Lecture #1: Mechanics of Mechanical Manipulators

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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?

Position, Velocity, Acceleration 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?

Degrees of Freedom Signup and view all the answers

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

End Effector Signup and view all the answers

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

Components of vector AP have numerical values Signup and view all the answers

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

Orientation completes the location description of an object Signup and view all the answers

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

$A_{P}$ represents the position of point AP in space Signup and view all the answers

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

By attaching a coordinate system and describing it relative to a reference system Signup and view all the answers

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

$\text{w.r.t}$ signifies 'with respect to' Signup and view all the answers

How is orientation conveniently described using unit vectors?

Unit vectors are stacked together as columns of a 3 x 3 matrix Signup and view all the answers

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?

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

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

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

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

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

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

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

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

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

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

How is orientation conveniently described using unit vectors?

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