Question 5 (16 marks)

Consider a typical arm two-link kinematic chain shown in Figure Q5. The first joint is a

revolute joint. The second joint is a prismatic joint; it moves in a direction normal to the axis

of the first joint. The frames are assigned as shown in the figure.

SINGAPORS UNIVERSITY OF SOCIAL SCIENCES (US)

CAS401

(d)

(c)

End Effector-

2

Joint 1

V

100

Figure O

(2) Determine the Denavit-Hartenberg (DH) parameters, and list the results in the table.

8₁

Table (5

d₂

Page 110

Tutor-Marked ment

Joint 2

Describe how you obtained a, and 8, in the table.

Appraise the assignment of Frame (1) shown in the figure.

Appraise the assignment of Frame (2) shown in the figure.

Formulate the kinematic equations for T

If the coordinates of the end effect in Frame (0) is given in "P- [x y 0]", analyse the

inverse kinematic problem to obtain the control parameter d in terms of the coordinates