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Robotics Final Exam Spring 2021

Industrial Robotics

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Shaukat Ali Shah
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390 views2 pages

Robotics Final Exam Spring 2021

Industrial Robotics

Uploaded by

Shaukat Ali Shah
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF or read online on Scribd
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>) _ UNIVERSITY OF ENGINEERING & TECHNOLOGY, PESHAWAR, KPK ~ FINAL TERM EXAMINATION SPRING SEMESTER 2021 M Sc Mechanical Engineering Industrial Robo! Exam) Note: Attempt all questions Time Allowed: 02 hours Problem 1 (05 points) Draw the approximate workspace for the following robot. ae Problem 2 (05 points) A vector p is 10 units long and is perpendicular to vectors q and r described below. Express the vector in matrix form, 03 1 4 04 for lg5 Four 1g5 0 0 Problem 3 (05 points) Vectors p = 24+ 3j+Skand q = 3i+ 6kare given. Finda vector r that is perpendicular to both. Problem 4 (05 points) Find the values of the missing elements of frame B and complete the matrix representation of the frame 0.766 0.643 0 3 Be a8 ? o 16 o 0 o1 Page 1 of 2 Problem 5 (10 points) Derive the matrix that represents a pure rotation about the y-axis of the reference frame Problem 6 (20 points) ‘The following frame Bis rotated 30°about the o-axis, -90'about the y-axis, then translated 3 and 8 units relative to the x- and y-axes respectively, and then rotated another 90°about the x-axis Find the new location and orientation of the frame. Be 0 1 0 0 Problem 7 (25 points) A spherical coordinate system is used to position the hand ofa robot. Ina certain situation, the hand orientation of the frame is later restored in order to be parallel to the reference frame, and the matrix representing it is described as: 10 0 31375 _[O 1 0 2195 w'lo 0 1 3214 ooo 1 * Find the necessary values of r,6,7 to achieve this location. + Find the components of the original matrix n,o,a. vectors for the hand before the orientation was restored. Problem 8 (25 points) Frames describing the base of a robot and an object are given relative to the Universe frame. + Finda transformation *7yof the robot configuration if the hand of the robot is to be placed on the object * Assuming that the robot is a 6.axis robot with Cartesian and RPY coordinates, find PrP Pb bord fo 0707 -0707 0} 100 3] | 236s 0.3535 -0.3535 0 o1o0 ‘| -05 06123 06123 0 ool 0 0 o J oo01] Page 2 of 2

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