RIME-221 Introduction to

Mechatronics Design
Fundamentals
LEC. TAYYAB SHAHID

Lecture 4
Revision of previous lecture
• Starting with the main mechanical part of both mechatronics and robotics.

• Spaces and Kinematics

•Degree of Freedom and mechanisms around the world

•Introduction to robotics

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Objectives
• Introduction to robotics and vector spaces

• Spatial transformations

• Rotation matrix in 2D and 3D

• Transformation mapping

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 Position and Orientation
Once a coordinate system is established, we can
locate any point in the universe with a 3 x 1
position vector.

Often, we will find it necessary not only to

represent a point in space but also to describe the
orientation of a body in space.

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 Rotation matrix
• The rotation matrix is a projection a body from frame A to B,
keeping position and orientation in check.

• In 3D, the projection of vectors in X, Y and Z is derived in equation

as:

Direction cosines or
projection of Frame
B on A.

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 Rotation matrix principles
This rotation matrix lead to transpose of frame A to frame B

We know that the inverse of a matrix with orthonormal columns is equal to its transpose,
which is why

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 Mapping of translated frames
In this case, {B} differs from {A} only by a translation, which is given by PORG
a vector that locates the origin of {B} relative to {A}.

Note that only in the special case of equivalent orientations

may we add vectors that are defined in terms of different
frames.

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Mapping involving rotated frames
Also a special case, if the origin point is the same. That is the frame is
not translated from origin. To calculate it, the similar rotation matrix
can be used

Rotation
cosines of
each plane
with the
vector.

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 Example 2.1
Figure 2.6 shows a frame {B} that is rotated relative to frame {A} about Z by 30 degrees.

Given

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 Mapping involving general frame
Now, its not just translation but rotation
which resulted between two frames.

In 3D, its rotation as well as translation. This

is why the equation is changed into:

Therefore the transformation changed for

two frames are

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 Transformation of frames

Transformation matrix which is always

in 4x4 matrix for kinematics

1. a "1" is added as the last element of the 4 x 1 vectors;

2. a row "[0 0 0 1]" is added as the last row of the 4 x 4 matrix.

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 Example 2.2
Figure 2.8 shows a frame {B}, which is rotated relative to
frame {A} about Z by 30 degrees, translated 10 units in
XA and translated 5 units in YA Find , where:

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 Solution
First Step: Find

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Chapter 3: Manipulator Kinematics
Now, frames are distributed in form of links,
where now kinematics and robotics are merged
into Forward kinematics!

The kinematic function of a link is to maintain a

fixed relationship between the two joint axes it
supports. This relationship can be described
with two parameters: the link length, a, and the
link twist, .

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Which means: Frames and Links can
rotate and translate independently!

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Thank You

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