job clamped to the base (B) as shown in the figure below.
a. 4
b. 1
c. 2
d. 3
Correct Answer: c
Detailed Solution:
P
5
4 R
3
R
2R
A 2
Number of movable links (L) = 5,

Number of revolute pairs (R) = 4 (There is a higher order joint at A),
Number of prismatic pairs (P) = 1 (between links 4 and 5),
The DOF of the mechanism= 3(L-1)-2(R+P)=12-10=2,
Ans : (c) 2
______________________________________________________________________________
QUESTION 5:
Find the DOF of the following mechanism.
.
a. 0
b. 2
c. 3
d. 1
Correct Answer: d
Detailed Solution:
R
4 R
R 5
R
3
H
2 R
Number of links (L) = 5,

Number of revolute pairs (R) = 5,
Number of prismatic pairs (P) = 0,
Number of higher pairs (H) = 1, (between links 2 and 3),
The DOF of the mechanism= 3(L-1)-2(R+P) - H = 12-10-1 = 1,
Ans: (d) 1
____________________________________________________
QUESTION 6:
Figure below is which kinematic chain?
a. Stephenson’s Chain
b. Quick Return Mechanism
c. Watt Chain
d. Watt Mechanism
Correct Answer: a
Detailed Solution:
Stephenson’s Chain is already explained, refer to lecture number 5.
______________________________________________________________________________
QUESTION 7:
The screw pair has DOF______ and is a ______ pair?
a. 1, Higher
b. 2, Lower
c. 2, Higher
d. 1, Lower
Correct Answer: d
Detailed Solution: Refer to lecture number 2.

______________________________________________________________________________
QUESTION 8:
An over-constrained mechanism has ______ DOF.
a. 0
b. 1
c. Negative
d. At least one
Correct Answer: c
Detailed Solution:
Refer to lecture number 5.
_____________________________________________________________________________
QUESTION 9:
The D.O.F of the spatial mechanism shown below is?
a. 3
b. 1
c. 4
d. 2
Correct Answer: b
Detailed Solution: Number of links (n): 4
A link has 6 DOF in space. An S-joint arrests 3 DOFs and allows 3 DOFs. A C-joint arrests 4
DOFs and allows 2 DOFs. Both P- and R-joints arrest 5 DOFs and allow 1 DOF.
Number of spherical joints(S): 1
Number of cylindrical joints(C): 1
Number of prismatic joints (P): 1
Number of revolute joints (R): 1
D.O.F = 6 n − 1 − 3S − 4C − 5P − 5R = 18 − 3 − 4 − 5 − 5 = 1
Ans: (b) 1
_______________________________________________________________________
QUESTION 10:
The D.O.F of the spatial mechanism shown below is?
a. 2
b. 3
c. 0
d. 1
Correct Answer: d
Detailed Solution:
Number of links (n): 4

Number of helical joints (H): 2
Number of cylindrical joints (C): 1
Number of spherical joints(S): 1

D.O.F. = 6 n − 1 − 3S − 4C − 5H = 18 − 3 − 4 − 5 × 2 = 1
Ans: (d) 1
_________________________________________________________________________
*******END*******

Assignment- 2
QUESTION 1:
Calculate the number of ternary links in the mechanism as shown in the figure below.
a. 3
b. 4
c. 5
d. 6
Correct Answer: c
Detailed Solution:
Ans: (c) 5
QUESTION 2:
Calculate the degrees of freedom (DOF) of the mechanism.
a. 0
b. 1
c. 2
d. 3
Correct Answer: b
Detailed Solution:
Number of links (nL) = 8

Number of 1 DOF joints (lower pairs) (nJ) = 9 (R) + 1 (P) = 10
DOF of the mechanism = 3×(8-1)-(3×10)+(1×10) = 21-30+10 = 1
Ans: (b) 1
QUESTION 3:
a. 1
b. 2
c. 3
d. 4
Correct Answer: a
Detailed Solution:

Number of 1 DOF joints (lower pairs) = 5
Number of 2 DOF joints (higher pairs) = 1
So, total number of joints (nJ) = 6
DOF of the mechanism = 3×(5-1)-(3×6)+(1×5)+2 = 12-18+5+2 = 1
Ans: (a) 1
QUESTION 4:
Davis steering mechanism is a type of
a. RRRP chain
b. RPRP chain
c. RRPP chain
d. 4R chain
Correct Answer: b
Detailed Solution:
Refer to time stamp 29:45 of Lecture 8.
QUESTION 5:
Stephenson’s kinematic chain is used in
a. Klann walking mechanism
b. Quick return mechanism
c. Davis steering mechanism
d. Ackerman steering mechanism
Correct Answer: a
Detailed Solution:
Refer to time stamp 16:25 of Lecture 5.
QUESTION 6:
A 4-bar linkage possesses following link lengths with link L1 fixed to the ground. L1=6 cm, L2=
3 cm, L3= 9 cm and L4= 11 cm. What conclusion can be drawn about the 4-bar linkage?
a. A non-Grashof chain
b. A double crank
c. A double rocker
d. A crank-rocker
Correct Answer: d
Detailed Solution:
For the given 4-bar linkage with L1 = 6 cm, L2 = 3 cm, L3 = 9 cm and L4 = 11 cm. It is a Grashof
chain (3+11<6+9) with one end of the shortest link (L2) hinged to the ground. Thus, only the
shortest link will rotate with respect to the ground and the two other links (L3 and L4) will rock.
Therefore, the mechanism is of crank-rocker type.
Ans: (d) A crank-rocker.
QUESTION 7:
A slider-crank mechanism has an offset of 5 cm. If the dead-center positions of the slider are 18
cm apart and the smallest distance of the slider from the ground hinge of the crank over the entire
range of motion is 13 cm, the length of the crank is
a. 30.414 cm
b. 21.707 cm
c. 8.707 cm
d. 17.414 cm
Correct Answer: c
Detailed Solution:
For the given slider-crank mechanism, A and B are the two dead center positions of the slider
with AB = 18 cm. Also, the smallest distance of the slider from the ground hinge of the crank
over the entire range of motion, i.e., OA  L  r  13 cm.
The x-coordinate of the point A is 132  52  12 cm. Therefore, x-coordinate of point B is

18  12  30 cm. So, OB  L  r  302  52  30.414 cm.
30.414  13
Hence, the length of the crank is r   8.707 cm.
2
Ans: (c) r  8.707 cm.
QUESTION 8:
a. 0
b. 1
c. 2
d. 3
Correct Answer: c
Detailed Solution:

Number of 1 DOF joints (lower pairs) = 4 (P) + 3 (R) = 7 = total number of joints (nJ)
Number of 3P loops = 1
DOF of the mechanism = 3×(6-1)-(3×7)+(1×7)+1 = 15-21+7+1 = 2
Ans: (c) 2
QUESTION 9:
For a 3R1P mechanism, the length of the shortest link is 5 cm and the length of the connecting
rod is 13 cm. What is the maximum value of the offset so that the shortest link can rotate
completely with respect to all other links?
a. 8 cm
b. 12 cm
c. 5 cm
d. 17 cm
Correct answer: a
Detailed Solution:
Grashof criterion for 3R1P chain is lmin  e  lconnecting rod  e  lconnecting rod  lmin  13  5  8 cm.
 emax  8 cm
Ans: (a) 8 cm
QUESTION 10:
The degree of freedom of the mechanism shown in the figure is
a. 0
b. 1
c. 2
d. 3
Correct Answer: b
Detailed Solution:

Number of 1 DOF joints (lower pairs) = 2 (R) = 2
Number of 2 DOF joints (higher pairs) = 1

Number of joints (nJ) = 2+1 = 3
DOF of the mechanism = 3×(3 – 1) – (3×3) + (1×2) + 2 = 6 – 9 + 2 + 2 = 1
ANS: (b) 1
*******END*******
Course Name: Mechanism And Robot Kinematics

Assignment- 3
QUESTION 1:
Given that l1= 3 cm, l2= 1.0 cm, l3 =3.5 cm and l4= 4 cm, what will be the value of 𝜃4 when the
input link (l2) becomes perpendicular to the fixed link for the given assembly mode shown in the
figure?
a. 209.4 deg
b. 97.4 deg
c. 104.4 deg
d. 82.5 deg
Correct Answer: c
𝜋
Detailed Solution: Given: l1= 3 cm, l2= 1.0 cm, l3 =3.5 cm, l4= 4 cm and 𝜃2 = 2 .
The equation for forward kinematics is 𝐴 sin 𝜃4 + 𝐵 cos 𝜃4 = 𝐶 such that,

