Consider the following robotic manipulator with parallel kinematics. Joint angles q1 and q2 are always positive. a 92 dia a a Figure Q3 - Robotic manipulator with parallel kinematics a) Sketch the robot's workspace. b) Derive forward kinematics (en c) Derive inverse kinematics (end

Define Denavit-Hartenberg (DH) kinematic frames for the manipulator.

Calculate the mobility of the kinematic chain please

For the manipulator shown in the figure below, answer the following; P 1) How many joints does this manipulator have, and what types? 2) What are the measurements needed to analyse the mechanism? 3) Assign appropriate frames for D.-H. analysis from frame {0} to frame {P}? (redraw the manipulator on the answer book or do it on the questions sheet) 4) Is this a 2D problem or a 3D problem, and explain why?

Draw a rough sketch of the SVAJ Diagram

Could you mathematically explain static forces on 3 DOF Planar Redundant Robotic Manipulator?(torque) If this manipulator picks up a 10kg object, calculate its torque. With the end effector fixed, will the joint torques change? If so, how will the engine selection be affected?

Consider the following 4 DOF manipulator. a) Assign the frames, and derive the link parameters in the DH table. b) Calculate the forward kinematics. c) Calculate the inverse kinematics of this robotic manipulator. ZU XH 4 YU

Draw a rough sketch of the SVAJ Diagram

Select one simple mechanism(dont select Slider crank mechanism) (4 links) and explain the following with regards to the selected mechanism. i. Kinematic pairs based on nature of contact. ii. Kinematic pairs based on nature of relative motion. iii. Degrees of freedom. iv. Possible inversions and applications

Write and draw the following grashof's criterion and kind of grashof's four-bar mechanism such as; 1. Crank-rocker mechanism; 2. Drag link mechanism; 3. Double rocker mechanism; 4. Crossover-position or charge-point mechanism; 5 Triple rocker mechanism (non-grashof). Use technical Pen for the following: 0.2(light -for linkages and hand writing), 0.4(medium - for joints), 0.6(heavy - for fixed link or frames) use 2-4-4 template, all caps, italicized.