ME 192 Review Guideline for Exam 1

Exam #1 In-class only (no ta e-!ome "art# $otal% 1&& 'oints( )-*%+&, -ednesday 9.2/0
1. Multiple-choice/filling-blank problems will test your understanding of some important concepts.

Types of robot design DOF Homogenous transformation matrix Homogenous coordinates Denavit!Hartenberg parameters Denavit!Hartenberg &otation (%aracteristics of rotation matrices (losed!form solution "in# frame Tool frame 1. Space Description

Direct Kinematics Euler angles Revolute joint "in# t$ist 'oint variables )or#space End!effector frame +ase frame ,oal frame

Inverse Kinematics rismatic joint "in# lengt% 'oint offset 'oint space *tation frame )rist frame

'oint angle

B T 0 and C P 0 #no$ %o$ to get T 0 C . -2/ ,iven T 0 #no$ %o$ to get A 1 BT

-./ ,iven

A B A B

P1
A B

-3/ Kno$ %o$ to solve a matrix e4uation1 -e1g1 given5

B C

D C

T 6D AT 0 find

B C

T /

2. Direct Kinematics roblem -./ 7ssign a frame to eac% joint starting from t%e base and ending at t%e end!effector -EEF/ -2/ )rite t%e D!H parameters for eac% joint and list t%ese parameters in t%e table1 1oint # 1

i-1

a i-1

di

2 -3/ Develop a transformation matrix by plugging t%e D!H parameters of eac% joint into t%e follo$ing matrix5

C i S C i . i . i .T = S i S i . 8
-</ Find
8 NT

S i C i C i . C i S i . 8

8 S i . C i . 8

S i . d i C i . d i . ai .

-3190 :;/

by multiplying transformation matrices toget%er1 E1g1

8 NT . . =8 T 2 T N . NT

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"n#erse Kinematics roblems -./ ,iven an EEF position and orientation0 find t%e joint angles -for revolute joints/ or distance -for prismatic joints/1