FAKULTI TEKNOLOGI KEJURUTERAAN

ELEKTRIK DAN ELEKTRONIK

UNIVERSITI TEKNIKAL MALAYSIA MELAKA

INDUSTRIAL ROBOTICS

BEEA3413 SEMESTER 2 SESSION 2023/24

TUTORIAL 2: MANIPULATOR KINEMATICS

NAME OF GROUP MEMBERS &

MATRIX NUMBER(S)

COURSE

DATE

TS. MOHAMED AZMI BIN SAID

NAME OF INSTRUCTOR(S)

EXAMINER’S COMMENT(S) VERIFICATION STAMP

TOTAL MARKS

1
CHAPTER 3: MANIPULATOR KINEMATICS

QUESTION 3.1

For manipulators shown in Figure 3.1, draw join axis and place proper joint frames.

Figure Q3.1: Manipulator

1
QUESTION 3.1

2
QUESTION 3.2

3
QUESTION 3.3

4
5
QUESTION 3.4

6
QUESTION 3.5

7
QUESTION 3.6

(a) Define frame, degree of freedom and kinematics.

[3 marks]
(b) List SIX (6) possible lower-pair joints for robot arm manipulator.
[6 marks]
(c) Figure Q4(c)(i) and Figure Q4(c)(ii) shows the four-axis Scara robot manipulator. It is a

robot used for the assembly of electronics printed boards. The joint variables are 1 ,  2 ,

 3 and d 4 .

(i) Tabulate the Denavit-Hartenberg (D-H) parameters for this robot. Create D-H table

as shown in Table Q4(c).

Table Q4(c): D-H Table

i ai 1  i 1 di i

[6 marks]

B B
(ii) Generate the matrix T T for the robot where T T represent 4x4 homogenous

transformation from tool-tip coordinates to base coordinates, X 0 , Y0 , Z 0 . Consider

frame {T} is equal to the frame {4} and frame {B} is equal to the frame {0}. Do
not multiply the matrices.
[10 marks]

8
 Figure Q4(c)(i): Scara Robot Arm manipulator

Figure Q4(c)(ii): Scara Robot Arm manipulator schematic

[25 MARKS]

9
QUESTION 3.7

XYZ positioning table is used in many applications such as three 3D printer and milling
machines. Figure Q4 shows a structure of XYZ prismatic position table currently available in
the industry. In order to control the tool and work object position and orientation, kinematic
equation need to be prepared. Use the diagram in APPENDIX A to answer this question.

(a) Assign axis for all X, Y and Z movement

[3 marks]
(b) Place frames position with proper orientation for all THREE (3) prismatic joints.
[3 marks]
(c) Complete the Denavit-Hartenberg (D-H) parameter for this robot.
[7 marks]
B B
(d) Generate the transformation matrix T T for the robot where T T represent a 4x4

homogenous transformation matrix from tool-tip coordinates to base coordinates X B ,

YB , ZB .
[12 marks]

Figure Q4: XYZ positioning table

[25 MARKS]

10
QUESTION 3.8

Figure Q3.8 shows an IRBP positioner and its dimension. Determine the forward kinematics
equation for a two joint positioner manipulator

(a) Assign the axis for all joints.

(6 marks)
(b) Attach the possible frame assignment for all joints.
(6 marks)
(c) Complete the D-H table for all links.
(6 marks)
(d) Produce the forward kinematics equation for the positioner.
(7 marks)

Figure Q3.8: IRBP positioner

[25 MARKS]

11