Homework #3 MECH 453/853 Name:

Problem 1
(from Meriam, J. and Kraige, L. Engineering Mechanics: Volume 2 Dynamics, John Wiley and Sons,
Publishers, 1986)

The two links shown in the figure rotate about pin C and O respectively. Upper case X and Y represent the
axes of a fixed coordinate frame N. Lower case x and y represent the axes of a rotating coordinate frame M
attached to the OD link. Pin A is fixed on link CA and is confined to move in a slot in link OD. At this
instant:  = 135, link OD is rotating about point O with a constant angular velocity  = -2 rad./sec
(clockwise), and the link CA is parallel to the X axis in the N frame.
Y

x 

M1
M2 O X
y

C A
D

N, M1, and M2 are right-handed coordinate frames. N has unit vectors î and ĵ . M1 has unit vectors ê x1
and ê y1 . M2 has unit vectors ê x 2 and ê y 2 . All lengths are measured in millimeters and all velocities are
in mm/sec. C has coordinates (-450,-225) mm. A has coordinates (-225,-225) mm. This means CA =
225mm.

N M1
a) Using the analytical vector method shown in class find VA and VA . (hint: write an expression
N
for VA using M1 and a second expression using M2)
N
b) Verify your answer using the graphical vector method shown in class to find: VA . (A scale of
2"  450 2 [mm / s] is suggested)
Homework #3 MECH 453/853 Name:

Problem 2

 x 
   y  , in terms
a) Find the manipulator Jacobian that express the linear endpoint (point P) velocity, x
 
 z 
  1 
    .
of the joint velocities,   2
 3 
 
 0 
 
b) For A=1", B=2", C=2",D=1" (inches) and     45  find the endpoint velocity when
 45 
 
  1   2 
 
   2    1  rad / sec .
 3   2
 
c) In this configuration, what joint torques are required to support a static force applied at the endpoint of
Fx  1
F  Fy   1 lbf.
 Fz  8

Z Y
1

X
2 C

3 D P
Homework #3 MECH 453/853 Name:

Problem 3
Consider the following manipulator .

0
a) Find: T,12T, and, 23T .
1

For the following questions: Assume L1=L2=L4=0 and L3=L5=1.

b) Find the 3x3 manipulator Jacobian matrix that expresses the linear endpoint (point P, point O 3)
 , in terms of the joint velocities,  .
velocity, x
c) Obtain the direction of each joint axis (bi) by computing unit vectors pointing in the directions of Zi-1,
i=1,2,3.
d) Using the results of question (b) obtain the total manipulator Jacobian (it is 6x3).
e) Using the Jacobian found in question (b) obtain conditions for the arm configuration to be singular
with respect to translational motion.

L5
z2 z3
y3
L3 P
zo
x3
z1, y2
L2
L4

x2
L1
x1
y1

yo
xo