ENME 505 - Robotics Problem set 4 - Statics page 1 of 1

Q 1. The end effector of the planar robot shown beloq applies a force of 20 N in the x0 direction and a
moment of 10 NM about z2 .

" #
0
f0
(a) Find the reaction force and moment 0 F0 = 0
at the base of the robot as a function of q.
m0
" #
τ1
(b) Find the joint torques τ = as a function of q.
τ2
" #
0 0
(c) Find F0 and τ when q = .
π/2
   
100 0
6 6
Q 2. The gripper of the PUMA robot shown below applies a force f =  0  N and a moment m6 =  0  Nm
   

0 20
(in gripper coordinates). Find τ at the configuration shown.
 ENME 505 - Robotics Problem set 4 - Statics page 2 of 2

Q 3. The wrist of a PUMA robot is shown below. The robot is grinding a surface with a rotary grinding
tool, which applies a wrench Ft to a workpiece. A force/torque sensor transmits (and measures) a
wrench Fs to the tool.

For the robot configuration shown:

(a) Find t Ft in terms of s Fs .

(b) Find τ3 , τ4 , τ5 and τ6 in terms of t Ft .
h i⊤
(c) Find t Ft , τ3 , τ4 , τ5 and τ6 when s Fs = 0 100 N 80 N −5 Nm 4 Nm 0 .
 ENME 505 - Robotics Problem set 4 - Statics page 3 of 3

Questions from final exam, winter 1996:

Q 4. The robot shown below consists of a revolute joint, followed by two prismatic joints, followed by
h i⊤
a revolute joint. The joint variables q = q1 q2 are defined by the frames shown in
q3 q4
h i⊤
the figure and the D-H convention. The gripper applies a force f4 1 0 1 N and a moment
h i⊤
4
m4 = 0 0 2 Nm (in gripper coordinates).

(a) Find 0 T4 as a function of q.

h i⊤
(b) Find the vector of joint forces τ = τ1 τ2 τ3 τ4 as a function of q.

(c) At the configuration shown, q2 = 0.8 m and q3 = 0.6 m. Find τ at the configuration shown.
(d) Find the reaction force 0 f and reaction moment 0 m0 acting on the robot base when the robot is in
the configuration shown.
 ENME 505 - Robotics Problem set 4 - Statics page 4 of 4

Problems from past practice quiz (target 40 minutes to solve problem 5):

Q 5. The cylindrical robot shown below consists of a revolute joint followed by two prismatic joints, fol-
h i⊤
lowed by a 3-joint spherical wrist. The joint variables q = q1 q2 q3 q4 q5 q6 are defined
by the frames shown and the D-H convention. The robot is in the pose shown with q2 = q3 = 2
m. The gripper applies (to some object, not shown) a wrench having gripper frame components
h i⊤
6
F6 = 1N 2N 3N 1N m 2N m 3N m . The robot is in static equilibrium and there is no
gravity.

At the pose shown:

h i⊤
(a) Find the motor forces (i.e., generalized joint forces) τ = τ1 τ2 τ3 τ4 τ5 τ6 .
h i⊤
(b) Find the wrench 3 F3 = 3
fx 3 fy 3 fz 3 m3x 3 m3y 3 m3z transmitted through the wrist (i.e.,
the wrench that link 4 applies to link 5).
h i⊤
(c) Find the moment 0 m0 = 0 m0x 0 m0y 0 m0z that the ground applies to the base.

(d) For a general pose, neglecting mechanical interference, what condition on the joint angles makes the
wrist singular? At these singularities, what constraint is imposed on the angular velocity between link
3 and link 6?
 ENME 505 - Robotics Problem set 4 - Statics page 5 of 5

Additional problems from past final exams:

Q 6. (1997, Question 1e) The ASEA pendulum robot shown below consists of two revolute joints followed by
h i⊤
a prismatic joint. The joint variables q = q1 q2 q3 are defined by the frames shown in the figure
h i⊤
and the D-H convention. At the configuration shown, 0 p3 = −0.5 0 0.2 m. At this configuration,
h i⊤
it is desired that the end effector apply a force of 0 f = −10 20 30 N to a workpiece. Neglecting
gravity, find the actuator forces τ required.

