BIRLA INSTITUTE OF TECHNOLOGY AND SCIENCE

First Semester 2020-21

Mid-semester Examination (06th Jan 2021)
Course No. MEG 511 Mechanism & Robotics
Total Marks: 30 1 hour 30 Min

Q1. Each question should be answered in sequence and to the point. The symbols have its
usual meaning discussed in the textbook.

(a) Consider a 3-R planar manipulator with links of generic lengths l1, l2 and l3. Assume, that each joint has
unlimited rotation, determine the primary workspace for the end effector of this robot. Verify your analysis
by drawing the workspace in the l1 = 1, l2 = 0.4, l3 = 0.3[m] [3]

(b) Is it possible to generate T matrix by a set of four DH parameters ( , a, d , ) ? Provide these values.
The 4  4 matrix is given below. [4]

 −0.7071 0.5 −0.5 −1 

 −0.7071 −0.5 0.5 −1 
T =
 0 0.7071 0.7071 −0.7071
 
 0 0 0 1 

(c) Consider the 2-DOF VV arm shown in Fig.1. (i) Develop its kinematic model based on available data
in Figure 1. (ii) Determine the inverse kinematic model (iii) Determine Jacobian Matrix [6+3+4]

Fig.1
2
(d) Identify the type of manipulator it is? Compute the
T3 matrix [4]

Link i ai i di i
1 a1 0 0
2 a2 0 0
3 0 180 d3 0
4 0 0 d4
(e) Consider designing a four bar mechanism to replace a pair of gears with 4:1 gear ratio. Consider Φ as
input rotation and Ψ as the output rotation. In such an arrangement the ranges are 0≤Φ≤180 and
corresponding 0≤ Ψ≤90. [3]
(f) Determine the value of a, where a  0 such that the R(k , ) = R holds. Based on the values of k and
 −0.5 −a 0

associated angle   (− , + ) . The Rotation matrix is. R = 0 0 −1 [3]

 a −0.5 0 

*******

Important Formula Set

 R D
T= 
O 1 
C i − S i C  i S i S i ai C i 
 S C i C i − C i S i ai S i 
i −1
Ti =  i
 0 S i C i di 
 
 0 0 0 1 
 k x2 V + C k x k yV − k z S k x k zV + k y S 
 
Rk ( ) = k x k yV + k z S k y2 V + C k y k zV − k x S 
k x k zV − k y S k y k zV + k x S k z2 V + C 

1
vQ = 1 v p + 1T2 2 vQ + 1ω2  1T2 2 Q

R ( t ) = S ( ( t ) ) R ( t )

 ( 0 Ti )
i
vi = 
j =1
q j
q j i Di

i = i −1 + 0 Ri −1 zi −1 qi
  Pi −1 
  for a prismatic joint
 0 
J i (q) = 
  Pi −1  Pn 
i −1

   for a revolute joint

 Pi −1 