CS 5310/6310 & ME 5220/6220

Homework 6

Due October 24, 2012

1. (30pts) Consider the manipulator with DH parameters below. i a i di i i 1 0 /2 0 2 a2 0 /2 3 a3 0 0 (a) (5pts) Draw the robot in its zero-angle position. (b) (10pts) Given 0 d03 , describe which variables affect which coordinates (x, y, z) of the endpoint by lling in the table below. Put a cross for each coordinate affected by a particular variable: Variable d1 2 3 x y z

Based on this table, which variable would be the best to solve for rst? (c) (5pts) Given 0 d03 , nd your isolated variable rst. (d) (10pts) Now nd the remaining two joint variables. 2. (30pts) Consider the manipulator with the DH parameters below. The (*) indicates each joint variable. i a i di i i 0 a 0 d0 0 0 1 0 d1 2 2 a2 0 2 3 0 0 0 (a) (5pts) Draw the manipulator in its zero-angle position. (b) (25pts) Given 1 d1,3 , nd the joint variables. Identify multiple solutions. 3. (40pts) Consider the manipulator with the DH parameters below. i 1 2 3 4 5 6 ai 0 a2 a3 0 0 0 di i d1 /2 0 0 d3 /2 d4 /2 0 /2 d6 0

(a) (5 pts) Draw the manipulator in its zero-angle position. Label all zi and xi axes, and non-zero length parameters. (b) (10pts) Given the orientation matrix 0 R6 and position vector 0 d06 , nd 0 d04 .

(c) (25 pts) Given the position 0 d04 of the endpoint, nd the joint angles 1-3. Make sure to identify multiple solutions. 4. (30pts) This problem is for graduate students. This problem concerns a parallel robot with three 3DOF rotary arms. The base of the arms are attached to a ring as in Figure 1(A). The global coordinates 00 are located in the center of the ring. The coordinates i0 for the base of each arm are spaced at equal intervals around the ring with the axes as shown. Dene for i = 1, 2, 3: ai0 di0 i0 i0 as the distance from zi0 to z00 along xi0 . as the distance from x00 to xi0 along z00 . as the angle from z00 to zi0 about xi0 . as the angle from x00 to xi0 about z00 . i 1 2 3 ai0 a0 a0 a0 di0 0 0 0 i0 i0 /2 /2 /3 /2 /3

For each arm i = 1, 2, 3, coordinate systems and DH parameters for links ij for j = 1, 2, 3 are set up as usual, i.e., aij dij ij ij as the distance along xij from zi,j1 to zij . as the distance along zi,j1 from xi,j1 to xij . as the skew angle about xij from zi,j1 to zij . as the rotation angle about zi,j1 from xi,j1 to xij . j 1 2 3 aij a1 0 a3 dij 0 0 0 ij 0 /2 /2

The arms are attached equally around the perimeter of another ring, which serves as the movable platform (Figure 1(B)). The attachment point for each arm is at origin Oi3 and is a spherical wrist joint. At the center of the platform is a coordinate system 40. The distance from the center O40 to each wrist point Oi3 is a4 .

O10 z 10 x10 y00 Arm 2 O20 z 20

(A)

O13
Arm 1

wrist 1

x00 O00 a0 x 30 z 30 O30 Arm 3

y40 wrist 2 O23

(B)

x40 O40 a4 O33 wrist 3

x 20

Figure 1: (A) The base ring for the rotary arms. (B) Platform ring where arm wrist points attach. (a) (15pts) Given all joint angles ij for i, j = 1, 2, 3, nd the position 00 R of the platform with respect to the base. 40 (b) (15pts) Given the position 00 d00,40 and orientation base, nd all joint angles ij for i, j = 1, 2, 3.
00 R 40 00 d 00,40

and orientation

of the platform with respect to the