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Homework 2

The document outlines the submission guidelines for an assignment related to robotic manipulators, including format, deadline, and file naming conventions. It presents various tasks involving the analysis of 3-DoF and two-link manipulators, requiring the derivation of transformation matrices, computation of joint angles, and evaluation of end-effector velocities and joint torques. Figures are referenced to illustrate the manipulators in question.

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sunshiqi31
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21 views2 pages

Homework 2

The document outlines the submission guidelines for an assignment related to robotic manipulators, including format, deadline, and file naming conventions. It presents various tasks involving the analysis of 3-DoF and two-link manipulators, requiring the derivation of transformation matrices, computation of joint angles, and evaluation of end-effector velocities and joint torques. Figures are referenced to illustrate the manipulators in question.

Uploaded by

sunshiqi31
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, TXT or read online on Scribd
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Form: Electronic version (pdf file) or Photograph of handwrite version

Submission: [email protected]
Deadline: April 15, 2025
File name format: No.+Name+HW2

1. A 3-DoF robotic manipulator is shown by Figure 1. Assign link frames, give the
D-H parameters, and derive the transformation matrix from frame {3} to frame {0}.

Figure 1

2. A manipulator is shown schematically by Figure 2. The frame attached to each link


is marked in the Figure. The nonzero link parameters are 𝑎1 = 1, 𝛼2 = 45°, 𝑑3 = √2,
and 𝑎3 = √2, and the mechanism is plotted in the configuration corresponding to
[𝜃1 𝜃2 𝜃3 𝜃4 ]𝑇 = [0° 90° −90° 0°]𝑇 . Each joint has ±180° as limits. Find
𝜃1 , 𝜃2 and 𝜃3 such that 0𝑃4𝑂𝑅𝐺 = [1.707 0.414 1.707]𝑇 .

Figure 2

3. Consider a two-link manipulator with the following Jacobian:


−𝑙 sin 𝜃1 − 𝑙2 sin(𝜃1 + 𝜃2 ) −𝑙2 sin(𝜃1 + 𝜃2 )
𝐽(𝜃) = [ 1 ]
𝑙1 cos 𝜃1 + 𝑙2 cos(𝜃1 + 𝜃2 ) 𝑙2 cos(𝜃1 + 𝜃2 )
where 𝑙1 and 𝑙2 are the lengths of the first and second links, respectively, and 𝜃1
and 𝜃2 are the joint angles.
(1) Given the joint angular velocities 𝜃̇1 and 𝜃̇2 , compute the resulting end-effector
linear velocity 𝑉 = [𝑉𝑥 𝑉𝑦 ]𝑇 in the X-Y coordinate system.
(2) Ignoring gravity, calculate the joint torques 𝜏 = [𝜏1 𝜏2 ]𝑇 required to generate
an equivalent force acting at joint 2: 𝐹 = [5 3]𝑇 in the X-Y coordinate system.

4. A 3-DoF robotic manipulator is shown by Figure 3.


(1) Assign link frames, give the D-H parameters, and derive the transformation
matrix from frame {3} to frame {0}.
(2) Given the joint angles and the joint angular velocities, compute the resulting
linear velocity of B.

Figure 3

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