ENT377 ROBOTIC SYSTEMS

CHAPTER 1 INTRODUCTION

1. Name the following robot configurations:

(a) (b)

(c) (d)

2. Robot characteristics can be described by the following terms. Give definition for each terms.
a. Reach
b. Precision
c. Payload
d. Work space
e. Repeatability

3. Sketch the approximate work space for the robot shown below with the assumption that 𝑙 is
a fixed length while 𝛿 is expendable with the range of 0 ≪ 𝛿 ≪ 𝑙/2 . Figure (a) consists of 1
revolute joint, and Figure (b) consists of one revolute joint and one prismatic joint.

(a) (b)
4. Sketch the approximate work space for the robot shown below:

• Both revolute joints O and A can

only rotate between 0 deg to 90
B deg. Assume that the X-axis of
each revolute joint as the 0 deg
position.
• Length of links: l1 = 0.4m, and

A 0.2m  l2  0.3m.

5. Sketch the approximate work space for the robot shown below:

It is given that:
i. 𝑙1 , 𝑙2 and 𝑙3 are fixed links, where 𝑙3 < 𝑙1 < 𝑙2 ,
ii. operating range of the revolute joint 1 is 0° ≤ 𝜃1 ≤ 90°,
iii. operating range of the prismatic joint is 𝑙3 ≤ 𝜌 ≤ 𝑙1 , and
iv. operating range of the revolute joint 2 is −90° ≤ 𝜃2 ≤ 90°.

6. Sketch and explain the basic operation of SCARA robot arm with the aid of approximate
working envelope by assumption that all revolute joints in the SCARA robot can only operate
between -90 degree to 90 degree only.