𝑙1 3
𝐴 = sin 𝜃2 = 1, 𝐵 = cos 𝜃2 − = 0− = −3
𝑙2 1.0
𝑙1 𝑙12 + 𝑙22 − 𝑙32 + 𝑙42 9 + 1 − 12.25 + 16
𝐶=− cos 𝜃2 + = −0 + = 1.718
𝑙4 2𝑙2 𝑙4 8
Thus,
𝜃4 𝐴 ± 𝐴2 + 𝐵 2 − 𝐶 2 1 ± 1 + 9 − 2.954101 1 ± 2.6544
tan = = =
2 𝐵+𝐶 (−3) + (1.71875) (−1.28215)
Hence,
1 + 2.6544
𝜃41 = 2 tan−1 = 218.660
−1.28215
1 − 2.6544
𝜃42 = 2 × tan−1 = 104.4490
−1.28215
For this assembly mode of the mechanism 104.440 is the correct answer.
Ans: (c)
QUESTION 2:
Calculate the horizontal position of the slider (shown in the figure) from the ground hinge when
the crank angle (𝜃2 ) becomes zero for the given assembly mode. Assume the length of the crank
as 2 cm, the offset (e) = 3 cm and the maximum value of s (smax) = 5 cm.
a. 3.6 cm
b. 2.1 cm
c. 4.4 cm
d. 8.5 cm
Correct Answer: c
Detailed Solution:
𝑠 will attain its maximum value (𝑠𝑚𝑎𝑥 ), when the crank and the connecting rod become collinear
and completely stretched. Let the length of the crank and the connecting rod be l2 and l3,
respectively. Therefore, the following expression can be written as
2
𝑙2 + 𝑙3 = 𝑒 2 + 𝑠𝑚𝑎𝑥
2
∴ 𝑙3 = 9 + 25 − 2 = 3.8309 cm.
When 𝜃2 = 00 then, (assuming O is the origin of coordinate system) the coordinates of point A
and B are 2,0 and 2 + 3.8309 cos 𝜃3 , −3 respectively. Thus,
𝑙32 = 3.83092 = (1 + 3.8309 cos 𝜃3 − 2)2 + −3 2
2.3823
cos 𝜃3 = ∴ 𝜃3 = 51.54580
3.8309
For this assembly mode, 𝜃3 = 51.54580 ∴ 𝑠 = 𝑙2 + 𝑙3 cos 𝜃3 = 2 + 3.8309 cos 51.4580 =
4.3823 cm
Ans: (c)
QUESTION 3:
What will be the value of crank angle (𝜃2 ) for the given assembly mode in the figure, when the
slider has reached a distance (s) of 5 cm? Assume the lengths of the crank and the connecting rod
are 2 cm and 5 cm, respectively and e= 2 cm.
a. 46.4 deg
b. 64.5 deg
c. 103.7 deg
d. 72.1 deg
Correct Answer: a
Detailed Solution:
Given: l2= 2 cm, l3= 5 cm, e = -2 cm and s = 5 cm.

(Note that since the plane of the slider is below the reference coordinate attached to the hinge
point O, the offset is taken as negative.)
The origin of the coordinate system is assumed to be at O. The coordinates of point A and B are
𝑙2 cos 𝜃2 , 𝑙2 sin 𝜃2 and 𝑠, −𝑒 respectively. Thus,
𝑙32 = (𝑙2 cos 𝜃2 − 𝑠)2 + (𝑙2 sin 𝜃2 + 𝑒)2 = 𝑙22 − 2𝑠𝑙2 cos 𝜃2 + 2𝑒𝑙2 sin 𝜃2 + 𝑠 2 + 𝑒 2
25 = 4 − 20 cos 𝜃2 + 8 sin 𝜃2 + 25 + 4
20 cos 𝜃2 − 8 sin 𝜃2 = 8
Here, 𝐴 = −8, 𝐵 = 20, 𝐶 = 8. So,
−1
𝐴 − 𝐴2 + 𝐵 2 − 𝐶 2 −8 − 64 + 400 − 64
𝜃21 = 2 tan = 2 tan−1 = −90.000
𝐵+𝐶 28
−1
𝐴 + 𝐴2 + 𝐵 2 − 𝐶 2 −8 + 64 + 400 − 64
𝜃22 = 2 tan = 2 tan−1 = 46.3970
𝐵+𝐶 28
𝜃22 satisfies current assembly mode.
Ans: (a)
______________________________________________________________________________
QUESTION 4:
The inversion of the slider crank mechanism shown in the figure has the following properties: l1=
4 cm, l2= 6 cm and e =3 cm. Find s when 𝜃2 = 120o.
a. 8.18 cm
b. 9.62 cm
c. 12.31 cm
d. 10.34 cm
Correct Answer: a
Detailed Solution: Given: l1= 4 cm, l2= 6 cm, e =3 cm and 𝜃2 = 120o.
Solution for s.
s= 8.1853 cm, −8.1853 cm.

Ans: (a)
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QUESTION 5:
The mechanism shown in figure possesses following link lengths: l1= 5 cm, l2= 2 cm, l3 =4 cm,
l4= 4 cm and l5= 5 cm. Find s when 𝜃2 is 60 deg.
𝜃2
a. 10.7 cm
b. 2.4 cm
c. 3.2 cm
d. 2.9 cm
Correct Answer: b
Detailed Solution:
The mechanism consists of two chains. One 3R1P chain (l4-l5-s) with zero offset is attached to a
4R chain (l1-l2-l3-l4). We will first determine 𝜃4 from the 4R chain, and then, use it to find s.
Given: l1= 5 cm, l2= 2 cm, l3 =4 cm, l4= 4 cm, l5= 5 cm and 𝜃2 = 60o. Substituting these values in
The values of A, B and Care thus obtained as:

5
𝐴 = sin 600 = 0.866, 𝐵 = cos 600 − = −2
2
5 25 + 4 + 16 − 16
𝐶 = − × cos 600 + = 1.1875
4 2×2×4
The values of A, B and C are replaced in,
Therefore, we get,
0.866 − 0.8662 + (−2)2 − 1.18752

𝜃41 = 2 tan−1 = 99.6020
−2 + 1.1875
0.866 + 0.8662 + (−2)2 − 1.18752
𝜃42 = 2 tan−1 = 213.570 .
−2 + 1.1875
For the assembly mode shown, 99.602o is the desired result. Using the expression,
And then, replacing e = 0, 𝑙2 = 𝑙4 = 4, 𝑙3 = 𝑙5 = 5, and 𝜃2 by 𝜃41 = 99.602o

𝑠 = −3.74, 2.406 cm
For this assembly mode of the mechanism 2.406 cm is the correct answer.
ANS: (b)
______________________________________________________________________________
QUESTION 6:
The 3R1P mechanism can be assembled in the configuration shown below (Link l2 is  to the
fixed link/ground), when
a. 𝑑2 ≥ 𝑒 2 − 𝑙2 2
b. 𝑑2 ≥ 4𝑒𝑙2
c. 𝑑2 ≤ 𝑒𝑙2
d. 𝑑2 ≥ 𝑒 2 + 𝑙2 2
Correct Answer: a
Detailed Solution:
From the figure above, BM is a tangent to the circle of radius e.

Therefore, BCDM is a rectangle.
From geometry,
(𝑙2 2 − 𝑒 2 ) tan 𝜃3 2 − 2𝑑𝑙2 tan 𝜃3 + 𝑑 2 − 𝑒 2 = 0,
which yields real values of tan 𝜃3 when 𝑑 2 ≥ 𝑒 2 − 𝑙2 2 .

OR
From the figure, BD2 > e2 , since BD is the hypotenuse of right angled ΔBCM or ΔBMD
 𝑙2 2 + 𝑑 2 ≥ 𝑒 2
ANS: (a)
QUESTION 7:
Starting from the mechanism configuration shown with CD vertical, how much will the cylinder
have to move to make link BC vertical? Given that AB = 200 mm, BD = 100 mm and BC = 125
mm.
a. 519.61 mm
b. 114.29 mm
c. 187.75 mm
d. 228.58 mm
Correct Answer: b
Detailed Solution:
Given: AB = 200 mm, BD= 100 mm and BC= 125 mm.
Also, AD = AB + BD = 300 mm and 𝛽 = 𝜃2 + 𝜃3
For the initial configuration when CDꞱAC, we need to find the length AC.
From∆ABC, AC2 = AB2 + BC2 + 2(AB)(BC) cosβ………………………(1)

From∆BDC, CD2 = BD2 + BC2- 2(BD)(BC) cosβ………………………..(2)
And from ∆ACD, AC2+ CD2 = AD2…………………………………….(3)
Adding (1) and (2) and then using (3), we get cosβ =7/20.
Replacing this in Eq. (1) we get AC = 270.4163 mm.
When BC is vertical, AC2=AB2– BC2 ⇒ AC = 156.1249 mm.
Therefore, change in AC = (270.4163-156.1249) mm = 114.2913 mm.
ANS: (b)
QUESTION 8:
Given 𝑙1 + 𝑒 < 𝑙2 , the value of 𝜃2 when s attains the minimum value is
a. 1800
b. 00
c. 900
d. None of the above
Correct Answer: b
Detailed Solution:
From geometry, 𝑃𝑄 2 = 𝑙12 + 𝑙22 − 2𝑙1 𝑙2 cos 𝜃2 = 𝑠 2 + 𝑒 2 ⟹ 𝑠 = 𝑙12 + 𝑙22 − 2𝑙1 𝑙2 cos 𝜃2 − 𝑒 2
𝑑𝑠 𝑙1 𝑙2 sin 𝜃2
= = 0 ⟹ sin 𝜃2 = 0 ⟹ 𝜃2 = 00 , 1800
𝑑𝜃2 𝑙12 + 𝑙22 − 2𝑙1 𝑙2 cos 𝜃2 − 𝑒2
Also,
𝑑2 𝑠 𝑙1 𝑙2
2 = >0
𝑑𝜃2 𝜃2 =00 𝑙12 + 𝑙22 − 2𝑙1 𝑙2 − 𝑒 2
𝑑2 𝑠 𝑙1 𝑙2
2 =− <0
𝑑𝜃2 𝜃2 =180 0 𝑙12 + 𝑙22 − 2𝑙1 𝑙2 − 𝑒 2
Therefore, s becomes minimum when 𝜃2 = 00
Ans: (b)
QUESTION 9:
For the mechanism shown, the number of solutions of the inverse kinematics problem for a given
output angle is/are
a. 1
b. 2
c. 3
d. cannot be determined
Correct Answer: b
Detailed Solution:
For the four-bar mechanism ACDE, there are two possible values of 𝜃2 for a particular output 𝜃4
(refer lecture 10). In the mechanism ABE, for every value of 𝜃2 , there is one positive value of s
(refer lecture 13). Therefore, the correct option is 2.
Ans: (b)
QUESTION 10:
The value of 𝜃2 when s attains the maximum value is
a. 1800
b. 930
c. 370
d. 1500
Correct Answer: a
Detailed Solution:
Refer the solution part of question 8.
Hence, s becomes maximum when 𝜃2 = 1800
Ans: (a)
*******END*******
Mechanism and Robot Kinematics

