IFET COLLEGE OF ENGINEERING

(An Autonomous Institution)

Department of Information Technology
Department of Information and Technology

APPLICATION SOLVED FOR UNIT - III

Course code & Name: 19UITPE403 & Robotics Year/Semester: II/IV

PART A (2 marks)
1. An LL robot has two links of variable length. Assuming that the origin of the global
coordinate system is defined at joint J1, determine the coordinate of the end- effector
point if the variable link lengths are 3m and 5m. 2 marks

Solution:
(x1, y1) = (0,0)
1 0 𝐿2
TLL = [0 1 −𝐿3 ]
0 0 1
1 0 3
TLL = [0 1 −5]
0 0 1
𝑥 𝑥1
[𝑦 ] =TLL = [𝑦1 ]
1 1
𝑥 1 0 3 0
[𝑦 ] = [0 1 −5] [0]
1 0 0 1 1
𝑥 3
[𝑦 ] = [−5]
1 1

Therefore the end-effector point is given by (3, -5).

2. An RR robot has two links of length 1m. Assume that the origin of the global
coordinate system is at J1. Determine the coordinate of the end-effector point if the
joint rotations are 30° at both joints. 2 marks

Given:
(x1, y1) = (0,0)
θ = 30°;
L2 = 1 m;
L3 = 1 m;
1 0 𝐿2 𝑐𝑜𝑠(𝜃) + 𝐿2 cos(𝛼 − 𝜃)
TRR = [0 1 𝐿2 𝑠𝑖𝑛(𝜃) − 𝐿2 sin(𝛼 − 𝜃) ]
0 0 1
√3
1 0 2 +1
TRR = [0 1 1 + 0 ]
2
0 0 1
𝑥 𝑥1
[𝑦 ] =TRR = [𝑦1 ]
1 1
𝑥 1 0 1.8667 0
[𝑦 ] = [0 1 0.5 ] [0]
1 0 0 1 1
𝑥 1.8667
[𝑦 ] = [ 0.5 ]
1 0.51

Therefore the end- effector point is given by (1.8667; 0.5).

3. In a TL robot, assume that the coordinate system is defined at joints J 2. Determine

variable link length and angle of twist at J1 if the end-effector is located at (0.7071,
0.7071). 2 marks
 Given:
(x, y) = (0.7071, 0.7071)
(𝑥1 = 0, 𝑦1 = 0, 𝑥2 = 0, 𝑦2 = 0)
L = √(𝑥 − 𝑥1 )2 + (𝑦 − 𝑦1 )2
L = √(0.7071 − 0)2 + (0.7071 − 0)2
L=1m
(𝑦−𝑦 ) (0.7071−0)
Sin (a) = 𝐿 2 = = 0.7071
1
a = 45°

4. Outline a base to wrist link transformation matrix for 3 axis revolute joint robot.
Here 2 marks
J1  (T- type) Twisted type joined which can be used to move the base.
J2  (R- type) Rotational type joints in which used to rotate the arm or manipulator.
J3  (L- type) Linear type which used for to and for motions.
J4  (R- type) Gripper joint which can have a rotational motions.
The base to end- effectors is given by the co- ordinates P(x, y, z).
L  length between arm and wrist.
  Twisted angle made by the joint 1,   Rotation angle made by arm and 𝜓 
Rotation angle made by the wrist
Solution:

Figure: A base to wrist link transformation matrix for 3 axis revolute joint robot
5. Find the cubic polynomials for the given 0= 15°, f = 75°, tf= 3.0 s, a0= 15.0 a1= 0.0,
a2= 20.0 and a3= -4.44. 2 marks

Solution
(t) = a0 + a1 t + a2 r2 + a3 t3
'(t)= a1 + 2 a2t + 3a3 t2
'’(t)= a1 + 2 a2t + 3a3 t2

Hence (t) = 15.0 + 20.0 r2 -4.44 t3

'(t)= 40 t + 13.32 t2
'’(t)= 40 -26.64 t

6. Illustrate an example for 7 D.O.F manipulator. 2 marks

The robotic arm is very similar to the human arm in that it has the capability of
having 7 degrees of freedom. Out of the 7 degrees of movement, your shoulder has 3 of
the arms among 7 degrees of freedom. The easiest way to explain the movement of the
robotic arm with7 D.O.F is to use your own arm as an example. The manipulator with 7
D.O.F has been shown in below figure.

