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Unformatted text preview: Massachusetts Institute of Technology Department of Mechanical Engineering 2.12 Introduction to Robotics Mid-Term Examination November 2, 2005 2:30 pm 4:30 pm Close-Book. Two sheets of notes are allowed. Show how you arrived at your answer. Do not leave multiple answers. Indicate which one is your correct answer. Problem 1 (50 points + 5 points extra) The MIT Mechanical Engineering is developing a dinosaur robot for a local science museum. Figure 1 shows a schematic of the robot, having three degrees of freedom. The joint angles 1 , 2 and 3 are all measured from the positive x axis fixed to the floor, and the link lengths are m AB OA 1 = = . The head of the dinosaur is at Point E , which is 3 meters from Joint 3 (Point B), and its orientation ( T e e y x , ) e is measured from the positive x axis to line EH, the head centerline. Note that line EH bends down /3 from line BE, as shown in the figure. Answer the following questions. 1 2 Joint 1 Joint 2 3 Joint 3 A E C B y x O 3 2 m 1 m Joint 2 Link 3: the whole body Link 2 Link 1 Link 0 Actuator 1 Belt-Pulley Mass-less Transmission Actuator 2 Actuator 3 Joint 1 Joint 3 3 3 2 2 1 1 e H e e y x Figure 1 Overall structure of dinosaur robot Figure 2 Actuators and leg mechanism Link 3 Link 2 Link 1 Link 0 ( ) T e e e y x = p a). Obtain the position and orientation of the dinosaur head, , as functions of joint angles....
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This note was uploaded on 02/24/2012 for the course MECHANICAL 2.12 taught by Professor Harryasada during the Fall '05 term at MIT.
- Fall '05
- Mechanical Engineering