Assignment- 4
QUESTION 1:
To reach a point (6,3) m in the x-y plane, what should be the joint angles 1 , 2  required for the
2R manipulator? Assume l1= 4 m and l2= 5 m.
a.  74.435 , 84.262  or  21.305 ,84.262 

o o o o
b. 30.651 ,51.317  or 81.969 , 51.317 

o o o o
c.  42.092 ,37.527  or 86.057 , 37.527 

o o o o
d.  30.651 ,61.937  or 70.235 , 61.937 

o o o o
Correct Answer: a
Detailed Solution:
The serial manipulator can reach the desired position in two different ways.
Given:  xE , yE    6,3 m, l1= 4 m. and l2= 5 m.

xE2  yE2  l12  l22 9

A  yE  3, B  xE  6, C  
2l1 2
Therefore,
 A  A2  B 2  C 2 
1  2 tan 1    74.4350 , 21.3050
 B  C 
 
11  74.435 , 12  21.305
0 0
Also,
yE  l1 sin 1
tan 1  2  
xE  l1 cos 1
Therefore, 𝜃2 has also two different solutions for two different values of 𝜃1 . While computing
the inverse tangent function, we need to pay attention on the signs of numerator and
denominator.
𝑥𝐸 − 𝑙1 cos 𝜃1 𝑦𝐸 − 𝑙1 sin 𝜃1 Quadrant
𝜃1 = 74.435𝑜 4.9266 -0.8533 4th
𝜃1 = −21.305𝑜 2.2734 4.4533 1st
1  2 1  9.827o , 1  2 2  62.956o  21  84.262o , 22  84.262o

ANS: (a) 1 ,2    74.435o , 84.262o  or  21.305o ,84.262o 
QUESTION 2:
The first link (l1) of the RP manipulator shown in the figure is 0.4 m long. The second link slides
and always maintains an angle α=120o with respect to the first link. Find the position of the end
effector when the first link makes an angle of θ=45o with the x-axis and the second link stretches
out a distance s = 0.75 m.
a.  0.477,0.442 
b.  0.901, 0.631
c.  0.477, 0.442
d.  0.901, 0.631
Correct Answer: c
Detailed Solution:
Given: l1= 0.4 m, s = 0.75 m and 𝛼 = 120𝑜 , 𝜃 = 45𝑜
xE  l1 cos   s cos      0.47696

yE  l1 sin   s sin      0.44160
ANS: (c) (xE, yE) = (0.477, -0.442) m
QUESTION 3:
In the figure, if the end effector has to reach (𝑥𝐸 , 𝑦𝐸 ) = (4,3) m, find the values of 𝑠 and 𝜃.
Assume l1 = 4 m, 𝛼 = 75𝑜 and s is non-negative.
a. (4.209 m, 17.53o)
b. (2.138 m, 17.53o)
c. (2.138 m, 61.27o)
d. (4.137 m, 61.27o)
Correct Answer: c
Detailed Solution:
Given: (xE, yE) = (4, 3) m, l1= 4 m, 𝛼 = 75𝑜 and s is non-negative.

A  yE sin   xE cos   1.8625
B  yE cos   xE sin   4.6402
C  l1 sin   3.8637
Therefore,
 A  A2  B 2  C 2 
  2 tan 1    61.2690 , 17.5290
 BC 
 
1  61.2690 ,  2  17.5290
𝑠, therefore, will have two solutions.

xE sin 1  yE cos 1
s     2.138 m.
1
sin 
x sin  2  yE cos  2
s    E  4.209 m.
2
sin 
Since s is non-negative the desired solution is (s,θ) = (2.138 m, 61.27o)
ANS: (c) (2.138 m, 61.27o)
QUESTION 4:
The 3R manipulator shown in the figure has the following link properties. l1= 2 m, l2= 3 m and
l3= 1 m. The successive angles (𝜃1 , 𝜃2 , 𝜃3 ) made by the links are 30o, -35o and 80o, respectively.
What will be the position (xE,yE) and orientation (ϕ) of the end effector?
a. (4.36, 0.26) m, 𝜙 = 75𝑜

b. (1.86, 0.91) m, 𝜙 = 15𝑜
c. (4.36, 0.26) m, 𝜙 = 15𝑜
d. (4.98, 1.70) m, 𝜙 = 75𝑜
Correct Answer: d
Detailed Solution:
Given: l1= 2 m, l2= 3 m, l3= 1 m, 𝜃1 = 30𝑜 , 𝜃2 = −35𝑂 , 𝜃3 = 80𝑜
xE = 4.9795 m, yE = 1.7045 m, 𝜙 = 75𝑜

ANS: (d) (4.9795, 1.7045) m, 𝜙 = 75𝑜
__________________________________________________________________________
QUESTION 5:
Find position and orientation of the end-effector of an RPR manipulator shown in the figure for
the following data: l1= 0.75 m, l2= 0.25 m, s = 0.6 m, 𝜃1 = 45𝑜 , 𝜃3 = 60𝑜 and 𝛼 = 30𝑜 .
a. (1.175, 0.927) m, 𝜙 = 15𝑜

b. (1.175, 0.927) m, 𝜙 = 75𝑜
c. (2.125, 1.045) m, 𝜙 = 75𝑜
d. (1.175, 1.972) m, 𝜙 = 75𝑜
Correct Answer: b
Detailed Solution:
Given: l1= 0.75 m, l2= 0.25 m, s = 0.6 m, 𝜃1 = 45𝑜 , 𝜃3 = 60𝑜 and 𝛼 = 30𝑜 .
xE  l1 cos 1   s cos 1     l2 cos 1    3   1.1746

yE  l1 sin 1   s sin 1     l2 sin 1    3   0.9271
  1    3  750
ANS: (b) (1.175, 0.927) m, 𝜙 = 75𝑜
QUESTION 6:
For the RPR manipulator shown in the figure, l1 > l2 , α = 90o and 0 ≤ s ≤ smax . The
workspace of the mechanism is
a. Area between the circles of radius l1  smax  l2 and l1  l2

b. Area inside the circle of radius l1  smax  l2
c. Area between the circles of radius l12  smax
2
 l2 and l1  l2
d. Area between the circles of radius l12  smax

2
 l2 and l1  smax
Correct Answer: c
Detailed Solution:
The maximum reach is obtained when s  smax and the link of length l2 is stretched outward
along the dashed line shown in the figure. The minimum reach is obtained when s  0 and the
link of length l2 is stretched inward along the link of length l1 .
ANS: (c) Area between the circles of radius l12  smax

2
 l2 and l1  l2
QUESTION 7:
Find the coordinates of point E in 2R-RPR manipulator when l1 = 5 cm, l2 = 2.5 cm, l3 = 5.5 cm,
d = 0.5 cm, s4 = 4 cm and 𝜃 = 30𝑜 .
a. (5.08, -3.55) cm or (2.68, 2.55) cm

b. (7.74, -3.48) cm or (4.28, 4.37) cm
c. (5.08, 3.55) cm or (2.68, -2.55) cm
d. (7.74, 3.48) cm or (4.28, -4.37) cm
Correct Answer: d
Detailed Solution:
Given: l1 = 5 cm, l2 = 2.5 cm, l3 = 5.5 cm, d = 0.5 cm, s4 = 4 cm, 𝜃 = 30𝑜 .
A   sin   0.5
l
B  1  cos   1.134
l2
l12  l22  l32  s42  2l1l2 cos 
C  0.86725
2l2l3
 A  A2  B 2  C 2 
   2 tan 1    21.7980 , 69.3850
 BC 
 
1  21.7980 , 2  69.3850
For 𝜙 = 21.798𝑜 , xE = 7.7361 cm, yE = 3.4780 cm , and for 𝜙 = −69.385𝑜 , xE = 4.2776 cm, yE
= -4.3658 cm
ANS: (d)
QUESTION 8:
To take the end-effector of a 2R-RPR manipulator to (10, 6) cm requires 𝜃 and s4 to be _____
and ______, respectively. The manipulator has the following dimensions. l1 = 10 cm, l2 = 3.5 cm,
l3 = 7.5 cm, and d = 2 cm. Fill the blanks with correct set of data.
a. (-12.8376o, 4.717 cm) or (75.686o, 5.78 cm)

b. (18.722o, 5.652 cm) or (-52.585o, 7.215 cm)
c. (-74.575o, 1.458 cm) or (25.257o, 6.802 cm)
d. (-14.010o, 4.915 cm) or (45.256o, 2.175 cm)
Correct Answer: a
Detailed Solution:
Given: (xE, yE) = (10,6) cm, l1 = 10 cm, l2 = 3.5 cm, l3 = 7.5 cm, and d = 2 cm.
A = 6, B = 10, C = 8.28571.
𝜃1 = −13.761𝑜 , 𝜃2 = 75.6806𝑜
As discussed in the course, we need to consider the signs of numerator and denominator while
computing the inverse tangent function.
𝑥𝐸 − 𝑙2 cos 𝜃 𝑦𝐸 − 𝑙2 sin 𝜃 Quadrant
𝜃 = −14.010𝑜 6.60446 6.683 1st

𝜃 = 75.937𝑜 9.1343 2.6087 1st
Therefore, 𝜙 = 45.3386𝑜 or 𝜙 = 15.939016𝑜 .
𝑥𝐵 = 𝑥𝐸 − 𝑑 cos 𝜙 𝑦𝐵 = 𝑦𝐸 − 𝑑 sin 𝜙
𝑠= (𝑥𝐵 − 𝑙1 )2 + 𝑦𝐵2
𝜙 = 45.3386𝑜 8.8594 4.57745 4.7174 cm
𝜙 = 15.9390𝑜 8.0768 5.45077 5.7800 cm

Therefore, the solutions are (-12.8376o, 4.717 cm) or (75.686o, 5.78 cm)
ANS: (a) (-12.8376o, 4.717 cm) or (75.686o, 5.78 cm)
QUESTION 9:
For the 3R manipulator shown in the figure, l1 = 8.5 cm, l2 = 3.5 cm and l3 = 2 cm. The
workspace of the mechanism is
a. Area between the circles of radius 12 cm and 5 cm

b. Area inside the circle of radius 14 cm
c. Area between the circles of radius 14 cm and 3 cm
d. Area between the circles of radius 12 cm and 3 cm
Correct Answer: c
Detailed Solution:
The maximum reach is 8.5  3.5  2  14 cm and the minimum reach is 8.5  3.5  2  3 cm
ANS: (c)
QUESTION 10:
The end-effector of a 3RPR manipulator at (12, 16) cm, with an orientation of ϕ=45o, requires s2,
s4 and s5 to be _____, _____ and ______, respectively. For the given manipulator, l1 = 7 cm and
d = 2 cm. Fill in the blanks with the correct set of data.
a. (16.051, 15.020, 11.055) cm

b. (15.020, 11.055, 16.051) cm
c. (11.051, 16.051, 15.020) cm
d. (12.125, 14.225, 17.786) cm
Correct Answer: a
Detailed Solution:
Given: (xE, yE) = (12,16) cm, 𝜙 = 45𝑜 , l1 = 7 cm, and d = 2 cm.
xA = 9.172, yA = 13.172, xB = 10.586, yB = 14.586.
s2 = 16.051 cm, s4 = 15.020 cm and s5 = 11.055 cm.

