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ME640-Assignment-Module-2

The document outlines the assignment details for ME 640: Robotics and Robot Applications, due on February 18, 2025, which is worth 35 marks. It includes five questions focusing on isotropic points in manipulators, dynamics of a spherical pendulum, boundary singularities in a planar manipulator, dynamic equations using Newton-Euler formulation, and velocity transformations between frames. Students are instructed to submit handwritten work and ensure originality in their solutions.

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Harsh Kumar
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
10 views

ME640-Assignment-Module-2

The document outlines the assignment details for ME 640: Robotics and Robot Applications, due on February 18, 2025, which is worth 35 marks. It includes five questions focusing on isotropic points in manipulators, dynamics of a spherical pendulum, boundary singularities in a planar manipulator, dynamic equations using Newton-Euler formulation, and velocity transformations between frames. Students are instructed to submit handwritten work and ensure originality in their solutions.

Uploaded by

Harsh Kumar
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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ME 640: Robotics and Robot Applications

Jan-May 2025
Published: Feb 11, 2025
Assignment: Module 2 Due: Feb 18, 2025
 
General Guidelines

1. This assignment is of 35 Marks and carries weightage for FINAL evaluation of ME 640.
2. Please submit handwritten pages after Class on Feb 18, 2025. Submission as posts on MS Teams or
email submission would not be entertained.
3. You may discuss with other students about this assignment. Consult outside sources such as the Internet
and take help to learn the material. Finally, the solutions you submit should be your own work, not
copied from a peer or an abridged outline from any solution manual.

Q1. General mechanisms sometimes have certain configurations, called isotropic points where the
columns of the Jacobian become orthogonal and of equal magnitude. Following is the Jacobian of a
two-link manipulator.
Find out if any isotropic points exist for this manipulator.

05

Q2. Fig. 1 shows an idealized spherical pendulum consisting of


a point mass m attached at the end of a rod of length l. The
mass of the rod is negligible. The configuration of the point
mass is parameterized using two scalars 𝜃 and 𝜙 which
measures the angular displacement from the 𝑍 and 𝑋 axes
respectively. The position of the mass, relative to the base
of the pendulum, is given by

𝑙𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝜙
𝑟 𝜃, 𝜙 = 𝑙𝑠𝑖𝑛𝜃𝑠𝑖𝑛𝜙
−𝑙𝑐𝑜𝑠𝜃

Using Lagrangian Formulation derive the equation of


Fig. 1
motion that satisfy the overall dynamics of the system under
the influence of gravity.
08

Q3. Consider a planar RR manipulator with joint coordinates 𝛩 = 𝜃0 , 𝜃1 2 . The associated Jacobian is

−𝑙0  s0 − 𝑙1 s01 −𝑙1 𝑠01


J(Θ)   =  
𝑙0 c0 + 𝑙1 c01 𝑙1 c01

a. Determine the boundary singularities for the manipulator.


b. Sketch the configuration of the robot corresponding to these singularities.
c. What is the impact of the boundary singularities on the motion of the manipulator. 07
Q4. Using Iterative Newton-Euler Dynamic Formulation,
construct the dynamic equations for the two link non-planar
manipulator shown in Fig. 2.

Mass of the links 𝑚0   and 𝑚1 can be considered as a point


mass located at the distal (outermost) end of the link.
The link lengths are 𝑙0  and 𝑙1 .
Further viscous friction is acting at each joint, with
coefficients 𝑣0 and 𝑣1 .
Fig. 2

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Q5. Velocities in one frame is related to those in another using a 6  ×  6  operator called a velocity
transformation, 𝑇> . The cross product in 𝑇> i.e., 𝑃@ABC ×  is understood as the matrix operator 𝑃×

@ 0 −𝑝H 𝑝I
E𝑅 −   @E𝑅𝑃@ABC ×
𝑇> =   @ and 𝑃×  = 𝑝H 0 −𝑝H ;
0 E𝑅 −𝑝I 𝑝H 0

0.866 −0.5  0 10
E 0.5 0.866 0 0
@ 𝑇 =  
0 0 1 5
0 0 0 1

Transformation @E𝑇 between {A} and {B}is given above.


If the velocity vector at the origin of {A} is E  𝑣 = 0, 2, −3, 1.414, 1.414, 0 2 , find the 6  ×  1 velocity
vector with reference to origin of {B}.
05

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