AC5 MECHANISM DESIGN 2018 Solved

AC5 MECHANISM DESIGN 2018-2019
1- The robot in the figure is a 5R robot. Reference

systems have been attached onto it according to the
Denavit-Hartemberg convention. The corresponding
parameters are presented in the table (the θi are the
variables).
Link ai-1 αi-1 di θi

1 0 0 0 θ1
2 0 -90° 0 θ2
3 l2 0 0 θ3
4 l3 0 0 θ4
5 0 90° 0 θ5
And the transformation matrix representing the end-
effector position is:
𝑐𝑐1 𝑐𝑐234 𝑐𝑐5 − 𝑠𝑠1 𝑠𝑠5 −𝑐𝑐1 𝑐𝑐234 𝑠𝑠5 − 𝑠𝑠1 𝑐𝑐5 𝑐𝑐1 𝑠𝑠234 𝑐𝑐1 (𝑙𝑙2 𝑐𝑐2 + 𝑙𝑙3 𝑐𝑐23 )
𝑠𝑠 𝑐𝑐 𝑐𝑐 + 𝑐𝑐1 𝑠𝑠5 −𝑠𝑠1 𝑐𝑐234 𝑠𝑠5 + 𝑐𝑐1 𝑐𝑐5 𝑠𝑠1 𝑠𝑠234 𝑠𝑠1 (𝑙𝑙2 𝑐𝑐2 + 𝑙𝑙3 𝑐𝑐23 )
𝑇𝑇50 = � 1 234 5 �
−𝑠𝑠234 𝑐𝑐5 𝑠𝑠234 𝑠𝑠5 𝑐𝑐234 −𝑙𝑙2 𝑠𝑠2 − 𝑙𝑙3 𝑠𝑠23
0 0 0 1
𝑟𝑟11 𝑟𝑟12 𝑟𝑟13 𝑝𝑝𝑥𝑥
𝑟𝑟 𝑟𝑟 𝑟𝑟 𝑝𝑝𝑦𝑦
= � 21 22 23 �
𝑟𝑟31 𝑟𝑟32 𝑟𝑟33 𝑝𝑝𝑧𝑧
0 0 0 1
Now you are asked to:
a) Calculate the position and orientation of the end-effector if l1 = 650 mm, l2 = 480 mm and
the variables take the values θ1 = 90°, θ2 = 60°, θ3 = -30°, θ4 = 90° and θ5 = -90°.
1 0 0 0
0 −0.5 0.866 740.7
𝑇𝑇50 = � �
0 −0.866 −0.5 −802.9
0 0 0 1
The inverse kinematics of this robot can be calculated using the following equations:
𝑝𝑝
𝑦𝑦 −𝑝𝑝
𝜃𝜃1 = atan2 �𝑝𝑝 � or 𝜃𝜃1 = atan2 �−𝑝𝑝𝑦𝑦 � (1)
𝑥𝑥 𝑥𝑥
𝑟𝑟21 𝑐𝑐1 − 𝑟𝑟11 𝑠𝑠1

𝜃𝜃5 = atan2 � �
𝑟𝑟22 𝑐𝑐1 − 𝑟𝑟12 𝑠𝑠1
𝑟𝑟13 𝑐𝑐1 + 𝑟𝑟23 𝑠𝑠1
𝜃𝜃234 = atan2 � �
𝑟𝑟33
2 +𝑝𝑝2 −𝑙𝑙 2 −𝑙𝑙2
𝑝𝑝𝑥𝑥2 +𝑝𝑝𝑦𝑦 𝑧𝑧 2 3
𝜃𝜃3 = ±acos � � (2)
2𝑙𝑙2 𝑙𝑙3
𝑝𝑝𝑧𝑧 𝑙𝑙 𝑠𝑠
𝜃𝜃2 = − atan2 ⎛ ⎞ − atan2 � 3 3 �
𝑙𝑙2 + 𝑙𝑙3 𝑐𝑐3
�𝑝𝑝2 + 𝑝𝑝𝑦𝑦2
⎝ 𝑥𝑥 ⎠
𝜃𝜃4 = 𝜃𝜃234 − 𝜃𝜃2 − 𝜃𝜃3
Because equations 1 and 2 can take two values each, there are four possible solutions.
b) Check that the equations can give the original solution and calculate, at least, one of the
other possibilities.
θ1 90° -90°
θ5 -90° 90°
θ234 120° -120°
θ3 30° -30° 30° -30°
θ2 34,62° 60° 34,62° 60°
θ4 55,38° 90° -184,62° -150°
2- The manipulator of the figure has the following global transformation:

𝑐𝑐1 𝑐𝑐23 −𝑐𝑐1 𝑐𝑐23 𝑠𝑠1 𝑐𝑐1 (𝐿𝐿1 + 𝐿𝐿2 𝑐𝑐2 )
𝑠𝑠 𝑐𝑐 −𝑠𝑠1 𝑐𝑐23 −𝑐𝑐1 𝑠𝑠1 (𝐿𝐿1 + 𝐿𝐿2 𝑐𝑐2 )
𝑇𝑇30 = � 1 23 �
𝑠𝑠23 𝑐𝑐23 0 𝐿𝐿2 𝑠𝑠2
0 0 0 1
And its jacobian is
−𝑠𝑠1 (𝐿𝐿1 + 𝐿𝐿2 𝑐𝑐2 ) −𝐿𝐿2 𝑐𝑐1 𝑠𝑠2 0
𝑐𝑐 (𝐿𝐿 + 𝐿𝐿2 𝑐𝑐2 ) −𝐿𝐿2 𝑠𝑠1 𝑠𝑠2 0
⎛ 1 1 ⎞
𝐽𝐽 = ⎜ 0 𝐿𝐿2 𝑐𝑐2 0 ⎟
⎜ 0 𝑠𝑠1 𝑠𝑠1 ⎟
0 −𝑐𝑐1 −𝑐𝑐1
⎝ 1 0 0 ⎠
where it is used to relate
𝑣𝑣𝑥𝑥
⎧ 𝑣𝑣𝑦𝑦 ⎫
⎪ 𝑣𝑣 ⎪ 𝜃𝜃̇1
𝑧𝑧
𝑣𝑣 = 𝐽𝐽 · Ω with 𝑣𝑣 = and Ω = �𝜃𝜃̇2 �
⎨𝜔𝜔𝑥𝑥 ⎬
⎪𝜔𝜔𝑦𝑦 ⎪ 𝜃𝜃̇3
⎩ 𝜔𝜔𝑧𝑧 ⎭
Suppose that L1 = 450 mm and L2 = 310 mm and that the robot is positioned so that θ1 = 30°, θ2
= 45° and θ3 = 90°.
a) In the case of 𝜃𝜃̇1 = 2 rad/s, 𝜃𝜃̇2 = 1.3 rad/s and 𝜃𝜃̇3 = -0,8 rad/s, give the velocity vector of the
end-effector.
−334.6 −189.8 0 −916.0 mm/s

579.5 −109.6 0 ⎧ 1016.6 ⎫ mm/s
⎛ 0 ⎞ 2 ⎪ ⎪
219.2 0 285.0 mm/s
𝑣𝑣 = ⎜ ⎟ · � 1.3 � =
⎜ 0 0.5 0.5 ⎟
−0.8 ⎨ 0.25 ⎬ rad/s
0 −0.866 −0.866 ⎪ −0.43 ⎪ rad/s
⎝ 1 0 0 ⎠ ⎩ 2 ⎭ rad/s
b) Use the transpose of the jacobian to solve for the torques to be applied at each joint in
order to resist a load of Fx = 100 N, Fy = 100 N, Fz = 100 N and Mx = 0 Nmm, My = 0 Nmm,
Mz = 5 Nmm applied on the end-effector.
𝐹𝐹𝑥𝑥
⎧ 𝐹𝐹 ⎫
𝑇𝑇1 ⎪ 𝑦𝑦 ⎪
𝐹𝐹𝑧𝑧
�𝑇𝑇2 � = −𝐽𝐽𝑇𝑇
𝑀𝑀
⎨ 𝑥𝑥 ⎬
𝑇𝑇3
⎪𝑀𝑀𝑦𝑦 ⎪
⎩ 𝑀𝑀𝑧𝑧 ⎭
100
⎧100⎫
−334.6 579.5 0 0 0 1 ⎪ ⎪ −24500 Nmm
100
𝑇𝑇 = − �−189.8 −109.6 219.2 0.5 −0.866 0� · = � 8023 � Nmm
0 ⎬
0 0 0 0.5 −0.866 0 ⎨ 0 Nmm
⎪ 0 ⎪
⎩ 5 ⎭

AC5 MECHANISM DESIGN 2018 Solved

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AC5 MECHANISM DESIGN 2018-2019

1- The robot in the figure is a 5R robot. Reference

Link ai-1 αi-1 di θi

𝑟𝑟21 𝑐𝑐1 − 𝑟𝑟11 𝑠𝑠1

2- The manipulator of the figure has the following global transformation:

−334.6 −189.8 0 −916.0 mm/s

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