ANS: (a) (16.051, 15.020, 11.055) cm
************END************

Assignment- 5
__________________________________________________________________________
QUESTION 1:
In the configuration of the mechanism shown inthe figure, points C, A and D are collinear. If
CA=2 cm, CD=4 cm and ω2 = 4 rad/s CCW, then find ω4 in rad/s.
a. 6.0 CCW
b. 2.0 CW
c. 1.0 CW
d. 4.0 CW
Correct Answer: d
Detailed Solution:
For the given mechanism, the points C, A and D are collinear.

CA=2 cm, CD=4 cm, and ω2 = 4 rad/s CCW.
The positions of relative instantaneous centres are as follows:

I12 is at Point C,I14 is at Point D,I23 is at Point A, and I34 is at Point B.
Using Aronhold Kennedy theorem, I24 is located at point A coincident with I23 (I12, I14, I24 are
collinear; and I23, I34, I24 are also collinear).
2
Therefore, the velocity of I24 (point A) = 𝜔4 × 𝐴𝐷 = 𝜔2 × 𝐶𝐴 ∴ 𝜔4 = 4 × = 4 rad/s
4−2
(CW).
ANS: (d)
__________________________________________________________________________
QUESTION 2:
In the figure below, l1 = 5 cm, l2 = 2 cm, DAC=90o, and ACB=175o. At the instant shown,
ADE=90o. The y-coordinate of the instantaneous centre of rotation I31 in the coordinate system
shown is yc = ___ cm.
a. -57.15
b. -42.67
c. -81.24
d. -64.93
Correct Answer: a
Detailed Solution:
For the given Mechanism, the position of relative instantaneous centre I13 is at Point P (using
Aronhold Kennedy theorem).
From geometry, 𝐷𝑃 = 𝐷𝐸 tan 850 = 5 tan 850 = 57.15 cm. ∴ 𝑦𝑐 = −57.15 cm.
ANS: (a)
__________________________________________________________________________
QUESTION 3:
For the instant represented, when crank OA passes the horizontal position, the velocity of the
center G of link AB is _________ m/s.
a. 0.18
b. 0.46
c. 0.28
d. 0.31
Correct Answer: c
Detailed Solution:
From the above figure,
IG2 = AG2 + AI2 − 2 ∗ AG ∗ AI ∗ Cos(30)
Substituting, AG= 90 mm & AI= 180*Cos(30) in the above equation, yields IG=90 mm.
Since vA = 8 *60 mm/s = 480 mm/s, therefore, angular velocity of link AB:
vA
𝜔𝐴𝐵 = = 3.0792 rad/s.
AI
Therefore, vG = 𝜔𝐴𝐵 IG = 0.277 m/s.
ANS: (c)
__________________________________________________________________________
QUESTION 4:
A device which tests the resistance to wear of two material A and B is shown. If the link EO has
a velocity of 4 ft/s to the right when θ = 450 , the rubbing velocity at A ( in ft/s) assuming B to be
fixed.
a. 10.24
b. 9.19
c. 7.82
d. 8.41
Correct Answer: b
Detailed Solution:
In the above figure, applying sine rule in ΔODC,

we get DCO = sin-1( (5/12) sin(450) ) = 17.135220.
Therefore, in ΔDIO, using OD=5 in, IOD=450 and ODI=62.135220, applying sine rule
again we get, d=4.62558 in.
𝑣𝐸𝑂
The angular velocity of link OD is given as, 𝜔 = . Given, 𝑣𝐸𝑂 = 4 ft/s,
𝑑
4∗12
𝜔 = 4.62558 = 10.37706 rad/s.
𝑑+6
 𝑣𝐴 = 𝜔 ( 12 ) = 9.1885 ft/s.
Ans:(b)
__________________________________________________________________________
QUESTION 5:
In the design of this mechanism, upward motion of plunger G controls the motion of a control
rod attached at A. Point B of link AH is confined to move with the sliding collar on the fixed
vertical shaft ED. If G has a velocity 𝑣𝐺 = 2 m/s for a short interval, the angular velocity of link
HBA for the position 𝜃 = 450 is ___________________ rad/s.
a. 10.24
b. 20.31
c. 12.18
d. 14.17
Correct Answer: d
Detailed Solution:
From the above figure, the vertical component of velocity 𝒗𝑭 = 𝒗𝑮 = 2 m/s and 𝒗𝑭 = 𝒗𝑮 𝐜𝐬𝐜 𝜽
 𝒗𝑭 = 𝟐 𝒗𝑮 = 𝟐 𝟐 m/s.
Also ΔDFM  ΔDHN,  𝒗𝑯 = 𝟏. 𝟓 𝟐 m/s.
Using cosine rule in ΔDHB, we get
ℎ2 − 240 2 h + 17600=0
h = 63.8 mm or 275.5356 mm.
For the current configuration, h = 275.5356 mm.
 𝑰𝑯 = 𝒉 𝐜𝐬𝐜 𝛉 −𝑯𝑫 = ℎ 2 − 0.24 = 0.14966 m.

𝒗𝑯
𝝎𝑯𝑩𝑨 = = 14.17366 rad/s.
𝑰𝑯
ANS: d
____________________________________________________________________
__________________________________________________________________________
QUESTION 6:
The slender bar moving in general plane motion is shown in the figure below, with indicated
linear and angular velocities. Locate the instantaneous centre of rotation (in m), based on the
coordinated system shown.
x
a. (0,0.5) m
b. (0, 0.075) m
c. (0, -0.5) m
d. (0.5, 0.5) m
Correct Answer: a
Detailed Solution:
4×0.3
From the figure, 𝜃 = tan−1 = 30.960 . Also, the lines L1 and L2 are perpendicular to the
2
resultant velocity vectors.
So, slope of the line L1 is tan 900 + 𝜃 = −1.67 and the line passes through B (0.3, 0). So,
equation of the line L1 is 𝑦 = −1.67𝑥 + 0.5
Similarly, slope of the line L2 is tan 900 − 𝜃 = 1.67 and the line passes throughA (−0.3, 0).
So, equation of the line L2 is 𝑦 = 1.67𝑥 + 0.5
The point of intersection of these two lines is the instantaneous centre. Therefore, the coordinate
of the instantaneous centre is 0, 0.5
ANS: a
______________________________________________________________________________
QUESTION 7:
𝑠
For the mechanism shown below, given l2=5 cm, l1=3 cm, e=2 cm, and ϴ2=90o, the ratio is
𝜃2
________(cm/rad). The indicated motion directions are to be taken as positive.
a. 3.55
b. 2.34
c. 2.74
d. 4.56
Correct Answer: c
Detailed Solution: Refer to lecture number 23.
For the above mechanism, 𝑠 = ± 𝑙12 + 𝑙22 − 2𝑙1 𝑙2 cos 𝜃2 − 𝑒 2
Therefore, for l2=5 cm, l1=3 cm, e=2 cm and 𝛳2 = 900 ,𝑠 = 9 + 25 − 0 − 4 = 5.48 cm.
If 𝛳2 = 900 then ∆𝐷𝑃𝑄 is a right angled triangle with ∠𝐷𝑃𝑄 = 900 . Assume, ∠𝑃𝐷𝑄 = 𝛼
𝑙1 𝑄𝐷 𝑃𝐷
= =
sin 𝛼 sin 900 sin 900 − 𝛼
Also, from ∆𝐷𝐴𝐵

𝑠
sin 𝛼 =
𝑙2 + 𝑃𝐷
𝑙1 𝑃𝐷
Therefore, substituting = cos in above, we get,
sin 𝛼 𝛼
𝑙1 (𝑙2 + 𝑃𝐷) 𝑃𝐷
=
𝑠 cos 𝛼
2
𝑙1 (𝑙2 + 𝑃𝐷) 𝑃𝐷2
⟹ = 2
𝑠 𝑠
1− 𝑙 2 +𝑃𝐷
⟹ 𝑃𝐷 = 3.697 cm
𝑠
⟹ 𝛼 = sin−1 = 39.050
𝑙2 + 𝑃𝐷
⟹ 𝐷𝐵 = 𝑠 cot 𝛼 = 6.755 cm
Hence,
𝑠 𝐷𝐵 − 𝑒 6.755 − 2
= 𝑙2 = × 5 = 2.738
𝜃2 𝐷𝐴 3.697 + 5
Correct Answer: c
__________________________________________________________________________
QUESTION 8:
The angular speed of link OB for the mechanism shown below is ____________rad/s.
a. 5.153
b. 8.589
c. 7.754
d. 9.201
Correct Answer: b
Detailed Solution:
The position of relative instantaneous centre I13 is at Point P (using Aronhold Kennedy theorem).
From the figure, AB=180 mm, AP=160 mm, and the distance between I13 and I23 is
1802 − 1602 = 82.46 mm.
Therefore,
𝑉𝐴 𝑉𝐵
= 82.46 ⟹ 𝑉𝐵 = 1.03075m/s
160
1.03075
Hence, 𝜔𝑂𝐵 = = 8.589 rad/s.
0.12
ANS: b
__________________________________________________________________________
QUESTION 9:
The location of the relative instantaneous centre of the slender bar based on the coordinate
system shown is :
a. (0.456 m, 0.365 m)
b. (0.456 m, 0.327 m)
c. (0.125 m, 0.292 m)
d. (0.292 m, 0.292 m)
Correct Answer: d
Detailed Solution:
Y
P
75o
45o
O X
𝐴𝐵 𝑂𝐴
In ΔAOB, sin 105 0 = sin 45 0 ∴ 𝑂𝐴 = 0.2928
𝐴𝐵 𝐴𝑃
In ΔABP, sin 75 0 = sin 45 0 ∴ 𝐴𝑃 = 0.2928 m.
Therefore, coordinates of the relative IC of the rod is (0.2928, 0.2928) m.
ANS: d
__________________________________________________________________________
QUESTION 10:
The angular speed of the slender bar is ___________ rad/s.
X
a. 1.24
b. 2.06
c. 1.41
d. 1.39
Correct Answer: d
Detailed Solution:
Y
o P
75
o
45
O X
Initial steps same as that shown for solution of Q9.

