Question:
In a 2-DOF (RP) manipulator, the joint link parameters are given asLink i ai \(\alpha_i\) di \(\theta_i\) 1 0 \(90\degree\) 0 \(\theta_1\) 2 0 0 d2 0
The final transformation matrix for this manipulator is S
In a 2-DOF (RP) manipulator, the joint link parameters are given as
The final transformation matrix for this manipulator is S
| Link i | ai | \(\alpha_i\) | di | \(\theta_i\) |
| 1 | 0 | \(90\degree\) | 0 | \(\theta_1\) |
| 2 | 0 | 0 | d2 | 0 |
Updated On: Mar 21, 2024
- \(\begin{bmatrix} C_1 & 0 & S_1 & 0\\ S_1 & 0 & -C_1 & 0\\ 0 & 1 & 0 & 0\\ 0 &0 & 0 & 1 \end{bmatrix}\)
- \(\begin{bmatrix} 1 & 0 & 0 & 0\\ 0 & 1 & 0 & 0\\ 0 & 0 & 1 & d_2\\ 0 &0 & 0 & 1 \end{bmatrix}\)
- \(\begin{bmatrix} C_1 & 0 & S_1 & 0\\ S_1 & 0 & -C_1 & 0\\ 0 & 1 & 0 & d_2\\ 0 &0 & 0 & 1 \end{bmatrix}\)
- \(\begin{bmatrix} C_1 & 0 & S_1 & d_2S_1\\ S_1 & 0 & -C_1 & -d_2C_1\\ 0 & 1 & 0 & 0\\ 0 &0 & 0 & 1 \end{bmatrix}\)
Show Solution
Verified By Collegedunia
The Correct Option is D
Solution and Explanation
The correct option is (D): \(\begin{bmatrix} C_1 & 0 & S_1 & d_2S_1\\ S_1 & 0 & -C_1 & -d_2C_1\\ 0 & 1 & 0 & 0\\ 0 &0 & 0 & 1 \end{bmatrix}\)
Was this answer helpful?
0
0
Top CUET PG Production Engineering (Manufacturing) Questions
- Given below are two statements:
Statement I: In an automated production line, a storage buffer is required to reduce the effect of station breakdowns.
Statement II: In an automated production line, a storage buffer is required to smooth the cycle time variation.
In the light of the above statements, choose the correct answer from the options given below: - Match List I with List IIChoose the correct answer from the options given below:
List I List II A. Cartesian configuration I RRP B. Cylindrical configuration II RRR C. Polar configuration III PPP D. Articulated configuration IV PRP - Choose the correct order for assigning frame (i) to link (i) from the given options:
(A) Zi-axis is aligned with axis i, its direction being arbitrary.
(B) Yi-axis completes right-hand orthonormal coordinate frame (i).
(C) Origin of ith coordinate frame is located at the intersection of axis of joint (i+1) and the common normal between axis (i-1) and (i).
(D) Xi-axis is perpendicular to axis Zi-1 and Z.
(E) Xi points away from axis Zi-1.
Choose the correct answer from the options given below: - Given below are two statements:
Statement I: Thin film lubrication is a state of lubrication in which two surfaces are completely separated by a thick film of lubricant.
Statement II: Hydrostatic lubrication is achieved by creating the load supporting film by an external source like a pump.
In the light of the above statements, choose the correct answer from the options given below: - The statement, which is true, is/are?
(A) Elastic body has infinite degrees of freedom.
(B) A universal joint can be used to connect two parallel shaft only.
(C) Pantograph is an inversion of tour bar kinematic chain.
(D) A rigid body does not suffers any distaction under the action of external forces.
(E) A structure transmits forces resulting in finite amount of work.
Choose the correct answer from the options given below:
View More Questions
Top CUET PG Machine Tools Questions
- Given below are two statements:
Statement I: In an automated production line, a storage buffer is required to reduce the effect of station breakdowns.
Statement II: In an automated production line, a storage buffer is required to smooth the cycle time variation.
In the light of the above statements, choose the correct answer from the options given below: - Match List I with List IIChoose the correct answer from the options given below:
List I List II A. Cartesian configuration I RRP B. Cylindrical configuration II RRR C. Polar configuration III PPP D. Articulated configuration IV PRP - Choose the correct order for assigning frame (i) to link (i) from the given options:
(A) Zi-axis is aligned with axis i, its direction being arbitrary.
(B) Yi-axis completes right-hand orthonormal coordinate frame (i).
(C) Origin of ith coordinate frame is located at the intersection of axis of joint (i+1) and the common normal between axis (i-1) and (i).
(D) Xi-axis is perpendicular to axis Zi-1 and Z.
(E) Xi points away from axis Zi-1.
Choose the correct answer from the options given below: - Given below are two statements:
Statement I: Thin film lubrication is a state of lubrication in which two surfaces are completely separated by a thick film of lubricant.
Statement II: Hydrostatic lubrication is achieved by creating the load supporting film by an external source like a pump.
In the light of the above statements, choose the correct answer from the options given below: - The statement, which is true, is/are?
(A) Elastic body has infinite degrees of freedom.
(B) A universal joint can be used to connect two parallel shaft only.
(C) Pantograph is an inversion of tour bar kinematic chain.
(D) A rigid body does not suffers any distaction under the action of external forces.
(E) A structure transmits forces resulting in finite amount of work.
Choose the correct answer from the options given below:
View More Questions
Top CUET PG Questions
- Given below are two statements:
Statement I: For Plato the meaning of the word 'Justice' is basically a conception in the mind only.
Statement II: For Plato the meaning of the word 'Justice' is fixed, mind-independently
In the light of the above statements, choose the correct answer from the options given below: - What is the electron count of OS6CO182-?
- XeF4 hydrolysis gives A + B, HF, and Oxygen. Find A and B
- What is more basic in pyrol and pyridine?
- Hydrolysis of Al2C3, Be2?
View More Questions