46 views

Uploaded by Ghozali Suhariyanto Hadi

Question

- Numerical Model of Single Story Buildings equipped with a Friction Dissipator.pdf
- CBSE Class 11 Physics Worksheet (3)
- Police Traffic Crash
- Physics 121 practice sheet
- Two Dimensional Truss
- Pemex PoroFlex
- Slide TSP302 DinamikaStr PengRekGempa TSP 302 P1
- brasrobotmou.pdf
- Box Beam Class 70R Wheel Single
- Som
- 8장 마찰-re
- Pneumatic Handling
- Nature of Friction
- 10 Reading Goyal 4
- Finite Element Reference Guide
- 4. KHUN, N.W., RINCON, T. B. C., FRANKEL, G. S. Effects of Carbon Nanotube Content on Adhesion Strength and Wear and Corrosion Resistance of Epox
- N Rimer 1
- Ch04
- Final Chapter 3 First Part (2)
- fspecial

You are on page 1of 6

345 Robot Mechanics and Control, Part I Midterm Examination April, 2014

Problem 1 (20 points) Using an appropriate version of Grueblers formula, derive the degrees of freedom of the two mechanisms shown below.

(a)

(b)

Problem 2 (20 points) (a) Use Grueblers formula to nd the degrees of freedom of the parallel mechanism shown in Figure 2. Each leg is an M RP R serial chain, where M is a four-bar parallelogram linkage.

R P

R R R

Figure 2: Problem 2(a) (b) The two-arm humanoid (upper body only) of Figure 3 is rigidly grasping a box as shown. The box can only slide on the table; the bottom face of the box must always be in contact with the table. How many degrees of freedom does this system have?

Problem 3 (20 points) The insect robot of Figure 4 has a body, four legs, and four wings as shown. Each leg is connected to its neighboring leg by a USP open chain. Assuming all links are rigid, answer the following questions, using Gr ublers formula to justify each of your answers: (a) Suppose you pick up the robot by its body, so that only its legs and wings can move. How many degrees of freedom does the robot have? (b) Now suppose the robot is in airborne ight. How many degrees of freedom does the robot have? (c) Now suppose the robot is standing with all four feet in contact with the ground. Assume each foot-ground contact can be modeled as a frictionless point contact, and that each foot must always maintain contact with the ground. How many degrees of freedom does the robot have?

Problem 4 (20 points) The grasp shown in Figure 5 consists of three point contacts with friction, with friction coecient = 1. Determine whether the grasp is force closure.

Figure 5: Exercise 2

Problem 5 (20 points) (a) In the planar grasp of Figure 6(a), contacts A and B are frictionless, while contact C has friction, with friction cone as shown given by the angle . Find the smallest value of that makes this grasp a force closure grasp. (b) Now suppose contacts A and B have friction, with 90 friction cones as shown in Figure 6(b). Find the smallest value of that makes this grasp a force closure grasp.

1 1 1 1

A

1

B

1 1

B

1

C

(a) Problem 2(a)

C

(b) Problem 2(b)

Problem 6 (20 points) The square object of Figure 7 has four holes as shown. The four holes form parts of a circle. (a) In the planar grasp of Figure 7(a), contacts A, B , and C are all frictionless point contacts. Suppose contact B is allowed to slide along any of the three sides of the hole as shown in Figure 7(a). Find all possible locations for B that make this grasp force closure. (b) In the planar grasp of Figure 7(b), contacts A and B are frictionless point contacts, while contact C is a point contact with friction cone (dened by angle ) as shown. Determine the range of angle so that the grasp is force closure.

2

2

A

45

A

45

1

45 45

0.5

0.5

(a)

(b)

Problem 7 (20 points) The input-output system of Figure 8 takes as input a vector p R3 , and outputs a vector Rp R3 , where R SO(3) is some unknown rotation matrix to be determined.

Figure 8: Input-output system for Problem 7 0 1 2 (a) For the three inputs 0 , 1 , 2 2 , the system outputs the three vectors 1 2 0 1 0 2 2 1 2 , , 2 , respectively. Find, if it exists, the rotation matrix R. 2 2 2 2 1 1 0 2 , 0 , and their respective outputs 1 (b) Given two input vectors 1 , 2 1 0 2 2 1 2 1 . Find, if it exists, the rotation matrix R. 2

3 2

a b c A = d e f , g h i

where det A = aei + bf g + cdh ceg bdi af h. Problem 8 (20 points) Recall that the ZXZ Euler angles for a rotation matrix R are dened as follows: R = Rot( z , )Rot( x, )Rot( z , ), where , [0, 2 ) and [0, ]. Find the ZXZ Euler angles for the following rotation matrix: 1 1 0 2 2 1 1 2 R = 1 . 2 2