𝐴𝐵 𝐵𝑃
In ΔABP, sin 75 0 = sin 60 0 ∴ 𝐵𝑃 = 0.3586 m.
𝑉
Therefore, 𝜔 = 𝐵𝑃𝐵 = 1.39 rad/s.
ANS:d
_________________________________________________________________________
************END***********

Assignment- 6
QUESTION 1:
For the 3R-1P mechanism as shown in the figure, l1  5 cm, l2  7 cm, e  3 cm, 2  1200 . If the
link l2 is rotating clockwise with an angular velocity 2 rad/s, calculate the velocity of the slider.
(consider the directions as shown on the diagram to be positive)
a. 3.50 cm/s
b. 3.50 cm/s
c. 6.06 cm/s
d. 6.06 cm/s
Ans: (d)
Detailed solution:
For the given mechanism, l1  5 cm, l2  7 cm, e  3 cm, 2  1200 , 2  2 rad/s (as it is CW)
 1
Here, s  l12  l22  2l1l2 cos  2  e 2  25  49  2  5  7      9  10 cm.
 2
Therefore,
s 10
2   s  2   s  s  6.0622 cm/s
l1l2 sin 2 5  7  sin1200
Ans: (d) 6.06 cm/s
QUESTION 2:
For the slider-crank mechanism shown in figure, l2 = 3 cm, l3= 10 cm, e = 5. Find the values of
angle θ2 for the dead center configurations of the mechanism.
a. 22.62o, 208.72o
b. 30.00, 236.440
c. 22.62o, 225.58o
d. 30.00, 256.440
Correct Answer: c
Detailed Solution:
For the given slider-crank mechanism with l2 = 3 cm, l3= 10 cm, e = 5 cm.
From the geometry of extended dead centre configuration,

 2  3
e 5
 sin 3     2  3  22.620
l3  l2 13
From the geometry of folded dead centre configuration,
 2  3  1800
e 5
 sin 3    3  45.580   2  1800  45.580  225.580
l3  l2 7
Ans: (c) 22.62o, 225.58o
QUESTION 3:
The 4R mechanism in figure has link lengths as l1 = 9 cm, l2 = 4 cm, l3 = 6 cm, and l4 = 8 cm. At
some instant, θ2 = 1050 and 2  5 rad/s (CCW). Calculate the angular velocity of link l4.
a. 2.486 rad/s
b. 4.972 rad/s
c. 1.243 rad/s
d. 6.291 rad/s
Correct Answer: a
Detailed Solution:
For the given mechanism, l1 = 9 cm, l2 = 4 cm, l3 = 6 cm, and l4 = 8 cm, θ2 = 1050.
A  sin  2  0.9659
l1
B  cos  2   2.5088
l2
l1 l2  l2  l2  l2
C cos  2  1 2 3 4  2.2443
l4 2l2l4
 A  A2  B 2  C 2 
  4  2 tan  1
  125.540 , 167.650
 BC 
 
For the given assembly mode, 4  125.540 . Therefore,
 l   l4 sin  2   4   l1 sin  2  
4   2     2  2.4859 rad/s
 4  2
l l sin  2   4   l1 sin  4
Ans: (a) 2.4859 rad/s
QUESTION 4:
For the serial robotic manipulator shown in the figure, l1 = 3 cm, l2 = 1 cm, θ1 = 60o, θ2 = 15o.
 
Find 1 ,2 if the end effector moves in horizontal direction (along negative x-axis) with
velocity of 5 cm/s at the given instant.
a. (6.22, 17.25) rad/s

b. (7.25, 22.95) rad/s
c. (-6.22, 22.95) rad/s
d. (-7.25, 17.25) rad/s
Correct Answer: c
Detailed Solution:
For the given serial robotic manipulator, l1 = 3 cm, l2 = 1 cm, θ1 = 60o, θ2= 15o.
Given, xE = −5 cm/s and yE = 0.
J11  l1 sin 1  l2 sin 1   2   3.564

J12  l2 sin 1   2   0.966
J 21  l1 cos 1  l2 cos 1   2   1.759
J 22  l2 cos 1   2   0.259
Therefore,
 xE   J11 J12  1 

   
 y E   J 21 J 22  2 
1
1   3.564 0.966   0  6.22 
    

 2   1.759 0.259  5  22.95 
Ans: (c) (-6.22, 22.95) rad/s
QUESTION 5:
For the serial robotic manipulator shown in the figure, l1 = 6 cm, s = 2 cm, θ = 75o, α = 120o.
Find the y-component of velocity of the end effector if θ = 2 rad/s (CW) and s = 1 m/s.
a. -76.645 cm/s
b. -83.012 cm/s
c. -56.477 cm/s
d. -42.251 cm/s
Correct Answer: a
Detailed Solution:
For the given serial robotic manipulator, l1 = 6 cm, s = 2 cm, θ = 75o, α = 120o, and θ = −2 rad/s
(as it is clock-wise) and s = 100 cm/s. The y-coordinate of the end effector is
yE  l1 sin   s sin    
 y  l cos    s  sin      s cos      
E 1
 y E  6 cos 750   2   100   sin  750  1200   2 cos  750  1200    2 

 y E  76.645 cm/s
The velocity of the y component of the velocity end effector is 𝑦𝐸 = −76.645 cm/s
Ans: (a) 𝒚𝑬 = −𝟕𝟔. 𝟔𝟒𝟓 𝐜𝐦/𝐬
QUESTION 6:
For the position shown where θ = 300, point A on the sliding collar has a constant velocity v =
0.3 m/s with corresponding lengthening of the hydraulic cylinder AC. For this same position, BD
is horizontal and DE is vertical. The angular velocity of DE at this instant is
a. 4.342 rad/s (CW)

b. 1.525 rad/s (CW)
c. 3.245 rad/s (CW)
d. 1.125 rad/s (CW)
Correct Answer: d
Detailed Solution:
Say, FA = s, CA = l, CF = h.
From triangle ACF, l2 = h2 + s2
𝑙 𝑠 1
Differentiating with respect to time, 𝑙 𝑙 = 𝑠 𝑠 ⇒ = = sin 𝜃 = sin 300 = …(i)
𝑠 𝑙 2
𝑠 = 0.3 m/s = 300 mm/s, 𝑙 = 150 mm/s
Again, 𝑠 = 𝑙 sin 𝜃 = 𝑙 sin(900 − 𝛼) = 𝑙 cos 𝛼

Differentiating with respect to time, 𝑠 = 𝑙 cos 𝛼 − 𝑙𝛼 sin 𝛼………………………..(ii)
From figure, l = h/cosθ = 200/cos 300, α = 600
9
From (ii), 𝛼 = − 8 rad/s
Now from CBDE 4-R chain,
9
Where, 𝜃2 = 𝛼 = 600 , 𝜃2 = 𝛼 = − 8 , 𝜃4 = 900
And CB = l2 = DE/sin α = 90/sin 600, l4 = DE = 90, l1 = 200 mm

9
𝜃4 = − 8 rad/s
ANS: (d) 1.125 rad/s (CW)
QUESTION 7:
Motion of the threaded collars A and B is controlled by the rotation of their respective lead
screws. If A has a velocity to the right of 3 inch/s and B has a velocity to the left of 2 inch/s when
x = 6 inch., the angular speed of ACD at this instant is
a. 0.542 rad/s
b. 0.295 rad/s
c. 1.025 rad/s
d. 0.178 rad/s
Correct Answer: b
Detailed Solution:
From the above figure,
From geometry, 42 = 62 + (𝑥𝐵 − 𝑥𝐴 )2 − 2 × 6 × (𝑥𝐵 − 𝑥𝐴 ) × cos 𝜃

62 +62 −42
For this configuration, 𝑥 = 𝑥𝐵 − 𝑥𝐴 = 6′′ ∴ 𝜃 = cos −1 = 38.940
2×6×6
Also, 𝑥𝐵 − 𝑥𝐴 𝑥𝐵 − 𝑥𝐴 − 12 𝑥𝐵 − 𝑥𝐴 cos 𝜃 + 12 𝑥𝐵 − 𝑥𝐴 sin 𝜃 𝜃 = 0
𝑥𝐵 − 𝑥𝐴 𝑥𝐵 − 𝑥𝐴 − 12 cos 𝜃
⟹𝜃=−
12 𝑥𝐵 − 𝑥𝐴 sin 𝜃
Now, replacing 𝑥𝐴 = 3 inch/s , 𝑥𝐵 = −2 inch/s, we obtain 𝜃 = 0.29463 rad/s
ANS: (b) 0.29463 rad/s
QUESTION 8:
The following RP manipulator attains singularity when
a. 𝑙1 − 𝑠 cos 𝛼 = 0
b. 𝑠 + 𝑙1 cos 𝛼 = 0
c. 𝑙1 tan 𝜙 + 𝑠 cot 𝛼 = 0
d. 𝑙1 + 𝑠 cos 𝛼 = 0
Correct Answer: b
Detailed Solution:
Refer to lecture 29, slide 32.

