ALCANTARA. JOHN LAURENCE 6. OCTOBER 30, 2020 MEXE - 3101 FRIDAY (2:00-6:00 PM) LONG CHAPTER REVIEW 1 PROBLEM 1: (USING COMPOSITE RULE) ‘A FRAME {B} 1S LOCATED INITIALLY COINCIDENT WITH A FRAME{A}. WE ROTATE {B} ABOUT Z, BY 30 DEGREES, AND THEN WE ROTATE THE RESULTING FRAME ABOUT X, BY 4 DEGREES. GIVE THE ROTATION MATRIX THAT WILL CHANGE THE DESCRIPTION OF VECTORS FROM'P TO’P. Reomposire = RxRy 1 0 0 530" -sin 30" 0 s}0 @s45" —-sind5*| | sina" cos "0 0 . ‘sin 45° cos4s 0 oO 4 0.87 © -0.50 "| Reonposiré is OG) -o! 0.35 O@l oT PROBLEM 2 DRAW THE FRAME DIAGRAM REPRESENTED BY THE TRANSFORM ORIENTATION EQUATION BELOW AND SOLVE FOR &R. NOTE. THERE IS NO VECTOR THAT DIRECTLY TRANSLATED FRAME A TO FRAME D NOR VICEVERSA. “P= BR AR GR OP FRAME DIAGRAM : Loy SR ARI = SRP z * oR = 5R°P ‘POR ie %PROBLEM 3 A. DESCRIBE EACH PART OF THE GIVEN TRANSFORM MATRIX B. PROVE THAT THE ORIENTATION OF THIS GIVEN TRANSFORM MATRIX IS A REAL ORIENTATION OF A RIGID BODY. 0.25 043 08% 50 4T = | 087 -050 o 40 043 0-15 -050 3-0 0 0 0 4 FOR A: 0.25 043 08 50 Perspective Factor : 0.00 AR | car 750 OO Borg = }40 } — Scalug Factor + 1 043 0% -050 a0 FOR B arse oT [es 0-87 es 0.43 -050 0-75 0as 043 086] 74 087 -050 0 S [ oO 086 40 -050 0 043 O75 050. os0 =a0 oa det (eR) = +4 025 0-43 0-86 7 as)on -050 0 fy 0.43 0158 -05 THE ORIENTATION OF THIS GIVEN TRANSFORM MATRIX ISA REAL ORIENTATION MOF A RIGID BODY FOR IT SATISFIES THE CONDITIONPROBLEM 4 USING THE TRANSFORM MATRIX BELOW: . 0% Of0 O 3 10-433 0750 0900 -3 A SOLVE FOR THE ROLL, PITCH AND YAW ANGLES; T=[290% 0750 80-3 8. SOLVE FOR THE EULER ANGLES. 2c ce TOR A 0-866 500 2 ere |0-433 150 -0-500 3 o 0.250 433 0-866 3 0 0 0 4 066 -0M0 0 Ro Ra Re GR | 0433-0750 0-50 Bi i 0-250 0433 0.866 Ry Ran Rea GRan (6 BX) = RH), R (8), Be) ¥ = tan’(t 3) tg (8) gg (2 jan '(R) = dan") Te ) Hon ta) B (poe) ¥ = 26.5651" <= 26.5651" Ptes'( - 025 iowa" (0.939), 4719" FOR B : BR" = oR 05 675 0-433 [= 0.433 023 | eR 0 050 9.866 =30) > tan’ ‘GSE Se) = 6 oon (ee) (oJ ¥ too" (See) - Eo]PROBLEM 5 : DRAW THE KINEMATIC DIAGRAM OF THE SPATIAL MECHANICAL MANIPULATORS BELOW AND SOLVE FOR THEIR MOBILITY/DOF: FOR A n-3 R m=3 (T)uOINT = (6-1) = & (R)WONT = (6-1) - & | ‘6 T (P) JOINT (6-1) = Me6n-Z (6- ci) M = 6(3)- 15 THIS IS AN UNDER -ACTUATED M = 18-45 }SPATIAL MANIPULATOR, W/ M3 MOBILITY OF 3 FOR B RB *3 ft 7 f (DWOINT = (6-1) = 5 (PNOINT = (6-1) = | 15 eee (ONT = G1 = S MGn- 3 (6-0) M =6(3)-45 ———— M= 18-45 :.| THIS IS AN UNDER-ACTUATED. m:3 SPATIAL MANIPULATOR , W/ MOBILITY OF 3.