BIRLA INSTITUTE OF TECHNOLOGY AND SCIENCE, PILANI

HYDERABAD CAMPUS
FIRST SEMESTER (2021-22)
ME G511: MECHANISM & ROBOTICS
Mid-Semester Test 22nd October 2021
Time: 11.00 AM – 12.30 AM Closed Book Max. Marks: 50

Answer the following:

Q1. A frame {𝑖} is rotated by 600 CCW about the 𝑍 − 𝑎𝑥𝑖𝑠. The new rotated frame is {𝑗}. Coordinates
of a point 𝑄 in frame {𝑖} are [7 −0.098 5.83]𝑇 . Determine the coordinates of point 𝑄 in frame
{𝑗}. 6M

Q2. A frame {2} is rotated about 𝑌 − 𝑎𝑥𝑖𝑠 of frame {1} by 400 and then translated by 8 units along
𝑌 − 𝑎𝑥𝑖𝑠. It is further translated along 𝑋 − 𝑎𝑥𝑖𝑠 by 4 units. Determine the homogeneous
transformation matrix for these three motions. If a point 𝑃 in frame {1} is [𝑃] = [3 −5 9]𝑇 ,
determine the coordinated of this point 𝑃 in frame {2}. Assume that initially the frames {1} and {2}
are coincident. Draw a neat line diagram of the two frames after the three motions. 8M

Q3. The following are the sequence of operations performed on frame {2} with respect to frame {1}.
Rotation by 550 about 𝑌 − 𝑎𝑥𝑖𝑠. Then Rotation by 350 about 𝑋 − 𝑎𝑥𝑖𝑠 followed by translation along
𝑋 − 𝑎𝑥𝑖𝑠 by 4 units. Next is translation along 𝑍 − 𝑎𝑥𝑖𝑠 by −6 units. Finally, rotation by 250 about
𝑍 − 𝑎𝑥𝑖𝑠. Determine the homogeneous transformation matrix for these five motions. Determine the
rotation and displacement matrices separately and then determine the homogeneous
transformation matrix. Also determine the inverse of this homogeneous transformation matrix. 8 M

Q4. Using free hand diagrams define and explain about the link and joint parameters. 8M

Q5. What is loop closure equation? Draw a neat free hand diagram of a four bar planar mechanism
and write the loop closure equation. Using this loop closure equation, derive Freudenstein equation.
8M

Q6. A four bar function generator is to be synthesised to generate the function 𝑦 = 𝑥 1.5 in the range
1 ≤ 𝑥 ≤ 4 using three precision points. Determine the Chebychev precision points for input and
output. Starting position of the input link be 450 and its total swing angle be 750 . Also take output
link the starting angle and angle of swing respectively as 750 and total swing angle as 450 . Determine
the input link and output link precision angles. Using these precision angles and Freudenstein
equation, synthesise four bar function generator. 12 M