RP attains singularity when 𝑠 + 𝑙1 cos 𝛼 = 0
ANS: (b)
QUESTION 9:
Slider A moves in the horizontal slot with a constant speed v for a short interval of motion. The
angular velocity of bar AB when xA = L is
𝑣
a. 3𝐿
3𝑣
b. 𝐿
3𝑣
c. 𝐿
𝑣
d. 3𝐿
Correct Answer: b
Detailed Solution:
Here, the rate of change of  is the angular velocity of the bar AB.
𝑥𝐵 = 𝑥𝐴 + 𝐴𝐵 …………………….. (i)
Resolving into components
𝑥𝐵 cos 600 = 𝑥𝐴 + 𝐿 cos 𝜃……………… (ii)
𝑥𝐵 sin 600 = 𝐿 sin 𝜃…………………….. (iii)
From (ii) and (iii) we obtain,

𝐿 sin 𝜃
= tan 600 ⇒ 𝐿 sin 𝜃 = 3 𝑥𝐴 + 𝐿 cos 𝜃 ………………………. (iv)
𝑥 𝐴 +𝐿 cos 𝜃
Differentiating both sides of (iv)
𝑥𝐴
3 𝑥𝐴 − 𝐿 sin 𝜃 𝜃 = 𝐿 cos 𝜃 𝜃 ⟹ 𝜃 = 𝐿 cos 𝜃
+ 𝐿 sin 𝜃
3
Since, xA = L from the geometry it is found that 𝜃 = 1200 .
Therefore,
𝑣 𝐿 𝑣 𝐿 𝑣 𝐿 3𝑣
𝜃 = cos 120 0 = = 1 =
+ sin 1200 −2
1
+
3
−1 + 3 𝐿
3 3 2 2 3
3𝑣
ANS: (b) 𝐿
QUESTION 10:
Horizontal oscillation of the spring-loaded plunger E is controlled by varying the air pressure in
the horizontal pneumatic cylinder F. If the plunger has a velocity of 2 m/s to the right when θ =
300the downward velocity of roller D in the vertical guide is
a. 6.93 m/s
b. 1.23 m/s
c. 2.31 m/s
d. 8.56 m/s
Correct Answer: c
Detailed Solution:
The loop closure vectors are shown in red and green.
𝒙𝟏 + 𝒛𝟏 + 𝒍 = 𝒙𝟐 + 𝒛𝟐 …………………………………..(i)
Resolving into components
𝑥1 + 𝑙 cos 𝜙 = 𝑥2 …………………………..(ii)
𝑧1 + 𝑙 sin 𝜙 = −𝑧2 ………………………….(iii)
Differentiating (ii) and (iii) with respect to time
𝑥1 − 𝑙 sin 𝜙 𝜙 = 𝑥2 ……………………..(iv)
𝑧1 + 𝑙 cos 𝜙 𝜙 = −𝑧2 …………………….(v)
Now at the given configuration 𝜙 = 3600 − 300 = 3300 and𝑥1 = 𝑣 = 2 m/s,𝑥2 = 0,
From (iv), 𝜙 = −40/3 rad/s
There is another constraint. Point B will always remain on line passing through points B and F.
Therefore, from similar triangles ABC and BFD

𝑧1 𝐴𝐵
= 𝐵𝐷 ………………………………(vi)
𝑧2
Differentiating (vi) with respect to time
𝑧2 𝑧1 − 𝑧1 𝑧2 = 0 …………………….. (Since AB/BD is a constant ratio) ….. (vii)
From, (v) and (vii)

𝑧2 𝑧2
𝑧2 = × 𝑧1 = × −𝑧2 − 𝑙 cos 𝜙 𝜙
𝑧1 𝑧1
𝑧2 𝑧2
⟹ 𝑧2 1 + = − × 𝑙 cos 𝜙 𝜙
𝑧1 𝑧1
𝑙 cos 𝜙 𝜙
⟹ 𝑧2 = − 𝑧1
+1
𝑧2
𝑧 100 1
At the given configuration, 𝑧1 = 200 = 2. Thus 𝑧2 = 2.31 m/s
2
ANS: (c) 2.31 m/s

*******END*******
Mechanism and Robot Kinematics

Assignment- 7
__________________________________________________________________________
QUESTION 1:
The end-effector of a 2R manipulator shown in the figure below, has to trace a circular trajectory
in XY plane, i.e., the coordinates of the end-effector will always satisfy 𝑥𝐸 𝑡 = 5 + 1.5 cos 𝑡 m
and 𝑦𝐸 𝑡 = 4 + 1.5 sin 𝑡 . Find (𝜃1 (𝑡), 𝜃2 (𝑡)) at t= π/6 s. Given l1=4 m and l2 = 5 m.
a. (12.54o , 102.14o ) or (12.54o , −102.14o )

b. (33.25o , 25.21o ) or (52.06o , −25.21o )
c. (4.54𝑜 , 57.92𝑜 ) or (69.50𝑂 , −57.92𝑜 )
d. (2.73o , 45.04o ) or (88.06o , −45.04o )
Correct Answer: c
Detailed Solution:
Given l1=4 m, l2= 5m and t= π/6 s.

𝜋 𝜋
𝑥𝐸 = 5 + 1.5 cos 6 = 6.299 m.
6
𝜋 𝜋
𝑦𝐸 = 4 + 1.5 sin 6 = 4.750m.
6
A= 4.750, B= 6.299, C= 6.655

𝜃11 = 4.54𝑜 , 𝜃12 = 69.50𝑂
Therefore, 𝜃2 has also two different solutions for two different values of 𝜃1 . While
computing the inverse tangent function, we need to pay attention on the signs of
numerator and denominator.
𝑥𝐸 − 𝑙1 cos 𝜃1 𝑦𝐸 − 𝑙1 sin 𝜃1 Quadrant
𝜃1 = 4.54𝑜 2.3116 4.4334 1st
𝜃1 = 69.50𝑂 4.8982 1.0033 1st
𝜃1 + 𝜃2 1 = 62.46𝑜 , 𝜃1 + 𝜃2 2 = 11.58𝑜
𝜃21 = 57.92𝑜 , 𝜃22 = −57.92𝑜
ANS (c):(4.54𝑜 , 57.92𝑜 ) or (69.50𝑂 , −57.92𝑜 )
__________________________________________________________________________
QUESTION 2:
Link OA of the 4R chain shown in the figure below, starts from rest with an initial acceleration
of 0.1 rad/s2 (CCW). Angular acceleration of link BC is ____. Assume r = 1 m.
αOA
a. 0.2 rad/ s2 (CCW)

b. 0.2 rad/ s2 (CW)
c. 0.1 rad/ s2 (CW)
d. 0.1 rad/s2 (CCW)
Correct Answer: c
Detailed Solution:
Given: l1 = OC = 2r, l2 = OA =r, l3= AB = r, l4= BC =r√2, at the given instant 𝜃2 =

0, and 𝜃2 = 0.1 rad/s 2 (CCW)
Counter clockwise direction of rotation is taken as positive.
From geometry,𝜃2 = 0o and 𝜃4 = 180 + 45 o = 225o .
Initial acceleration of link BC can be written as
Therefore, J = -1.
𝜃4 = −𝜃2 = −0.1 rad/s2 .
Hence, initial acceleration of link BC is 0.1 rad/s2 (CW).
ANS: c
______________________________________________________________________________
QUESTION 3:
The mechanism shown in the figure below, is in one of the dead-center configurations where
CD=3 cm, BD=4 cm and CA=1 cm. If 𝜔2 = 1 rad/s (constant), the angular acceleration of the
link DB is _____ rad/s2.
a. 0.52 rad/s2 (CCW)

b. 1.12rad/s2 (CW)
c. 5.55rad/s2 (CW)
d. 3.38 rad/s2 (CW)
Correct Answer: a
Detailed Solution:
Given: l1 = CD = 3 cm, l2 = CA = 1 cm, l4 = BD = 4 cm, 𝜃4 = 90o and at the given instance

𝜃2 = 1 rad/s (CCW, constant). Counter clockwise sense has been taken positive.
From the given configuration, CB2 = CD2 + BD2⟹ CB = 5 cm. Hence, l3 = AB = (5 − 1) cm =
4 3
4 cm. From ∆ BCD, sin 𝜃2 = 5 , cos 𝜃2 = 5. Since, 𝜃2 is constant, i.e. 𝜃2 = 0, one can write
𝜕𝐽 𝜕𝐽 𝜕𝐽 𝜕𝐽
𝜃4 = + 𝐽 𝜃22 + 𝐽𝜃 = + 𝐽 𝜃22
𝜕𝜃2 𝜕𝜃4 𝜕𝜃2 𝜕𝜃4
such that,
𝑙2 𝑙4 sin 𝜃2 − 𝜃4 + 𝑙1 sin 𝜃2
𝐽=
𝑙4 𝑙2 sin 𝜃2 − 𝜃4 + 𝑙1 sin 𝜃4
Hence at this singular configuration, J = 0.
Also,
𝜕𝐽 25
which yields 𝜕𝜃 = 48
2
25 2
Therefore, 𝜃4 = 48 × 1 = 0.5208 rad/s2.
ANS: (a) 𝜃4 = 0.52 rad/s CCW