Figure: manipulator with 7 d.o.f

7. If a input pulley has radius 30cm and the output pulley has radius 15cm, calculate
the gear ratio of transmission system. 2 marks

Solution:
𝑟1
𝜂=
𝑟2
𝑖𝑛𝑝𝑢𝑡 𝑟𝑎𝑑𝑖𝑢𝑠 𝑟1 = 30
𝑜𝑢𝑡𝑝𝑢𝑡 𝑟𝑎𝑑𝑖𝑢𝑠 𝑟2 = 15
30
𝜂=
15
 𝜂= 2

8. A shaft with torsional stiffness equal to 500.0 Nt-m/radian is connected to the input
side of a gear set with η = 10, whose output gear (when the input gear is fixed)
exhibits a stiffness of 5000.0 Nt m/radian. What is the output stiffness of the combined
drive system? 2 marks
Solution:
1
The output stiffness of the combined drive system = 𝐾
1 1 1
= + 2
𝐾 5000.0 10 (500.0)

or
50000
𝐾𝑠𝑒𝑟𝑒𝑖𝑠 = = 4545.4 Nt m/radian
11

9. Use Grübler's formula to verify that the Stewart mechanism using the below figure
indeed has six degrees of freedom. 2 marks

Solution:
 The number of joints is 18 (6 universal, 6 ball and socket, and 6 prismatic in
the actuators).
 The number of links is 14 (2 parts for each actuator, the end-effector, and the
base). The sum of all the joint freedoms is 36.
 Using Griibler's formula, we can verify that the total number of degrees of
freedom is six:
F = 6(14-18-1)+36
F=6
10. A SCARA manipulator which has links 1 and 2 of equal length l/2, and the range of
motion of the prismatic joint 3 is given by d3. Assume for simplicity that the joint limits
are absent, and find QL. What value of d3 minimizes QL and what is this minimal
value? 2 marks
Solution:
The length sum of this manipulator is L = 1/2 + 1/2 + d3 = 1 + d3, and the workspace
volume is that of a right cylinder of radius 1 and height d3;
 therefore,
𝑙 + 𝑑3
𝑄𝐿 = 3
√𝑙 2 𝑑3
Minimizing QL as a function of the ratio d3 / 1 gives d3 = l/2 as optimal. The
corresponding minimal value of QL is 1.29.
11. Point out how the industries worn cartesian manipulator efficiently. 2 marks
The large robots are often called gantry robots, resemble overhead gantry cranes. Gantry
robots sometimes manipulate entire automobiles or inspect entire aircraft. The other
advantages of Cartesian manipulators stem from the fact that the first three joints are
decoupled. This makes them simpler to design and prevents kinematic singularities due
to the first three joints.

Figure: A Cartesian manipulator.

12. Outline the wrist design of welding robot and mention its DOF. 2 marks
The below figure shows the typical wrist design of a welding robot which consists
2 degrees of freedom by means of revolving and rotational joint and 3 D.O.F by
means of wrist motions (which consists of pitch, yaw and roll).

Figure: Typical wrist design of a 5-DOF welding robot

PART B (16 marks)

1. (i) An LL robot has two links of variable length. Assuming that the origin of the global
coordinate system is defined at joint J1,determine the following: 8 marks
a. The coordinate of the end-effector point if the variable link lengths are 3 m and 5m.
b. Variable link lengths if the end-effector is located at (3,5).
Solution:
a. The coordinate of the end-effector point if the variable link lengths are 3 m and 5m.
4 marks
(x1, y1) = (0,0)
1 0 𝐿2
TLL = [0 1 −𝐿3 ]
0 0 1
1 0 3
TLL = [0 1 −5]
0 0 1

𝑥 𝑥1
[𝑦 ] =TLL = [𝑦1 ]
1 1
𝑥 1 0 3 0
[𝑦 ] = [0 1 −5] [0]
1 0 0 1 1

𝑥 3
[𝑦 ] = [−5]
1 1
Therefore the end-effector point is given by (3, -5).
b. Variable link lengths if the end-effector is located at (3,5). 4 marks
Solution:
The end-effector point is given by (3,5).
Then: L2 = x-x1
L2 = 3-0 = 3 m
L3 = -y+y1
L3 = -5+0= -5 m
 The variable lengths are 3 m and 5 m. The minus sign is due to the coordinate
system used.
(ii) An RR robot has two links of length 1m. Assume that the origin of the global
coordinate system is at J1. 8 marks

a. Determine the coordinate of the end-effector point if the joint rotations are 30° at both
joints. 4 marks
Given:

