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Tutorial 3

This document is a tutorial sheet for a Mechanical Engineering course on Robotics and Mechatronics. It includes exercises on calculating joint variables for a cylindrical robot and determining roll, pitch, yaw angles, and displacements for a Cartesian-RPY robot. Additionally, it discusses the Stanford Arm, a spherical coordinate arm, and requires the assignment of coordinate frames and parameter tables for it.

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4 views1 page

Tutorial 3

This document is a tutorial sheet for a Mechanical Engineering course on Robotics and Mechatronics. It includes exercises on calculating joint variables for a cylindrical robot and determining roll, pitch, yaw angles, and displacements for a Cartesian-RPY robot. Additionally, it discusses the Stanford Arm, a spherical coordinate arm, and requires the assignment of coordinate frames and parameter tables for it.

Uploaded by

bhumichahar030
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

MECHANICAL ENGINEERING DEPARTMENT

MOTILAL NEHRU NATIONAL INSTITUTE OF TECHNOLOGY ALLAHABAD

MEN- 16103- ROBOTICS AND MECHTRONICS

B. Tech. VI Semester (Mechanical)


Course Coordinator: Dr. J. C. Mohanta

Tutorial Sheet - 3

1. Suppose that we desire to place the origin of the hand frame of a cylindrical robot at [3,4,7] T. Calculate the joint
variables of the robot.
[Answer: R= 5 units , α= 53.10 , l= 7 units]

2. The desired final position and orientation of the hand of a Cartesian – RPY robot is given next. Find the necessary
0 0 0 0 0 0
roll, pitch, yaw angles and displacements: [Answer: фa=55 , 235 ; фo=52 , 128 ; фn=15 , 195 ; Px= 4.33,
Py= 2.5, Pz= 8 units]

The Stanford Arm. Assign coordinates frame to the Stanford Arm, and fill out the parameters table. The
Stanford Arm is a spherical coordinate arm, which means that the first two joints are revolute, while the third
is prismatic. The last three wrist joints are all revolute joints.

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