4. In a roll-pitch-roll convention, roll stands for rotation (\u03b4) about z-axis, pitch for rotation (\u03bb) about new y-axis, and roll again (\u03b1) about new z-axis. The roll-pitch- roll geometry can be represented by Euler angles. Show that the overall rotation matrixRRP R (\u03b4, \u03bb, \u03b1) is given by
7. Calculate the parameters for a two-segment linear spline with parabolic blends with acceleration in blend region to be 30 deg/s2 and duration of each segment as 3 seconds. The three path points for the joint are 150, -50 and 300. Plot the trajectory.
(b) For an absolute optical encoder with 10 tracks, determine the value of the encoder constant. If the shaft angle of the encoder were 0.73 rad, determine its output value.
2. Describe the following basic con\ufb01gurations of robotic arms with neat sketches. Discuss the advantages and disadvantages of the con\ufb01guration show also the work space of the arms.
(b) A vaccum gripper is to be designed to handle \ufb02at plate glass in an automobile windshield plant. Each plate weighs 175 N. A single suction cup will be used, and the diameter of the suction cup is 125 mm. Determine the negative pressure required to lift each plate. Use a safety factor of 2 in your calculations.
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