Tarbiat Modarres University (Professor Training University)
MECHANIC 11

Summer 2015
ME 5286  Robotics
Assignment Number Four
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1. A twolink manipulator with rotational joints is shown in Figure 1 (below). Calculate the velocity
of the tip of the arm as a function of joint rates. Use the Jacobian written in frame cfw_0. Are the
results
Tarbiat Modarres University (Professor Training University)
MECHANIC 11

Summer 2015
Assignment #3
Problem #1
For the 3 DOF PRP manipulator shown below, it is known that 0d11m, and 0d31m.
The length of the second link, l2 = 1m. There are no limits for q2. For this manipulator
q
E
(xE , yE )
d3
y
0
q2
x0
l2
d1
(a) Sketch the reachable work
Tarbiat Modarres University (Professor Training University)
MECHANIC 11

Summer 2015
Assignment #2
Problem #1
The following manipulator is of SCARA type. This type of manipulator is used in
assembly operations, and especially in the production of electronic boards, where chips are
surface mounted.
For this manipulator, sketch the endpoint
Tarbiat Modarres University (Professor Training University)
MECHANIC 11

Summer 2015
Assignment #1
Problem #1
(a)
How many degrees of freedom must a manipulator have to be able to arbitrarily
position and orient its endeffector in Cartesian space? How many degreesof
freedom (d.o.f.s) are required if the endeffector is something like a