_____________________________________________________________________________
QUESTION 4:
Given l1 = 1 m, l2 = 3 m,l3 = 5 m, s4 = 6 m, 𝜃 = 600 , 𝜃 = 2 rad/s, d= 2 m and 𝑠4 = 1 m/s for 2R-
RPR open chain shown below. Find 𝑥𝐸 = _______________ m/s for -45o<ϕ< 45o.
a. -4.63
b. 2.34
c. -2.34
d. 3.14
Correct Answer: a
Detailed Solution: 𝒔𝟒 𝒄𝒐𝒔 𝜽𝟒 = 𝒍𝟐 𝒄𝒐𝒔 𝜽 + 𝒍𝟑 𝒄𝒐𝒔 ∅ − 𝒍𝟏 ……………………(1)
𝒔𝟒 𝒔𝒊𝒏 𝜽𝟒 = 𝒍𝟐 𝒔𝒊𝒏 𝜽 + 𝒍𝟑 𝒔𝒊𝒏 ∅
From (1), we get 𝜃4 = 23.6642o and ∅ = −2.1977o
Differentiating both sides of (1), we obtain:
− 𝒔𝟒 𝒔𝒊𝒏 𝜽𝟒 𝜽𝟒 + 𝒔𝟒 𝒄𝒐𝒔 𝜽𝟒 = −𝒔𝒊𝒏 𝜽 𝜽 𝒍𝟐 − 𝒔𝒊𝒏 ∅ ∅𝒍𝟑 ……………(2)
𝒔𝟒 𝒄𝒐𝒔 𝜽𝟒 𝜽𝟒 + 𝒔𝟒 𝒔𝒊𝒏 𝜽𝟒 = 𝒄𝒐𝒔 𝜽 𝜽 𝒍𝟐 + 𝒄𝒐𝒔 ∅ ∅𝒍𝟑
Given 𝜃2 = 2 rad/s,𝑠4 = 1in (2), and we obtain 𝜃4 = 2.37 rad/s and ∅ = 2.09 rad/s.
Therefore, 𝒙𝑬 = −𝒔𝒊𝒏 𝜽 𝜽 𝒍𝟐 - (𝒍𝟑 + 𝒅) 𝒔𝒊𝒏 ∅ ∅ = −𝟒. 𝟔𝟑 m/s
Ans: (a)
__________________________________________________________________________
QUESTION 5 :
The link (l1) of the RP manipulator shown in the figure is 0.5 m long. The second link slides and
always maintains an angle α=80o with respect to the first link. Find the position of the end
effector when the first link makes an angle of θ=45o with the x axis and the second link stretches
out a distance s= 0.5 m.
a. (0.640,0.763)
b. (0.066, 0.640)
c. (0.763, 0.640)
d. (0.763, 0.066)
Correct Answer: d
Detailed Solution:
𝒙𝑬 = 𝒍𝟏 𝐜𝐨𝐬 𝜽 + 𝒔 𝐜𝐨𝐬 𝜶 − 𝜽
𝒚𝑬 = 𝒍𝟏 𝐬𝐢𝐧 𝜽 − 𝒔 𝐬𝐢𝐧 𝜶 − 𝜽
Substituting, 𝑙1 = 𝑠 = 0.5, 𝛼 = 800 and 𝜃= 450 in the above equation, we get
𝑥𝐸 = 0.763 and 𝑦𝐸 = 0.066 .
Correct Answer: d
__________________________________________________________________________
QUESTION 6:
Determine 𝑥𝐸 for the mechanism shown below. Given l1 =1 m, s= 0.5 m, 𝜃 = 𝜋/4 rad, 𝛼 = 𝜋/3
rad, 𝜃 = 2 rad/s and 𝑠 = 0.01 m/s.
a. 1.612 m/s
b. 1.508 m/s
c. -1.414 m/s
d. -1.145 m/s
Correct Answer: d
Detailed Solution:
We know that, 𝒙𝑬 = 𝒍𝟏 𝐜𝐨𝐬 𝜽 + 𝒔 𝐜𝐨𝐬 𝜶 − 𝜽
 Differentiating the above equation with respect to time, yields
𝒙𝑬 = −𝒍𝟏 𝜽 𝐬𝐢𝐧 𝜽 + 𝒔 𝐜𝐨𝐬 𝜶 − 𝜽 + 𝒔𝜽 𝐬𝐢𝐧 𝜶 − 𝜽
 Substituting l1 =1 m, s= 0.5 m, 𝜃 = 𝜋/4 rad, 𝛼 = 𝜋/3 rad, 𝜃 = 2 rad/s & 𝑠 = 0.01 m/s in the
above equation, 𝒙𝑬 = −𝟏. 𝟏𝟒𝟓 m/s.
Ans:(d)
______________________________________________________________________________
QUESTION 7:
In the configuration of the mechanism shown below, points C, A and D are collinear with CA=2
cm, AB=5 cm, BD=4 cm, CD=6 cm. A 5 Nm torque is applied on link CA at point C to rotate it
in CCW direction. Calculate the torque required (in Nm) to be exerted on link BD at point to
prevent its motion.
a. 5 Nm (CW)
b. 10 Nm (CCW)
c. 5 Nm (CCW)
d. 7 Nm (CCW)
Correct Answer:b
Detailed Solution:
For the given mechanism, the points C, A and D are collinear.CA=2 cm, AB=5 cm, BD=4 cm,
CD=6 cm.Using Aronhold Kennedy theorem, I24 is located at point A.
Velocity of I24 (point A) = ω4 × AD =ω2×CA

From the principle of virtual work, τD = τC×(ω2 / ω4) = 5× 2 Nm = 10 Nm (CCW)
Ans: (b)
__________________________________________________________________________
QUESTION 8:
For the planar manipulator shown below, in the relation,
Given l1= l2 = 1 m, θ1 = π/4 rad & θ2 = π/6 rad, the value J12 is ______________ m.
a. -0.182
b. -0.912
c. -0.966
d. 0.912
Correct Answer: c
Detailed Solution: Refer to lecture 31, time stamp 5:50 mins.
𝑱𝟏𝟐 = −𝒍𝟐 𝐬𝐢𝐧 𝜽𝟏 + 𝜽𝟐 = −𝟎. 𝟗𝟔𝟓𝟗 m.
Ans: (c)
__________________________________________________________________________
QUESTION 9:
For the serial robotic manipulator shown in the figure below, l1 = l2 = 3 cm, θ1 = 45o, θ2= 15o.
Find resisting torques (τ1 and τ2) required to be applied at the revolute joints to resist motion
when the end effector supports a weight of W = 100 N.
a. τ1 = 337.45 N-cm, τ2 = 77.65 N-cm

b. τ1 = 362.13 N-cm, τ2 = 150.00 N-cm
c. τ1 = 70.54 N-cm, τ2 = 77.65 N-cm
d. τ1 =112.45 N-cm, τ2 = 552.46 N-cm
Correct Answer: b
Detailed Solution: From velocity relations for 2R serial robotic manipulator, we can get,
Thus, the resisting torques (τ1 and τ2) required to be applied at the revolute joints to resist motion
are calculated as:
τ1 = 362.13 N-cm, τ2 = 150.00 N-cm
Ans: (b)
__________________________________________________________________________
QUESTION 10:
The end-effector of a 3RPR manipulator at (20,20) cm, with an orientation of ϕ=30o. If the given
manipulator has the dimensions, l1 = 5 cm and d = 4 cm, then the value of s5 is _________ cm.
a. 26.67
b. 13.33
c. 17.08
d. 11.24
Correct Answer: c
Detailed Solution:
Coordinates of point A: (𝑥𝐸 − 2𝑑 cos ∅ , 𝑦𝐸 − 2𝑑 sin ∅)
Coordinates of point R: (0, 𝑙1 )
𝑠5 = (𝑥𝐸 − 2𝑑 cos ∅)2 + ( 𝑦𝐸 − 2𝑑 sin ∅ − 𝑙1 )2 = 17.08 cm
Ans: (c)
************END*******
Assignment - 8
QUESTION 1:
For the open chain robotic manipulator as shown in the figure, the transformation matrix ____ is
 0.2588 0.9659 *
0.9659 0.2588 *
 
 0 0 1
0
a. T2
1
b. T3
0
c. T3
1
d. T2
Ans: (b)
Detailed solution:
For the robotic manipulator as shown in the figure below,
cos 1   sin 1  * cos 1   2   sin 1   2  *
   
T1   sin 1  cos 1  * and T2   sin 1   2  cos 1   2  *
0 0
 0 0 1  0 0 1
For the given problem, cos  450  300   cos 750  0.2588 and sin  450  300   sin 750  0.9659 .
Therefore, the transformation matrix is 1T3
Ans: (b) 1T3
QUESTION 2:
Determine the force P required to keep the two rods in equilibrium when the angle   600 and
weight W is 50 kg. The rods are each of length L and of negligible weight. They are prevented
from moving out of the plane of the figure by supports not shown.
a. 424.8 N
b. 14.4 N
c. 43.3 N
d. 141.6 N
Ans: (d)
Detailed solution:
The principle of virtual work is applied here as,
P   xA  W   yB  0
 P    2 L cos    W    L sin    0
 P   2 L sin      W   L cos      0
 2 P sin   W cos 
W cot  50  9.81 cot 600
P   141.60 N
2 2
Ans: (d) 141.6 N
QUESTION 3:
For the given RP robotic manipulator, l  2 m, s  1 m,   450 ,   600 . Find 2T0  2,3 .
a. -1.732
b. -2.000
c. 1.155
d. 2.380
Ans: (a)
Detailed solution:
cos 450  sin 450 2 cos 450  0.707 0.707 1.414 

 
0
T1   sin 450 cos 450 2sin 450   0.707 0.707 1.414 
 0 0 1   0 0 1 
 
 cos 600 sin 600 cos 600   0.5 0.866 0.5 
 0
1
T2    sin 600 cos 600  sin 60    0.866 0.5 0.866 

