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Answer Key MST

The document provides the answer key for the UME725 MST 2025 exam from Thapar Institute of Engineering and Technology's Mechanical Engineering Department. It covers topics such as robot singularities, Jacobians, and the Newton-Euler formulation for robot dynamics, with references to specific sections of an e-book for detailed explanations. Additionally, it includes questions regarding the dynamics of a 2R planar serial manipulator and the derivation of joint torques.

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5 views2 pages

Answer Key MST

The document provides the answer key for the UME725 MST 2025 exam from Thapar Institute of Engineering and Technology's Mechanical Engineering Department. It covers topics such as robot singularities, Jacobians, and the Newton-Euler formulation for robot dynamics, with references to specific sections of an e-book for detailed explanations. Additionally, it includes questions regarding the dynamics of a 2R planar serial manipulator and the derivation of joint torques.

Uploaded by

idhantmehta
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Thapar Institute of Engineering and Technology

Mechanical Engineering Department


UME725 MST 2025 Answer Key

Q1 a) What is meant by a robot singularity? Explain the types of robot singularities.


Ans: Refer to section 5.8 of the e-book.

b) At the point of singularity, what happens to a robotic system: physically and computationally?
Ans: At the point of singularity, at least one degree of freedom is lost by the end effector of the
robotic manipulator physically. Computationally, the joint velocities could not be computed and,
thus, the programme which is fed to operate the manipulator would report an error.

c) What are Jacobians in robotics? What does the determinant of a Jacobian indicate? Which
physical quantities are mapped by the Jacobian and its transpose?
Ans: Jacobians in robotics are matrices that relate joint velocities to end effector velocities. The
determinant of a Jacobian indicates the energy consumption of the manipulator. It also indicates
the proximity of the manipulator to the point of singularity. Whereas a Jacobian maps joint
velocities to end effector velocities, a Jacobian transpose maps forces/torques on the end effector
to the joint forces/torques.

Q2 Consider a point Q which is moving in frame {B} with velocity 𝐵𝑉𝑄 . If frame {B} translates with
linear velocity 𝐴𝑉𝐵𝑂𝑅𝐺 and rotates with angular velocity 𝐴Ω𝐵 with respect to a fixed frame {A},
derive the expression for the velocity of point Q in frame {A}, i.e., 𝐴𝑉𝑄 .
Ans: Refer to the lecture notes on velocities and static forces.

Q3 For a general link of the serial chain of a robotic arm:


a) draw its free-body diagram indicating all the forces and torques acting on it,
b) write the torque balance equation about its centre of mass, and
c) derive the iterative equation:
𝑖
𝑛𝑖 = 𝑖𝑁𝑖 + 𝑖+1𝑖𝑅 𝑖+1𝑛𝑖+1 + 𝑖𝑃𝐶 𝑖 × 𝑖𝐹𝑖 + 𝑖𝑃𝑖+1 × 𝑖+1𝑖𝑅 𝑖+1𝑓𝑖+1 .
Ans: Refer to pages 174 and 175 of the e-book.

Q4 The equations for determining the robot dynamics using the Newton-Euler formulation in the case
of all revolute joints are:

𝑖+1
𝜔𝑖+1 = 𝑖+1𝑖𝑅 𝑖𝜔𝑖 + 𝜃̇𝑖+1 𝑖+1𝑍̂𝑖+1
𝑖+1
𝑣̇ 𝑖+1 = 𝑖+1𝑖𝑅( 𝑖𝜔̇ 𝑖 × 𝑖 𝑃𝑖+1 + 𝑖 𝜔𝑖 × ( 𝑖𝜔𝑖 × 𝑖𝑃𝑖+1 ) + 𝑖𝑣̇ 𝑖 )
𝑖+1
𝐹𝑖+1 = 𝑚𝑖+1 𝑖+1𝑣̇ 𝐶 𝑖+1
𝑖
𝑓𝑖 = 𝑖+1𝑖𝑅 𝑖+1𝑓𝑖+1 + 𝑖𝐹𝑖
𝜏𝑖 = 𝑖𝑛𝑖𝑇 𝑖𝑍̂𝑖
𝑖+1
𝜔̇ 𝑖+1 = 𝑖+1𝑖𝑅 𝑖𝜔̇ 𝑖 + 𝑖+1𝑖𝑅 𝑖𝜔𝑖 × 𝜃̇𝑖+1 𝑖+1𝑍̂𝑖+1 + 𝜃̈𝑖+1 𝑖+1𝑍̂𝑖+1
𝑖+1
𝑣̇ 𝐶 𝑖+1 = 𝑖+1𝜔̇ 𝑖+1 × 𝑖+1𝑃𝐶 𝑖+1 + 𝑖+1𝜔𝑖+1 × ( 𝑖+1𝜔𝑖+1 × 𝑖+1𝑃𝐶 𝑖+1 ) + 𝑖+1𝑣̇ 𝑖+1
𝑖+1 𝐶 𝑖+1 𝐶 𝑖+1
𝑁𝑖+1 = 𝐼𝑖+1 𝑖+1𝜔̇ 𝑖+1 + 𝑖+1
𝜔𝑖+1 × 𝐼𝑖+1 𝑖+1𝜔𝑖+1
𝑖
𝑛𝑖 = 𝑖𝑁𝑖 + 𝑖+1𝑖𝑅 𝑖+1𝑛𝑖+1 + 𝑖𝑃𝐶 𝑖 × 𝑖𝐹𝑖 + 𝑖𝑃𝑖+1 × 𝑖+1𝑖𝑅 𝑖+1𝑓𝑖+1 .
For each link of the 2R planar serial manipulator, determine the angular velocity, angular
acceleration, linear acceleration, linear acceleration of the centre of mass, inertial force, and the
torque about the centre of mass. The effect of gravity is to be neglected.
Ans: Refer to section 6.7 of the e-book.

Page 1 of 2
Q5 Derive the expressions for the joint torques of the same 2R planar serial manipulator.
Ans: Refer to section 6.7 of the e-book.

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