Lecture #1: Mechanics of Mechanical Manipulators
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Questions and Answers

What are the two things derived at a beginner level for objects in 3D space?

  • Pressure and Volume
  • Velocity and Acceleration
  • Force and Torque
  • Position and Orientation (correct)

What is used to define orientation and position in the context of mechanical manipulators?

  • Velocity Vector
  • Coordinate System (correct)
  • Force Field
  • Energy Matrix

What is the science that treats motion without regard to the forces causing it?

  • Dynamics
  • Thermodynamics
  • Kinematics (correct)
  • Statics

What are the properties of motion studied in the kinematics of manipulators?

<p>Position, Velocity, Acceleration (A)</p> Signup and view all the answers

What term is used to describe the number of independent position variables needed to locate all parts of a mechanism?

<p>Degrees of Freedom (A)</p> Signup and view all the answers

What does the free end of a chain in a manipulator system have?

<p>End Effector (D)</p> Signup and view all the answers

What does the leading superscript 'AP' mean in the context of vectors?

<p>Components of vector AP have numerical values (D)</p> Signup and view all the answers

Why is it important to describe orientation when discussing the location of an object in space?

<p>Orientation completes the location description of an object (A)</p> Signup and view all the answers

What does the notation $A_{P}$ = $\begin{bmatrix} p_{x} \ p_{y} \ p_{z} \end{bmatrix}$ represent?

<p>$A_{P}$ represents the position of point AP in space (D)</p> Signup and view all the answers

How is orientation described for a body in space relative to a reference system?

<p>By attaching a coordinate system and describing it relative to a reference system (C)</p> Signup and view all the answers

What does $\ ext{w.r.t}$ stand for in the context of describing orientation?

<p>$\text{w.r.t}$ signifies 'with respect to' (C)</p> Signup and view all the answers

How is orientation conveniently described using unit vectors?

<p>Unit vectors are stacked together as columns of a 3 x 3 matrix (B)</p> Signup and view all the answers

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