Q 7. (1997, Question 2f) The SCARA robot shown below consists of two revolute joints, followed by a pris-
h i⊤
matic joint, followed by a revolute joint. The joint variables q = q1 q2 q3 q4are defined by the
h i⊤
frames shown in the figure and the D-H convention. At the configuration shown, 0 p4 = 0 0.9 0.4
m. Neglecting gravity, find the value of τ required to drive a right-handed screw downward with a
torque of 20 Nm and a force of 100 N. (Note: the answer is independend of configuration)
 ENME 505 - Robotics Problem set 4 - Statics page 6 of 6

Q 8. (1997, Question 3) The cylindrical robot shown below consists of a revolute joint, followed by two
h i⊤
prismatic joints, followed by a revolute joint. The joint variables q = q1 q2 q3 q4 are defined
by the frames shown in the figure and the D-H convention. The robot is grinding a workpiece with a
h i⊤
rotary grinding tool, which applies a wrench 4 F4 = 40 N 0 N 60 N 12 Nm −8 Nm 0 Nm ,
which the sensor applies to the tool. At the configuration shown, q3 = 0.5 m.

Neglecting gravity, for the robot configuration shown, find:

t
(a) Ft
0
(b) Ft

(c) τ
Q 9. (1999, Question 1e) The robot shown below consists of two revolute joints, followed by a prismatic
h i⊤
joint, followed by a revolute joint. Find τ for the pose shown, given that in this pose, 0 p4 = 0 1 0
h i⊤
m, and the gripper applies a wrench 0 F4 = −1 N 3 N 2 N 5 Nm 2 Nm 3 Nm .
 ENME 505 - Robotics Problem set 4 - Statics page 7 of 7

Q 10. (1999, Question 3b) The Space Station Remote Manipulator System (SSRMS) was designed to assemble
the Internation Space Station (ISS). In the figure below, it is manipulating a beam. In the pose shown,
the beam applies a wrench 8 F8 to the space station (not shown). A force/torque sensor at frame
h i⊤
7 measures a wrench (applied by the robot to the beam) of 7 F7 = 1 N 0 3 N 0 5 Nm 0 .
Assuming that the system is in static equilibrium, find τ , 8 F8 , and 0 F8 .

Q 11. (2000, Question 1ef) The robot shown below consists of three revolute joints.
(a) Find τ if the robot is in the pose shown and the end effector (frame 3) applies a static force of
h i⊤
0
f= 4 5 6 N (and no moment) to some object.

(b) What force and moment does the ground apply to the robot when the force of part (a) is applied by
the end effector? Express your answers in terms of their frame 0 components.
 ENME 505 - Robotics Problem set 4 - Statics page 8 of 8

Q 12. (2000, Question 3b) Consider the following spherical robot with spherical wrist. At the pose shown,
q3 = 4 m. In the pose shown, the gripper applies a wrench to an object (not shown), and the ground
h i⊤
applies a reaction wrench to the base of 0 F0 = 1 N 2 N 3 N 4 Nm 5 Nm 6 Nm . Assuming
that the system is in static equilibrium (and neglecting gravity), find τ .

Q 13. (2001, Questions 29-33) The cylindrical robot shown below consists of a revolute joint followed by two
h i⊤
prismatic joints, followed by a 3-joint spherical wrist. The joint variables q = q1 q2 q3 q4 q5 q6
are defined by the frames shown and the D-H convention. The matrics Jv (q) and Jω (q) satisfy 0 v6 =
Jv (q)q̇ and 0 ω6 = Jω (q)q̇. In the pose shown, q2 = 1.5 m and q3 = 1 m. The gripper applies (to some ob-
h i⊤
ject, not shown) a wrench having gripper frame components 6 F6 = 6 fx 6 fy 6 fz 6 m6x 6 m6y 6 m6y .
The robot is in static equilibrium and there is no gravity.

(a) Find τ1 .
(b) Find τ3 .
(c) Find τ4 .
(d) Find 0 fy .
(e) Find 0 m0x .