Student’s name : NGUYEN, HUNG VIET

Student’s number : s0920203

Student’s contact : [email protected] – 080-4253-0381

ZˆC

YˆC

Xˆ C

YˆA Zˆ A Zˆ B

Xˆ B YˆB
2.27 [15] Referring to Fig.2.25, give the value of ABT

This Fig.2.25 shows a frame {B} which is rotated relative to frame {A} about Ẑ by 180 degrees and
translated 3 units in Xˆ A , and 0 units in YˆA , and 0 units in Zˆ A . The definition of frame {B} is

Yˆ Ẑ Ẑ

X̂ X̂

Yˆ

{A} TO {B}

0 1 0 3
 1 0 0 0 
A
T   BA R A
PBORG   
B
0 0 1 0
 
0 0 0 1

2.28 [15] Referring to Fig.2.25, give the value of CAT

To obtain frame {C}, we need two steps.

First, from frame {A} to frame {TEMP}

Frame {TEMP} which is rotated relative to frame {A} about Yˆ by 270 degrees and translated 0 units in
Xˆ A , and 0 units in YˆA , and 0 units in Zˆ A .

Second, from frame {TEMP} to frame {C}

Frame {C} which is rotated relative to frame {TEMP} about X̂ by 60 degrees and translated 2 units in
Xˆ A (-2) and 0 units in YˆA , and 3 units in Zˆ A . Finally, the definition of frame {C} is

Yˆ Ẑ Yˆ

X̂ Ẑ

X̂

{A} TO {TEMP}
 Yˆ Yˆ Ẑ

Ẑ

X̂ X̂

{TEMP} TO {C}

A
CT   TEMPA R. TEMPC R A
TEMP R. TEMP PCORG  A PTEMPORG 
  1 0 0  1 0 0   1 0 0   2  0  
  0 1 0  .  0   0  
0  
1 0  . 0 0.5 0.87 
       
  0 0 1 0 0.87 0.5   0 0 1  3  0  
 
 0 0 0 1 
 1 0 2
0
0 0.5 0.87 0 

0 0.87 0.5 3
 
0 0 0 1

2.29 [15] Referring to Fig.2.25, give the value of CBT

We have two solutions in this case.

First solution will only be described and the second solution will be given in details

First Solution:

To obtain frame {C}, we need two steps.

First, from frame {B} to frame {TEMP}

Frame {TEMP} which is rotated relative to frame {B} about Yˆ by 90 degrees and translated 0 units in Xˆ B ,
and 0 units in YˆB , and 0 units in Zˆ B .

Second, from frame {TEMP} to frame {C}

Frame {C} which is rotated relative to frame {TEMP} about X̂ by 210 degrees and translated 2 units in
Xˆ B (-2), and 0 units in YˆB , and 0 units in Zˆ B . Finally, the definition of frame {C} is

Ẑ Ẑ

X̂

Yˆ X̂ Yˆ

{B} TO {TEMP}

Ẑ Yˆ Ẑ

X̂ Yˆ X̂

{TEMP} TO {C}

B
CT   TEMPB R.TEMPC R B
TEMP R.TEMP PCORG  B PTEMPORG 

Second Solution:

B
CT  BAT . CAT

 AB R B
PAORG   BA RT  BA RT A PBORG 
B
AT   
0 0 0 1  0 0 0 1 
0 1 0  0 1 0   3  
 
 R A T
 R PBORG  1
A T A
0 0  1 0 0  . 0  
 B B

0 0 0 1  0 0 1  0 0 1 0  
 
 0 0 0 1 
0 1 0 0
1 0 0 3

0 0 1 0
 
0 0 0 1
  1 0 0 2
 0 0.5 0.87 0 
CT 
A  
 0 0.87 0.5 3
 
0 0 0 1

0 1
0 0   1 0 0 2
1 0 3  0 0.5 0.87 0 
0  
B
T  
C
0 1 0   0 0.87 0.5 3
0
  
0 0 1  0
0 0 0 1
 0 0.5 0.87 0 
 1 0 0 1
 
 0 0.87 0.5 3
 
0 0 0 1

2.30 [15] Referring to Fig.2.25, give the value of CAT

 AC R C
PAORG   CA RT  CA RT A PCORG 
C
AT   
0 0 0 1  0 0 0 1 
0 1 0  0 1 0   3  
 
 A RT  CA RT A PCORG  1 0 0  1 0 0  . 0  
 C 
0 0 0 1  0 0 1  0 0 1 0  
 
 0 0 0 1 
0 1 0 0
1 0 0 3

0 0 1 0
 
0 0 0 1

2.31[15] Referring to Fig.2.26, give the value of ABT

To obtain frame {B}, we need two steps.

First, from frame {A} to frame {TEMP}

Frame {TEMP} which is rotated relative to frame {A} about Ẑ by 180 degrees and translated 0 units in
Xˆ A , and 0 units in YˆA , and 0 units in Zˆ A .

Second, from frame {TEMP} to frame {B}

Frame {B} which is rotated relative to frame {TEMP} about X̂ by 90 degrees and translated 0 units in
Xˆ A and 4 units in YˆA (-4), and 2 units in Zˆ A . Finally, the definition of frame {B} is

Ẑ Yˆ Ẑ

X̂ X̂

Yˆ

{A} TO {TEMP}

Yˆ Ẑ

X̂ X̂

Yˆ

{TEMP} TO {B}

A
CT   TEMPA R. TEMPC R A
TEMP R. TEMP PCORG  A PTEMPORG 
  1 0 0  1 0 0   1 0 0   2  0  
  0 1 0  .  0   0  
0  
1 0  . 0 0.5 0.87 
       
  0 0 1 0 0.87 0.5   0 0 1  3  0  
 
 0 0 0 1 
 1 0 2
0
0 0.5 0 0 

0 0 0.5 3
 
0 0 0 1

2.33 [15] Referring to Fig.2.26, give the value of CBT

To obtain frame {C}, we need two steps.

First, from frame {B} to frame {TEMP}

Frame {TEMP} which is rotated relative to frame {B} about X̂ by 90 degrees and translated 0 units in
Xˆ B , and 0 units in YˆB , and 0 units in Zˆ B .

Second, from frame {TEMP} to frame {C}

Frame {C} which is rotated relative to frame {TEMP} about Ẑ by (180 + 90-36.9)= 233.1 degrees and
translated 3 units in Xˆ B and 0 units in YˆB , and 0 units in Zˆ B . Finally, the definition of frame {C} is

Ẑ

X̂ X̂

Yˆ Ẑ Yˆ

{B} TO {TEMP}

Yˆ

X̂

Ẑ Yˆ X̂ Ẑ

{TEMP} TO {C}

B
CT   TEMPB R. TEMPC R B
TEMP R. TEMP PCORG  B PTEMPORG 
 1 0 0   0.6 0.8 0  1 0 0   3   0  
  .  0.8 0.6 0  0 1 0  . 0   0  
 0 1 0     
     
 0 0 1   0 0 1  0 0 1  0  0  
 
 0 0 0 1 
 0.6 0.8 0 3
 0.8 0.6 0 0 

 0 0 1 0
 
 0 0 0 1