THE UNIVERSITY OF SUSSEX
BEng (final year) and MEng (year 3) EXAMINATION 2021
May 2021 (A2)
ROBOT DESIGN AND IMPLEMENTATION
Candidates must attempt THREE out of FOUR questions
Exam Duration: 3 hours
If all four questions are attempted, all will be marked, but the lowest mark
will not be counted in the total for the paper.
Exam Session: 3 hours
You should spend 2 hours answering the exam questions and
allow 1 hour for scanning, uploading, and checking your submission.
Examination handout: none
Read Academic Integrity Statement
You MAY access online materials, notes etc. during this examination. You must
complete this assessment on your own and in your own words. DO NOT discuss this
assessment with others before the end of its 24-hour window. By submitting this
assessment, you confirm that your assessment includes no instances of academic
misconduct, for example plagiarism or collusion. Any instance of academic
misconduct will be thoroughly investigated in accordance with our academic
misconduct regulations
H7123 ROBOT DESIGN AND IMPEMENTATION
2
Question 1.
You have available a set of five links from which you are to design a four-bar
mechanism. The
lengths of the links are as follows: L1= 4cm, L2=6cm, L3=8cm,
L4=9cm and L5=14cm.
a) Select four links such that the linkage can be driven by a continuous_xFFFE_rotation motor.
[4 marks]
b) Draw a freehand sketch of a crank-rocker mechanism that can be
achieved using the selected links. Label the link that is to be driven by
the motor.
[4 marks]
c) Draw a freehand sketch of a double-crank mechanism that can be
achieved using the selected links.
[4 marks]
d)
Figure Q1d Four-bar mechanism
Shown in Figure Q1d is a four-bar mechanism composed of links AD,
AB, BC and CD of lengths 9cm, 5.5cm, 6.5cm and 8cm respectively.
Calculate the total angle of rotation of the rocker CD when crank AB is
driven by a continuous rotation motor.
[8 marks]
H7123 ROBOT DESIGN AND IMPEMENTATION
3
Question 2.
a) Write the 4X4 Transformation matrix that represents Frame {1} with
respect to frame {0} shown in Figure Q2a.
[4 marks]
b) A vector P is denoted with respect to frame {1} as [1,0,2]T
. Calculate the
vector P with respect to the frame {0}.
[4 marks]
c) Homogeneous transformation matrices representing frames {A} and {B}
with respect to frame {0} are given as follows: