Name : Marks

ID No :
Lecturer :
Group : 20

KJP 626 / MEM 665 ROBOTICS & AUTOMATION

TEST 2
Time allowed: 90 minutes
Answer all parts.
a) Explain the following: (4 marks)
i) Direct Kinematics and Inverse Kinematics
ii) 2 types of link (draw diagram and identify joint-link parameters in each type).

b) Robot’s body is basically constructed by a combination of joints and links that the kinematical
solution can be defined mathematically using its parameters. Denavit-Hartenberg (DH) notation
provide systematic procedure for assigning four joint-link parameters for right-handed
orthonormal coordinate frames.
(i) Using Figure 1 below, assign the four joint-link parameters and describe the definition for
each of the parameters:

Figure 1
(ii) Define the final DH transformation matrix of frame {i-1} to frame {i} consists of the four
basic transformation of i-1Ti=Tz(ɵi)Tz(di)Tx(li)Tx(αi).
(8 marks)
c) A 2-DOF planar manipulator arm with one revolute joint and one prismatic joint is shown in
Figure 2. Obtain the position and orientation of the end-effector point P following below steps:
i) Draw frame assignment for the arm.
ii) Define the joint-link parameters table for the arm.
iii) Define the orientation and position of the end-effector P when Ө1=120o and d2=200 mm.

Figure 2 (8 marks)

KJP 626 / MEM 665 Robotics & Automation 1