Question

1. Sketch and name the parts of manipulator? Give some example of robot End effector:

2. What are the basic components of a robotic system? Explain the functions of each of the components with a neat sketch.

3. What is kinematics? What is meant by pitch, yaw and roll?

4. Frame {2} is rotated with respect to frame {1} about the x - axis by an angle of 600. the position of the origin of frame {2} as seen from frame {1} is 1D2 = [ 9.0 7.0 9.0] T. Obtain the transformation matric 1T2, which describes frame {2} relative to frame {1}. Also, find the description of point P in frame {1} if 2P = [ 4.0 6.0 8.0] T .

please i need the answer of this questions

Answer 1

1. Manipulator:

In general, a manipulator in Robotics is constructed by joining rigid links, which are connected by joints with one fixed end and one free end. The joints in the manipulator are the movable components.  They enable relative motion between the adjoining links.
There are 2 linear joints in the manipulator which ensure non-rotational motion and 3 rotary type joints that enable relative rotational motion between the adjacent links.

Mainly, there are two parts of the manipulator, each having different functions:

• Arm and Body : Typically, the arm and body of the robot consist of 3 joints , connected by large-sized links. They are used to move and place objects within a workspace.
• Wrist : The function of the wrist is to arrange the objects on the workspace. Typically, a robotic wrist consists of two or three compact joints.

Examples of end effector:

In the above sketch, link 6 is the end effector.

• Grippers
• Force-torque sensors
• Material removal tools
• Welding torches
• Collision sensors
• Tool changers