Kinematics Analysis and Synthesis of Mechanisms

(MEC 567- Spring 2015)

Final Exam
1. Why do we use complex numbers to derive position, velocity and acceleration
equations in planar linkage mechanisms? What are the limitations of complex
numbers? (5 points)
2. Using a graphical method, design a four-bar linkage (hinge) mechanism for
opening and closing a kitchen cabinet door shown in Figure 1. Make all the
appropriate assumptions for designing such a cabinet door hinge. Clearly show
each and every step that you have followed together with the reason and why it
works. (25 points)
3. Using complex numbers, find the motion (angular position and velocity) of the
links of the mechanism of problem (2) if the cabinet door is opened at a constant
velocity. (15 points)
4. Consider a spatial 2PR robot manipulator that is to be used to position objects in
the desired position in the workspace of the manipulator.

Draw the robot manipulator and clearly indicate its Denavit and
Hartenberg coordinate systems and notations. (5 points)
Pick a set of link parameters that would simplify its inverse dynamics
calculations. (5 points)
Derive the homogeneous transformation matrices that can be used to
derive the direct kinematics relationships. (5 points)
Derive the direct kinematics relationships using:
The transformation matrices. (5 points)
Direct geometrical relationships. (5 points)
Write the direct kinematics equations for this robot manipulator in
terms of the position of the payload and then derive the displacement
transmissibility relationships for this manipulator and explain its
meaning in terms of displacement, velocity and force transmission.
(15 points)
Derive the equations of motion for this robot manipulator.
(15 points)

5. Draw up the feed-forward based control look for the above robot manipulator.
What are the advantages and disadvantages of using feed-forward control.
(10 points)

Figure 1