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740 Solutions 4

This document contains exercises for a mechanical engineering course. The first exercise asks to find the inverse of a matrix. The second asks about the number of solutions to the inverse kinematics problem for a 3-bar planar manipulator if a fourth link is added. The third provides a diagram of a 2-bar planar manipulator and asks to sketch its approximate workspace.

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75 views

740 Solutions 4

This document contains exercises for a mechanical engineering course. The first exercise asks to find the inverse of a matrix. The second asks about the number of solutions to the inverse kinematics problem for a 3-bar planar manipulator if a fourth link is added. The third provides a diagram of a 2-bar planar manipulator and asks to sketch its approximate workspace.

Uploaded by

Elizabeth
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
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Sa LU-nO t-..

lS
P rof. J. Baillieul
Mechanical Engineering
Electrical and Computer Engineering

(3/21/11)

ENG ME 740:

Exercises (Set 4) (Due 3/28/11)

1. Write down the inverse of the matrix


L\ p~5 cose - sin e cos c> e
sin sin c>
A=
(
Sir cose cos c>
sina
e
- cos sin c>
cos c>
a cose l
a sine
d .
o o 1

(Do not use Matlab , Ma ple, Mathe matica, etc.)


~l'b 2. Given a prescribed position and orientation of the planar 3-bar manipulator of the second
Exercise Set, there are two possible solutions to the inverse kinematics problem. If we add one more
link (in such a way that the manipulator is still planar), how many solutions are there?
:) pl-:;3. The figure shows a 2-bar planar manipulator with rotary joints. The second link is half as long
as the first h = 2r2)' The joint limits are:

0< e1 < 180 0

_90 0 < e2 < 180 0


.

Sketch the approximate workspace (= the set of points which can be reached by the tip of the second
link) .
ME:';SE./£~ 7~O
~l.EtJ\ Sc-r li
~u.,rn{)NS

CQ.S(9 •

1. .
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. -~
-$"'&CI.5IC.. COS8CQS1( s~o(
-a~~~
A-t
= -'cU9s~ Coso( -.1 cosec..
D 0 0
"
0

I1= (u .,)
\.0 .. °
€ SE"(JJ~) J
. (U v)-'~
1. - 0
(I.lT 0
-u1~"'). )
~

&. lNFI N,l£L.'i ~~'1,

3. Z'l .2

Z'1·1

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1)0 [eDdpolllt••t • Job (eD4pobt••t,


{(Z', * Co. [(:J" '0) * "1 • Z'a *co.[ (:J "0) *". (-" 12. (k/80) *,,)], r , . SlIl[ (:J "0) *"1 •
Z'a * SlD[ (:J "0) * ". (-" /2. (k/80) *X') l}) 1, U, 1, '0), (k, 1, 120)) .
Ll.uiot [eD4poillt ••t]

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