(x1, y1) = (0,0)

θ = 30°;
L2 = 1 m;
L3 = 1 m;
1 0 𝐿2 𝑐𝑜𝑠(𝜃) + 𝐿2 cos(𝛼 − 𝜃)
TRR = [0 1 𝐿2 𝑠𝑖𝑛(𝜃) − 𝐿2 sin(𝛼 − 𝜃) ]
0 0 1
√3
1 0 +1
2
[
TRR = 0 1 ]
1 +0
2
0 0 1
 𝑥 𝑥1
[𝑦 ] =TRR = [𝑦1 ]
1 1
𝑥 1 0 1.8667 0
[𝑦 ] = [0 1 0.5 ] [0]
1 0 0 1 1

𝑥 1.8667
[𝑦 ] = [ 0.5 ]
1 0.51

Therefore the end- effector point is given by (1.8667; 0.5).

b. Determine joint rotations if the end-effector is located at (1, 0). 4 marks

It is given that (x, y) = (1,0)

Therefore, L2 = 1 m; L3 = 1 m.
𝑥 2 +𝑦 2 −𝐿22 −𝐿23
Cos (α) =
2𝐿3 𝐿2

12 +02 −12 −12

Cos (α) =
2𝑋1𝑋1
α = cos-1 (-0.5)
α = 120°
(𝑦−𝑦1 )(𝐿2 +𝐿3 𝑐𝑜𝑠𝛼)+(𝑥−𝑥1 )(𝐿3 𝑠𝑖𝑛𝛼)
tan 𝜃 =
(𝑥−𝑥1 )(𝐿2 +𝐿3 𝑐𝑜𝑠𝛼)+(𝑦−𝑦1 )(𝐿3 𝑠𝑖𝑛𝛼)
Substituting the values in equation
(0−0)(1+1 𝑐𝑜𝑠(120°))+(1−0)(1 𝑠𝑖𝑛(120°))
tan 𝜃 =
(1−0)(1+1 𝑐𝑜𝑠(120°))+(0−0)(1 sin(120°))
√3
2
tan 𝜃 = = √3
0.5
𝜃 = tan -1 (√3)
𝐴𝑛𝑔𝑙𝑒 𝜃 = 60°

2. a. Given the world coordinate for a TRLR robot (similar to that in figure) as x = 300
mm, y = 350 mm, z = 400 mm and 𝜶 = 𝟒𝟓°; and given that the links have values L 0 =
0, L1 = 325 mm, 𝜆3 has a range from 300 to 500 mm, and L4 = 25 mm, determine the
joint angles 𝜽𝟏 , 𝜽𝟐 𝒂𝒏𝒅 𝜽𝟑 . 8 marks
Given:
x = 300 mm; y = 350 mm; z = 400 mm; L4 = 25mm and 𝛼 (𝜃4 ) = 45°.
Solution:
To find 𝜃1 using
𝑦
tan 𝜃1 = 𝑥
350
tan 𝜃1 = = 1.667
300
𝜃1 = tan -1 (1.667)
𝜽𝟏 = 59.04°
Next, the position of joint 4 must be offset from the given x-y-z world coordinates.
x4 = x – cos 𝜃1 (L4 cos 𝜃4 )
x4 = 300 – cos 59.4 (25 cos 45°) = 290.91
y4 = y - sin 𝜃1 (L4 cos 𝜃4 )
y4 = 350 - sin 59.04 (25cos 45°)
y4 = 334.91
z4 = z - L4 sin 𝜃4
z4 = 400 - 25 sin 45°
The required extension of linear joint 3 can now be determined.
𝜆3 = √𝑥42 + 𝑦42 + ((𝑧4 − 𝑧1 )2 )
𝜆3 = √(290.91)2 − 334.912 + ((382.3 − 325)2 )
𝜆3 = √200076.62
𝜆3 = 447 mm
Now 𝜃2 can be found from equation
𝑧4 − 𝐿1
Sin 𝜃2 =
𝜆3
 382.3 − 325
Sin 𝜃2 = = 0.128
447
𝜃2 = Sin -1 (0.128)
𝜽𝟐 = 7.36°
𝜃3 = 𝛼 - 𝜃2
𝜃3 = 45° - 7.36°
𝜽𝟑 = 37.64°

b. In a TL robot, assume that the coordinate system is defined at joints J 2. 8 marks

