● Detail the solutions steps to get full marks, assume coordinate axes and

numerical values of the given variables independently so that there is no

intentional match between the solutions of two students, otherwise,

both students will receive 'o' marks.

• You need to define coordinate systems and all the parameters precisely

so that there is no ambiguity in interpreting your answers.

1. For the arm with three degrees of freedom shown in the figure, please answer all the

questions below: [4 marks]

Yo

0₁

L₁

L3

12

0₂

0₂

a) Define all the required coordinate systems associated with each joint based on the DH

method. [y-axis direction is given; you have to assume the other axes directions] (0.5

mark)

b) Derive link parameters based on the answer in a). (DH method!) (0.5 marks)

c) Derive the kinematic equations for ³H, based on the answer in b). (1.5 marks)

d) Solve the forward kinematics problem using the following input data:

L₁ = 4, L2= 2, L3= 1 (m), and Ⓒ = {0₁, 0₂, 03} = {-----} assume the numerical

values of the angles less than 90 degrees. (1 mark)

e) Check your result in d) by sketching the robot configuration as a line diagram to

represent robot links. (0.5 marks).