1 2 1 2 1 2

- Numerical Model of Single Story Buildings equipped with a Friction Dissipator.pdfUploaded byMuhamed Safeer Pandikkadavath
- CBSE Class 11 Physics Worksheet (3)Uploaded byTushar Raj
- Police Traffic CrashUploaded byPaul Beavis
- Physics 121 practice sheetUploaded byasdgu3ioir
- Two Dimensional TrussUploaded bySridhar Rao
- Pemex PoroFlexUploaded byvictor
- Slide TSP302 DinamikaStr PengRekGempa TSP 302 P1Uploaded byWGT KENDARI
- brasrobotmou.pdfUploaded byindustrie_technos
- Box Beam Class 70R Wheel SingleUploaded byeverestking
- SomUploaded bysbmksp
- 8장 마찰-reUploaded byAzad Duppala
- Pneumatic HandlingUploaded byragdapattice
- Nature of FrictionUploaded byMuhammad Mosa
- 10 Reading Goyal 4Uploaded byAmir Sofi
- Finite Element Reference GuideUploaded bymukesh_mlb
- 4. KHUN, N.W., RINCON, T. B. C., FRANKEL, G. S. Effects of Carbon Nanotube Content on Adhesion Strength and Wear and Corrosion Resistance of EpoxUploaded bySteffen Aichholz
- N Rimer 1Uploaded byIrfan Shah
- Ch04Uploaded byRobinson Gnanadurai
- Final Chapter 3 First Part (2)Uploaded byRey Victor Mendillo
- fspecialUploaded byAhmad Bas
- E-RB12-HC-C100Uploaded byIvan Šutić
- AnxhelaUploaded byFatjon Brushulli
- teaching notes friction physics 30 1Uploaded byapi-310216537
- Robotics ExamUploaded byKef Caminhões
- Chapter 12 Study Guide Physical ScienceUploaded bykso20
- CB BrochureUploaded byRamprasad Jeyaram
- Final ReviewUploaded bySara K. Rezvi
- WisDOT WHRP Project 0092-08-13 Final ReportUploaded byNguyễn Công Tấn
- Newton Laws of Motion Puzzle #2Uploaded bytownsenr94
- Modelling and Simulation of MetalUploaded byMaryam Sh

- Constraints Hsu02Uploaded byGhozali Suhariyanto Hadi
- Resume Diskusi Semai Ranger BandungUploaded byGhozali Suhariyanto Hadi
- RoboticsUploaded byGhozali Suhariyanto Hadi
- Daftar 50 Besar Kampus Dunia BpriUploaded byGhozali Suhariyanto Hadi
- [Translation] Machine Learning .pdfUploaded byGhozali Suhariyanto Hadi
- BC556 BC557Uploaded byradioscribd
- AHRS440_DatasheetUploaded byGhozali Suhariyanto Hadi
- Kuindersma13Uploaded byGhozali Suhariyanto Hadi
- ds28002Uploaded byDandu Kishore
- ADP3335Uploaded byGhozali Suhariyanto Hadi
- Nature FourierUploaded byGhozali Suhariyanto Hadi
- 4578Uploaded byNguyễn Đức Tiến
- 90_PID.B_2011_PN.MDOUploaded byGhozali Suhariyanto Hadi
- ADXL345Uploaded byWesllen Dias Souza

- Cumulative Damage PredictionUploaded bygakonruby
- Prediction of DLC friction lifetime based on a local Archard factor density approachUploaded byFathia Alkelae
- Aisiwin v8 ManualUploaded byGnabBang
- ConductionUploaded bysandyengineer13
- Experiment 5 ReportUploaded byNatalie Ninachuu
- Dynamics 17-92 17-93 SolutionUploaded bypearldrummer992
- LECTURE1-Classification of ForcesUploaded byNorzaifee Nizamudin
- tf13-01workedUploaded byJaffer Raza
- Barge ResistanceUploaded byyusuf2mail
- Ch08Uploaded byLeonardoMadeira11
- heat engines lab reportUploaded byapi-257546392
- gelombangUploaded byzurimiyana
- Laminated CompositesUploaded byAkash Nigam
- AFEM.Ch07Uploaded byKim Novis
- unpack- energy hennekeUploaded byapi-239699502
- 25_023Uploaded byAnirudh Bhaskaran
- The Monte Carlo Methods in Atmospheric OpticsUploaded byamitgh88
- 004 R0 VRC Design Calculations for Pier Design P1Uploaded byVasu Deva Rao Chilukuri
- Behaviour of Concrete-filled Double SkinUploaded byanisha2007
- Earth Retaining Structures - Copy (1)Uploaded bySuresh
- Black Hole Thermodynamics LecturesUploaded bytomicatomica
- unit 6 organizer 1Uploaded byapi-331028317
- PHYS1121 Course NotesUploaded byLight95
- AbstractUploaded byRenz Louise Nestor
- Noise Control Manual (Masoneilan).pdfUploaded bytxagus
- 50 solutions of Mercury's perihelionUploaded byJoe Nahhas
- Analysis Basis Base PlateUploaded bykawalhayer
- Dynamic of Billboard Thin PlateUploaded byJoseph Cloyd Lamberte
- Tutorial 6Uploaded byLeoThomas
- Numerical Investigation of Flow and Sediment Transport Around a Circular Bridge PierUploaded byZaid Hadi