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Assignment 1

The document is an assignment for the Introduction to Robotics course at the Karachi Institute of Economics and Technology, focusing on various mechanical systems and their degrees of freedom using Grubler's formula. It includes questions about a surgical manipulator, a scissor jack, arm configurations, a circular configuration space, and a 2D quadcopter balancing a rod. The assignment is due on March 20, 2025.

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30 views2 pages

Assignment 1

The document is an assignment for the Introduction to Robotics course at the Karachi Institute of Economics and Technology, focusing on various mechanical systems and their degrees of freedom using Grubler's formula. It includes questions about a surgical manipulator, a scissor jack, arm configurations, a circular configuration space, and a 2D quadcopter balancing a rod. The assignment is due on March 20, 2025.

Uploaded by

asad132926
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

KARACHI INSTITUTE OF ECONOMICS AND TECHNOLOGY

DEPARTMENT OF MECHATRONICS ENGINEERING


Introduction to Robotics
Assignment # 1
[CLO – 1, PLO – 2, C4]
Deadline to submit: Tuesday – March 20, 2025

Question#1:

The experimental surgical manipulator shown in Figure 1, developed at the National University
of Singapore, is a parallel mechanism with three identical legs, each with a prismatic joint and
two universal joints (the joints are marked for one of the legs). Use Grubler’s formula to
estimate the degrees of freedom of this mechanism.

Figure 1: A miniature parallel surgical manipulator with three PUU legs

Question#2:
Figure 2 shows a scissor jack. As you turn the screw, the jack goes up and down. The
mechanical advantage provided by the mechanism allows a single person to jack up a car to
change a tire. Think about what rigid bodies and joints must be present in the scissor jack. You
may not be able to see all of them in the image. Use Grubler’s formula to calculate the degrees
of freedom. Does your answer agree with what you know about how a scissor jack works? If
not, can you explain why?

Figure 2 A scissor jack (also known as a scissor lift)


Question#3:
Assume your arm has 7 dof and you constrain your hand to be at a fixed configuration (e.g.,
your palm is flat against a table).
a) What is an explicit representation of the arm’s configuration?
b) What is an implicit representation?
c) What does the set of feasible configurations look like in the 7-dimensional
configuration space of the unconstrained arm?
Question#4:
Imagine a C-space described as a circle in an (x, y) plane, of radius 2 centered at (3, 0). What
is an implicit representation of this one-dimensional C-space? If you were to decide to
parameterize the one-dimensional C-space by the single parameter θ, give a mapping from θ
to (x, y).
Question#5:
Consider the 2D quadcopter and rod shown in Figure 3. The rod is attached to the quadcopter
by a revolute joint, and you are given the task of balancing the rod upright (a flying version
of the classic cart pendulum problem). Assume the configuration of the quadcopter center is
described by (xq, yq θq) and the configuration of the rod center is described as (xr, yr, θr)
where θq and θr are measured with respect to the world x axis. The length of the rod is 2l and
the height and width of the quadcopter body are 2h and 2w respectively.
a) Solve for the configuration constraints that keep the rod and quadcopter connected.
b) Express these as a Pfaffian constraint where q = [xq yq θq xr yr θr]T.

Figure 3 2D quadcopter balancing a rod

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