# robotics homework help

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• Q1: 3.) A diaphragm pressure gauge employs four strain gauges to monitor the displacement of the diaphragm. The four active gauges form the arms of a Wheatstone bridge, in the way shown in Fig. 3.23 b (see class notes too). The gauges have a gauge factor of 2.1 and resistance 120 Q. A differential pressure applied to the diaphragm results in two of the gauges on one side of the diaphragm being subject to a tensile strain of 1.0 x 10^-5 and the two on the other side a compressive strain of 1.0 x 10^-5 . The supply voltage for the bridge is 10 V. What will be the voltage output from the bridge? (20 pts) (Answer is 0.21 mV, but you need to show the work to get to this.)See Answer
• Q2: 7.) A small permanent magnet motor has a torque constant kr=0.1 Nm/A and a back e.m.f.constant ke-2.50 V/krpm. The total internal resistance is R=15 2. Determine the torque for maximum power and the maximum rotational speed if the applied voltage is V=5V. (25pts)See Answer
• Q3:1. Find out the homogeneous transformation matrices to describing the pose of the Oo frame with respect to the frame 03. Assume the axes orientations at O₁, O2 and O3 any combination other than in Lecture 4 PDF file (week 4 & 5), slides 24 & 25. Consider O:(x0,0,zo), assume the values of xo and zo. Similarly, assume the O₂ and O3 axes scaling as per the xo and zo initially assumed values. Your assumptions will vary from your fellow students, if there is an intentional match both parties will receive zero marks! 0₁See Answer
• Q4:2. This is a 3 DOF planar robot with 3 rotational joints. Derive the transformation matrix between the end-effector and the base of the robot coordinate systems. Assume the y and z axes orientations at every joint (y axis is given) and draw your assumptions in the free body diagram. Your assumptions will vary from your fellow students, if there is an intentional match both parties will receive zero marks! (a) DH (b) Three-link, nonplanar manipulator.See Answer
• Q5:3. Consider frames {0}, {1} and {2} shown below. Assume that no rotation is allowed around Y axis and the maximum angle each axis can rotate at each time is 90 degrees. a. Find the homogeneous transformation matrices ⓇH, and¹H₂. b. Find H, using the relationship: "H₂="H,¹H₂. Z₁4 1m 1m Z₁ Z₂ Assume positive or negative rotations about the axes. You must write the transformation equations.See Answer
• Q6:4. As shown in the following figure, it is an ABB IRB140 industrial robot. It has six DOF and all the major dimensions are given. The last three axes intersect with each other and have the common origin located at the centre of axis 5. Please derive the transformation matrix between the end-effector (6) and the base of the robot coordinates systems {0} using the homogenous transformation method. Assume the axes orientations at every joint and draw your assumptions in the free body diagram. Your assumptions will vary from your fellow students, if there is an intentional match both parties will receive zero marks! The link lengths are given in the diagram. You may use MATLAB for matrix multiplications. 670 Te 70 380 65 810 486 1092 712 352 151See Answer
• Q7: 10. Choose one industrial application of a robot. Provide the URL to the website you used to find this application. What type of industrial robot is this (e.g. SCARA)? Why do you think robots are effective in this application? What type of end effector is being used in this application? "Introduction to Industrial Robots for Beginners" https://robotsdoneright.com/Articles/introduction-to- industrial-robots-forbeginners.html "Choosing Between Robotic and Collaborative Automation" https://robotsdoneright.com/Articles/choosing-between-robotic-and- collaborativeautomation.html "Robot Term Glossary" "Basic Robot https://robotsdoneright.com/Glossary.html Movement: DX200" www.youtube.com/watch?v=c1ZI4mJmKOc (This video will show you how you can program the Yaskawa controller, similar to what was shown in the demo) Write the assignment in one paragraph 100 wordsSee Answer
• Q8:1. For the arm with three degrees of freedom shown in the figure, please answer all the questions below: [4 marks] yo L₁ L3 8₂ 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 ³Ho 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}¹ = {——,——‚— —} 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).See Answer
• Q9:2. As shown in the figure, it is a 3 DOF planar robot with 3 rotational joints. [3 marks] a) Define all the required coordinate systems associated with each joint and derive link parameters based on the DH method. [y-axis direction is given; you have to assume the other axes directions] (0.5 mark) b) Derive the kinematic equations for H3 based on the answer in a). (0.5 marks) c) Solve the forward kinematics problem using the following input data: L₁=2, L2=1, L3= 0.5 (m), = {01, 02, 03}T, assume 0₁<10, 15<0₂<50, and 03<0. (1 marks) d) Check your result in c) by sketching the robot configuration. (1 marks) 23 or iz The coordinate systems of the three-link planar armSee Answer
