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38 views10 pages

Mock Exam Paper - Solution

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wally Tm
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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UNIVERSITY OF SUSSEX

DEPARTMENT OF ENGINEERING AND DESIGN

Mock exam paper solution


Module: 870H1 Mechanics of mechanisms and robots

The duration of the exam is 2hours. There are four questions, each question 20
marks. Answer three out of four questions. If all four questions are attempted, all
will be marked, but the lowest mark will not be counted in the total for the paper

Question 1
(a) There is a vector in frame {A},

6 marks
Solution:
(b) Find the homogeneous transformations 0T1, 1T2, 0T2
10 marks

Solution:
0 1 0 0 0 −1 0 1
0
T1 = [ 0 0 −1 0] 1
T2 = [ 0 0 −1 0 ]
−1 0 0 1 1 0 0 −1
0 0 0 1 0 0 0 1

0
T2 = 0T11T2 =

(c) Find 𝑯 for the following sequence of


1.a rotation by 𝜶 about the current 𝒙−𝒂𝒙𝒊𝒔, followed by
2.a translation of 𝒃 units along the current 𝒙−𝒂𝒙𝒊𝒔, followed by
3.a translation of 𝒅 units along the current 𝒛−𝒂𝒙𝒊𝒔, followed by
4.a rotation by angle 𝚹 about the current 𝒛−𝒂𝒙𝒊𝒔
4 marks
Solution:

=
Question 2:
(a) Three identical SRS open chain arms are grasping a common object as shown in
Figure 2.
10 marks
(i) Find the degrees of freedom of this system.
(ii) Suppose there are now a total of n such arms grasping the object. What is
the degrees of freedom of this system?
(ii) Suppose the spherical wrist joint in each of the n arms is now replaced by a
universal joint. What are the degrees of freedom of the overall system?

Figure 2

Solution:
i)
In the figure, three grippers are gripping one object and can be regarded as one link
m=6
N = 8 links
J = 9 joints (6 spherical joint, 3 revolute joint)
M = 6(8-1-9) + 6(3)+3(1) = 9
ii)
m=6
N = 2n + 2
J = 3n (2n spherical joint, n revolute joint)
M = 6(2n+2-1-3n) + 2n(3)+n(1) = n+6
iii)
m=6
N = 2n + 2
J = 3n (2n universal joint, n revolute joint)
M = 6(2n+2-1-3n) + 2n(2)+n(1) = 6-n
(b) Complete the last three rows of the DH table provided below. Figure 3 shows the
diagram of Stanford robot, the link and joint parameters are illustrated in the figure.
Follow the assigned coordinate frames in the figure to complete the DH table and
determine the corresponding transformation matrices for these rows.
10 marks

Ti

Figure 3

Solution:
Link # 𝜶 𝒂 𝒅 𝜽

1 -90o 0 0 𝜃1
2 90o 0 d2 𝜃2
3 0 0 d3 0
4 -90o 0 0 𝜃4
5 90o 0 0 𝜃5
6 0 0 d6 𝜃6
Question 3
(a) Find Jacobian matrix J for the 2R planar robot in Figure 4.
8 marks
Solution:
Method 1:
The end-effector position can be found through geometric relationships:

represented in 6x2 matrix as

Method 2:
The end-effector position can be found through DH table, and the transformation
matrices are:
The Jacobian matrix is

(b) If L1 = L2 = 1, joint 1 angle is 0, joint 2 rotate 𝜋/4. Joint 1 is static, and joint 2 is
rotating at 2 rad/s. Find the linear velocities of the end-effector.
4 marks
Solution:
(c)
4 marks

Solution:

(d) What are the two primary methods for deriving a robot's dynamic equations of
motion? Describe each method in your own words and explain the key differences
between them.

4 marks
Solution:
The two primary methods for deriving a robot's dynamic equations of motion are
Newton-Euler and Lagrange formulations.
Newton-Euler Method involves analyzing forces and torques acting on each link. It is
based on applying Newton's Second Law of Motion and Euler's rotational to each link
of the robot. The process requires outward iterative calculations from base to the
end-effector to determine velocities and accelerations of links and backward
iterations to compute forces and torques starting from the end-effector and moving
back to the base.
Lagrange method formulates the dynamics by computing the difference between the
kinetic energy and potential energy of the system (Lagrangian) and then applying the
Euler-Lagrange equation.
Question 4
The RP type robot is given in Figure 5 below, joint variables are 𝜃1 , 𝑑2 . The center of
mass of link 1 is located at a distance l1 from the joint 1 axis, and the center of mass
of link 2 is at the variable distance d2 from the joint 1 axis. The mass for two links is
𝑚1 , 𝑚2 . The moment of inertias of the links about their center of mass is Izz1, Izz2

(a) Use Lagrangian dynamics to determine the equation of motion for this
manipulator.
14 marks
Method 1:
Method 2:
(b) If 𝑙 1 = 0.3m, m1 = 1kg, m2 = 0.5kg, Izz1 = 0.15kgm2, Izz2 = 0.012kgm2, g=
9.81m/s2. Find mass matrix M(q), centripetal matrix C(q), Coriolis matrix
B(q).
6 marks
2
M(q) = [0.252 + 0.5𝑑2 0]
0 0.5
0 0
C(q) = [ ]
−0.5𝑑2 0
𝑑
B(q) = [ 2 ]
0

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