fter this date, if submitted, no marks will be added.

Q1. For the point 3i+7j+5k perform the following operations:

a. Rotate 30o about the X axis.
b. Rotate 45o about the Y axis.
c. Rotate 90o about the Z axis.
d. Translate 8 units along the Y axis.
e. Rotate 30o about X axis, then translate along Y axis
f. Translate 6 along Y, then rotate 30o about the X axis. [3]
Q2. Can the DH convention always give a unique attachment of frames to the link or a given
manipulator? [2]
Q3. Consider a case of multiple DOF revolute joint manipulator in which, at a particular situation, two
of the z-axes coincide with both frames having only translation mapping. What will happen to the
total DOF in this situation, and what is the name of this situation? [2]
Q4. A rotary joint
if the velocity vector at the origin of {A} is

find the 6 × 1 velocity vector with reference point the origin of {B}. [3]
Q6. Find the Jacobian of the manipulator with three degrees of freedom shown in figure. Write it in
terms of its frame {4} located at the tip of the hand, and having the same orientation as its previous
frame.