SNUx446.

345 Robot Mechanics and Control, Part I

Midterm Examination
April, 2014

SOME FORMULAS
(a) Inverse of 3 by 3 Matrix

a b c
Given 3 by 3 Matrix A = d e f , then
g h i

ei f h
(bi ch)
bf ce
1
(di f g)
ai cg
(af cd)
A1 =
Det(A)
dh eg
(ah bg)
ae bd
where Det(A) = [aei + bf g + cdh ceg bdi af h].

Problem 1 (** points)

Using an appropriate version of Grueblers formula, derive the mobility of the two mechanisms shown below.

(a)

(b)

Figure 1: Mechanisms for Problem 1

Problem 2 (** points)

(a) Use Grueblers formula to find the degrees of freedom of the parallel mechanism shown
in Figure 2. Each leg is an M RP R seral chain, where M is a four-bar parallelogram linkage.

R
P

R
R

R
R

Figure 2: Problem 2(a)

(b) The two-arm humanoid (upper body only) of Figure 3 is rigidly grasping a box as
shown. The box can only slide on the table; the bottom face of the box must always be in
contact with the table. How many degrees of freedom does this system have?

Figure 3: Problem 2(b)

Problem 3 (** points)

The Dragonfly robot of Figure 4 has a body, 4 legs and 4 wings as shown. Each leg is
connected to its neighboring leg by a USP open chain. Assume that all components of that
machine are rigid. Use Grueblers formula to answer the following questions:
(a) Suppose the body is fixed, and only the legs and wings can move. How many degrees of
freedom does the robot have?
(b) Now suppose the robot is flying in the air. How many degrees of freedom does the robot
have?
(c) Now suppose the robot is standing with all four feet in contact with the ground. Assume
the ground is uneven, and that each foot-ground contact can be modeled as a frictionless
point contact. How many degrees of freedom does the robot have?

Figure 4: Dragonfly robot of Problem 3

Problem 4 (** points)

Determine whether the grasp of Figure 5 is force-closure. Assume all contact points is friction
contact with coeffecient = 1.

Figure 5: Exercise 2

Problem 5 (** points)

(a) In the planar grasp of Figure 6(a), contacts A and B are frictionless, while contact C has
friction, with friction cone as shown given by the angle . Find the smallest value of that
makes this grasp a force closure grasp.
(b) Now suppose contacts A and B have friction, with 90 friction cones as shown in Figure 6(b). Find the smallest value of that makes this grasp a force closure grasp.
1

A
1

(a) Problem 2(a)

(b) Problem 2(b)

Figure 6: Grasps for Problem 5

Problem 6 (** points)

The square object of Figure 7 has four holes as shown. The four holes form parts of a circle.
(a) In the planar grasp of Figure 7(a), contacts A, B, and C are all frictionless point contacts.
Suppose contact B is allowed to slide along any of the three sides of the hole as shown in
Figure 7(a). Find all possible locations for B that make this grasp force closure.
(b) In the planar grasp of Figure 7(b), contacts A and B are frictionless point contacts, while
contact C is a point contact with friction cone (defined by angle ) as shown. Determine
the range of angle so that the grasp is force closure.
(c) In the planar grasp of Figure 7(c), contacts A and B are frictionless point contacts,
while contact C is a point contact with friction cone defined by angle . lies in the
range 0 < < 4 . Angles and are defined as shown in Figure 7(c), with satisfying
< < 2 . Find the range of values for angles and such that the grasp is force
closure. (Hint: Nguyens Theorem is useful).
2

45

45
45

45

0.5

0.5

(a)

(b)
2

B
45

45

(c)

Figure 7: Grasped object for Problem 6

Problem 7 (** points)

The input-output system of Figure 8 takes as input a vector p R3 , and outputs a vector
Rp R3 , where R SO(3) is some unknown rotation matrix.

Figure 8: Input-output system for Problem 7

0
1
2

(a) For the three inputs 0 , 1 , 2 2 , the system outputs the three vectors
1
0
2

1
0
2
2
2 , 1 ,
2 , respectively. Find the rotation matrix R.

2
2
2
2

1
0
0

1
(b) For the two inputs 1 , 2 , the system outputs the two vectors 2 ,
12
1
0

0
1 , respectively. Find the rotation matrix R.
1
Problem 8 (** points)
Find the ZXZ Euler angles for the following rotation matrix:

12 12 0
1 1 1

2
2
2
1
2

1
2

1
2

= Rot(
z , )Rot(
x, )Rot(
z , )( < , , )