• Q10:3. This is a 3 DOF spatial robot with 2 rotational joints and 1 translational joint in the reference pose. [3 marks] Yo dz Please answer the follow questions using the DH method: a) Define all the required coordinate systems associated with each joint and derive link parameters based on the DH method. [y-axis direction is given; you have to assume the other axes directions] (0.5 mark) b) Derive the transformation matrix between the end-effector and the base coordinate system ³Ho. (1.5 mark) c) Calculate the coordinates of the point C and draw the corresponding configurations based on the values of parameters and variables given: 1₁ = 12 = 13= 6, 0₁-30°, 0₂ = 60° and assume d3 (1 marks).See Answer
• Q11:Assignment: Autonomous Electric Vehicle (EV) Accidents - Background Study Objective: To familiarize yourself with the realm of autonomous Electric Vehicles (EVS) and gather a foundational understanding of the accidents that have occurred due to their operation. This knowledge will set the stage for a deeper analysis of the ethical issues surrounding these incidents in the subsequent components of the course project. Tasks: 1. Introduction to Autonomous EVs - Provide a brief overview of autonomous EVs, highlighting their primary components from an Electrical and Computer Engineering perspective. - Explain the intersection of electrical engineering (focused on vehicle hardware and mechanisms) with computer engineering (emphasizing software algorithms and Al). course_project_component_1-1_16983287/n- Pen down your initial thoughts on the role of Electrical and Computer Engineering in these incidents. How do you perceive the balance between technology advancement and safety in the context of autonomous EVS? Formatting Guidelines: - The assignment should be typewritten in a legible font (e.g., Times New Roman, size 12) and double-spaced. - Maintain clear section headers for better organization. - Ensure that the assignment is no longer than 5 pages, excluding references. - Any information, data, or images used from external sources should be properly cited using the [Preferred Citation Style, e.g., IEEE, APA]. Submission Instructions: - Save your assignment as a PDF (2 pages) titled "[Your Name] Autonomous EVs Background.pdf". - Ensure your assignment is submitted by the due date. Late submissions may be subject to a penalty.See Answer
• Q12: 1. Using a T model, draw the small signal equivalent model for See Answer
• Q13: In Electronics 01.6, which of the following is the Norton equivalent source current as a fraction of Is? a. 1/6 b. 1/4 c. 1/5 d. 1/7 e. 1/3See Answer
• Q14: A 220 V, three-phase, 6-pole, 60 Hz induction motor is running at a slip of 2.5%, and delivers5 kW to its load. The rotational losses are 500 W. Find O The speed of rotation magnetic field produced by the stator in rps; The speed of rotation magnetic field produced by the rotor in rps; The frequency of the voltage induced in the rotor; The slip speed in rps; The mechanical speed of the rotor in rpm; The load torque; 2) The converted power; The airgap power; ) The induced torque; The rotor copper losses.See Answer
• Q15: A 208V Y-connected synchronous motor is drawing 50 A at unity power factor from a 208Vpower system. The field current flowing under these conditions is 2.7 A. Its synchronous reactance is 1.6 N. Assume a linear open-circuit characteristic. Find V, and E, for these conditions.'A Find the torque angle ð. What is the static stability power limit under these conditions? O How much field current would be required to make the motor operate at 0.80 PF leading? What is the new torque angle in part (d)?See Answer
• Q16: In El 02.1, what was the output voltage? \text { a. } A_{0} \frac{n}{L} e^{R t / L} \text { b. } A_{0} R e^{t / L} \text { d. } A_{0} \frac{a}{b} e^{t / L} \text { e An Re Rilh } \text { C. } A_{0} \frac{L}{R} e^{-R u / L}See Answer
• Q17: What are the simplest equivalent models for the input and output side of a MOS circuit?See Answer
• Q18: In El 02.04, which of the follow is the time constant? \text { a. } \frac{R_{1}}{L}+\frac{R_{2}}{L} \text { b. } \frac{L}{R_{1}}+\frac{L}{R_{2}} \text { c. } \frac{1}{R_{1}}+\frac{1}{R_{2}} \text { d. } \frac{L R_{2}}{R_{1}}+\frac{L R_{1}}{R_{2}}See Answer
• Q19: 7.) A small permanent magnet motor has a torque constant kT=0.1 Nm/A and a back e.m.f.constant ke-2.50 V/krpm. The total internal resistance is R=15 Q. Determine the torque for maximum power and the maximum rotational speed if the applied voltage is V=5V. (25 pts)See Answer
• Q20: 6.) A pneumatic system is operated at a pressure of 1000 kPa. What diameter cylinder will be required to move a load requiring a force of 17 kN? (20 pts)See Answer

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