 0 0 1   0 0 1 

 0.966 0.259 2.380 
 T2  T1 T2   0.259
0 0 1
0.966 1.155 
 0 0 1 
0.966 0.259 2 
 
 2T0   0T2   0.259
1
0.966 1.732 
 0 0 1 

Ans: (a) -1.732
QUESTION 4:
For the robotic manipulator, l  4 m, s  2 m, l2  1 m,   600 ,   750 ,   300 . If a point is

represented as  2,3 in x3  y3 frame, then the same point represented in x0  y0 frame is ---
a. (6.05, 6.62)
b. (-7.51, 5.78)
c. (-3.09, 2.76)
d. (3.18, 5.56)
Ans: (a)
Detailed solution:
cos 600  sin 600 4 cos 600   0.5 0.866 2.000 

 
0
T1   sin 600 cos 600 4sin 600   0.866 0.5 3.464 
 0 0 1   0 0 1 
 
 cos 750 sin 750 2 cos 750   0.259 0.966 0.518 
 
1
T2    sin 750 cos 750 2sin 750    0.966 0.259 1.932 
 0 0 1   0 0 1 
 
cos 300  sin 300 cos 300  0.866 0.5 0.866
 
2
T3   sin 300 cos 300 sin 300    0.5 0.866 0.5 
 0 0 1   0 0 1 

 0.966 0.259 4.898
 T3  T1 T2 T3   0.259 0.966 3.205
0 0 1 2
 0 0 1 
 0.966 0.259 4.898 2 6.0532 
 p0  0  p3       6.0532 
    T3      0.259 0.966 3.205 3   6.6207   p 0   
1 1  0   
1  1   1    6.6207 
 0
Ans: (a) (6.05, 6.62)
QUESTION 5:
The second column of the rotation matrix 0 R1 matrix represents ---

a. The unit vector along x1 in x0  y0 frame
b. The unit vector along x0 in x1  y1 frame
c. The unit vector along y1 in x0  y0 frame
d. The unit vector along y0 in x1  y1 frame
Ans: (c)
Detailed solution: Discussed in lecture 39.
PROBLEM 6
For the given mechanism, if an external torque  2  10 N.m is applied at O2, calculate the torque
required at O4 to resist motion in the mechanism.
a. 3.347 N.m
b. 29.879 N.m
c. 7.216 N.m
d. 22.946 N.m
Ans: (b)
Detailed Solution
For the given problem, l1  0.4 m, l2  0.1 m, l3  0.25 m, l4  0.3 m,  2  1050

A  sin  2  0.9659
l1
B  cos  2   4.2588
l2
l1 l12  l22  l32  l42
C   cos  2   3.6368
l4 2l2l4
 A  A2  B 2  C 2 
  4  2 tan  1
  133.610 , 159.160
 BC 
 
For the given assembly mode, the value of  4  133.610 . Therefore,
 l4 sin 4  l2 sin 2 
3  tan 1    28.851
0
 l1  l4 cos 4  l2 cos 2 
So, the Jacobian (J) that satisfies the angular velocity relation  4  J 2 is
l2 sin  2  3 
J  0.33468
l4 sin  4  3 
Hence, the resisting torque is found from the torque relation as
10
 2  J 4   4   29.879 N.m
0.33468
Ans: (b) 29.879 N.m
PROBLEM 7
For the serial robotic manipulator, find the resisting torque required at the origin of the
coordinate axes to resist the motion due to the vertical load of 75 N (denoted as FO in the
diagram) where, l1  2 m, l2  0.5 m, 1  450 ,  2  600 .
a. -82.716 N.m
b. 36.222 N.m
c. 9.706 N.m
d. -96.360 N.m
Ans: (d)
Detailed solution
J11  l1 sin 1  l2 sin 1   2   1.8972

J12  l2 sin 1   2   0.48296
J 21  l1 cos 1  l2 cos 1   2   1.2848
J 22  l2 cos 1   2   0.12941
Therefore,
 1   J11 J 21   FOx 
   
 2   J12 J 22   FOy 
   1.8972 1.2848   0   96.3603 

  1     
 2   0.48296 0.12941 75  9.7057 
Ans: (d) -96.360 N.m
PROBLEM 8
For a 4 bar mechanism, if the angular velocity relation is  4  J 2 then ---

 Statement 1: The torque relation is  4  J 1  2
 Statement 2: The angular acceleration relation is  4  J 2
What can be concluded about the statements above?
a. Both statements are correct

b. Both statements are incorrect
c. Statement 1 is correct, Statement 2 is incorrect
d. Statement 1 is incorrect, Statement 2 is correct
Ans: (c)
Detailed solution
Statement 1 is correct as discussed in the lectures.
But,
 4  J 2
 J  2   J  2
  4  J 2      2  J 2   2
  2 t    2 
  4  J 2
Ans: (c) Statement 1 is correct, Statement 2 is incorrect
PROBLEM 9
The elevation of the platform of mass m supported by the four identical links is controlled by the
hydraulic cylinders AB and AC which are pivoted at point A. Determine the compression P in
each of the cylinders required to support the platform for a specified angle  .
1 
a. mg  cot
2 2
1 
b. mg  tan
2 2

c. mg  cos   sec
2

d. mg  cos   csc
2
Ans: (c)
Detailed solution:
For the given set up, assume AB  AC  s . So,

s 2  b 2  b 2  2b 2 cos   2b 2 1  cos    4b 2 sin 2
2
 
 s  2b sin   s  b cos 
2 2
Also, h  2b sin    h  2b cos  
Therefore, the of virtual work is applied here as,

2 P   s   mg    h  0

 2 P  b cos   mg   2b cos    0
2

 P  cos  mg  cos 
2

 P  mg  cos   sec
2

Ans: (c) P  mg  cos   sec
2
QUESTION 10
For the given coordinate transformation, as shown in the figure
 0 R1 d 0 
T1   T
0

0 1
Which of the following statements is true for the above transformation?
a. Only 0 R1 is orthogonal matrix.

b. Only 0T1 is orthogonal matrix.
c. Both 0 R1 and 0T1 are orthogonal matrices.
d. None of these is orthogonal matrix.
Ans: (a)
Detailed solution: This part is discussed in lecture 38-39.

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NPTEL Online Certification Courses

Indian Institute of Technology Kharagpur

Mechanism And Robot Kinematics

Detailed Solution: Number of Links (L)=6

Number of Revolute Pairs (R) = 6

Number of Prismatic Pairs (P) = 1

DOF of the mechanism= 3(L-1)-2(R+P)=1

As observed, there are no ternary links.

Number of movable links (L) = 5,

The DOF of the mechanism= 3(L-1)-2(R+P)=12-10=2,

Number of links (L) = 5,

The DOF of the mechanism= 3(L-1)-2(R+P) - H = 12-10-1 = 1,

Stephenson’s Chain is already explained, refer to lecture number 5.

Detailed Solution: Refer to lecture number 2.

Refer to lecture number 5.

Detailed Solution: Number of links (n): 4

Number of links (n): 4

Number of spherical joints(S): 1

Mechanism And Robot Kinematics

Number of links (nL) = 8

Number of links (nL) = 5

Refer to time stamp 29:45 of Lecture 8.

Refer to time stamp 16:25 of Lecture 5.

Ans: (d) A crank-rocker.

The x-coordinate of the point A is 132  52  12 cm. Therefore, x-coordinate of point B is

Ans: (c) r  8.707 cm.

Number of links (nL) = 6

Number of links (nL) = 3

Number of 2 DOF joints (higher pairs) = 1

Course Name: Mechanism And Robot Kinematics

The equation for forward kinematics is 𝐴 sin 𝜃4 + 𝐵 cos 𝜃4 = 𝐶 such that,

𝑙32 = 3.83092 = (1 + 3.8309 cos 𝜃3 − 2)2 + −3 2

Given: l2= 2 cm, l3= 5 cm, e = -2 cm and s = 5 cm.

Detailed Solution: Given: l1= 4 cm, l2= 6 cm, e =3 cm and 𝜃2 = 120o.

s= 8.1853 cm, −8.1853 cm.

The values of A, B and Care thus obtained as:

The values of A, B and C are replaced in,

0.866 − 0.8662 + (−2)2 − 1.18752

And then, replacing e = 0, 𝑙2 = 𝑙4 = 4, 𝑙3 = 𝑙5 = 5, and 𝜃2 by 𝜃41 = 99.602o

From the figure above, BM is a tangent to the circle of radius e.

(𝑙2 2 − 𝑒 2 ) tan 𝜃3 2 − 2𝑑𝑙2 tan 𝜃3 + 𝑑 2 − 𝑒 2 = 0,

which yields real values of tan 𝜃3 when 𝑑 2 ≥ 𝑒 2 − 𝑙2 2 .

From∆ABC, AC2 = AB2 + BC2 + 2(AB)(BC) cosβ………………………(1)

Therefore, s becomes minimum when 𝜃2 = 00

The value of 𝜃2 when s attains the maximum value is

Refer the solution part of question 8.

Hence, s becomes maximum when 𝜃2 = 1800

Mechanism and Robot Kinematics

a.  74.435 , 84.262  or  21.305 ,84.262 

b. 30.651 ,51.317  or 81.969 , 51.317 

c.  42.092 ,37.527  or 86.057 , 37.527 

d.  30.651 ,61.937  or 70.235 , 61.937 

Given:  xE , yE    6,3 m, l1= 4 m. and l2= 5 m.

xE2  yE2  l12  l22 9

𝜃1 = 74.435𝑜 4.9266 -0.8533 4th

𝜃1 = −21.305𝑜 2.2734 4.4533 1st

1  2 1  9.827o , 1  2 2  62.956o  21  84.262o , 22  84.262o

Given: l1= 0.4 m, s = 0.75 m and 𝛼 = 120𝑜 , 𝜃 = 45𝑜

xE  l1 cos   s cos      0.47696

ANS: (c) (xE, yE) = (0.477, -0.442) m

Given: (xE, yE) = (4, 3) m, l1= 4 m, 𝛼 = 75𝑜 and s is non-negative.

𝑠, therefore, will have two solutions.

ANS: (c) (2.138 m, 61.27o)