(i) Determine variable link length and angle of twist at J1 if the end-effector is located at
(0.7071, 0.7071). 4 marks

Given:
(x, y) = (0.7071, 0.7071)
(𝑥1 = 0, 𝑦1 = 0, 𝑥2 = 0, 𝑦2 = 0)
L = √(𝑥 − 𝑥1 )2 + (𝑦 − 𝑦1 )2
L = √(0.7071 − 0)2 + (0.7071 − 0)2
L=1m
(𝑦−𝑦2 ) (0.7071−0)
Sin (a) = = = 0.7071
𝐿 1
a = 45°
(ii) Determine the coordinate of the end- effector point if joint J1 twist by an angle of 30°
and the variable link has a length of 1 m. 4 marks
Given:
(x2 , y2) = (0,0);
L= 1m and α = 30°
1 0 𝐿2 𝑐𝑜𝑠𝛼
We know that, TTL = [0 1 𝐿2 𝑠𝑖𝑛𝛼 ]
0 0 1
1 0 𝐿2 𝑐𝑜𝑠(30°)
TTL = [0 1 𝐿2 𝑠𝑖𝑛(30°) ]
0 0 1
 1 0 0.866
TTL = [0 1 0.5 ]
0 0 1
𝑥 𝑥2
[𝑦 ] = [𝑇𝑇𝐿 ] [𝑦2 ]
1 1
Substituting x2 = 0 and y2 = 0,

𝑥 1 0 0.866 0
[𝑦 ] = [0 1 0.5 ] [0]
1 0 0 1 1
𝑥 0.866
[𝑦 ] = [ 0.5 ]
1 1
(x, y) = (0.866, 0.5)
3. a. Given the word coordinates for a RR: R robot (similar to that in figure ) as x = 300 mm,
z = 400 mm and alpha = 30° degree and given that the links have values L 1 = 350 mm, L2 =
250mm and L3= 50mm, determine the joint angles 1, 2 and 3 . 12 marks

Solution:
The first step is to find x3 and z3 using the given coordinates x=300 and z= 400, α= 30°.
x3 = x-L3 cos α
L1 = 350; L2 = 250; L3 = 50;
Substituting the values in equation,
x3 = 300 - 50 cos 30° = 256.7
z3 = z- L3 sin α
z3 = 400 - 50 sin 30° = 375
(𝑥3 )2 +(𝑧3 )2 −𝐿21 −𝐿22
cos θ2 =
2 𝐿1 𝐿2
To find θ2 ,
(256.7)2 +(375)2 −3502 −2502
cos θ2 =
2 (350)(250)
 θ2 = 82.9°
cos θ2 = 0.123
θ = cos-1(0.123)
θ2 = 82.9°
The angle θ1 is found using,
𝑧3 (𝐿1 +𝐿2 𝑐𝑜𝑠𝜃2 )+𝑥3 𝐿2 𝑠𝑖𝑛𝜃2
tan 𝜃1 =
𝑥3 (𝐿1 +𝐿2 𝑐𝑜𝑠𝜃2 )+𝑧3 𝐿2 𝑠𝑖𝑛𝜃2

375(350+250 cos 82.9°)+256.7(250) sin 82.9°

tan 𝜃1 =
256.7(350+250 𝑐𝑜𝑠82.9°)+375(250) sin 82.9°
tan 𝜃1 = (0.4146)
𝜃1 = tan-1 (0.4146)
𝜃1 = 22.5°
𝜃3 = (𝛼 − 𝜃2 − 𝜃1 )
𝜃3 = (30° − 82.9° − 22.5°)
𝜃3 = −75.4°

b. Perform the following transformation on point (25, 10, 20) : Trans(8, 5, 0). 4 marks
Given :
dx= 25, dy= 10, dz= 20 and u= 8, v= 5, w= 0
cos 60 − sin 60 0 25
pxyz = [ sin 60 cos 60 0] [10]
0 0 1 20
we know that, cos 60° = 0.5 and -sin 60° = -0.866
0.5 −0.866 0 25
pxyz = [0.866 0.5 0] [10]
0 0 1 20

0.5(25) − 0.866(10) + 0𝑋20

pxyz = [0.866(25) + 0.5(10) + 0𝑋20]
0 + 0 + 1𝑋20
12.5 − 8.66 + 0
pxyz = [21.65 + 5 + 0 ]
0 + 5 + 20
3.84
pxyz = [26.65]
20