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Lecture #1 Mechanics of Mechanical Manipulators

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Lecture #1 Mechanics of Mechanical Manipulators

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Questions and Answers

What are the two things involved in deriving objects at a beginner level in mechanics of mechanical manipulators?

Kinematics and dynamics

Force and velocity

Acceleration and torque

Position and orientation (correct)

Which system is attached to define orientation and position in the context of mechanical manipulators?

Dynamic system

Kinematic system

Frame (correct)

Reference system

What does forward kinematics in the context of manipulators primarily study?

Position, velocity, acceleration (correct)

Joint angles and displacements

Forces and torques

Degrees of freedom

How are the rigid links in a manipulator connected?

Through joints allowing relative motion Signup and view all the answers

What do rotary joints or revolute joints in a manipulator measure?

Displacements called joint angles Signup and view all the answers

What term is used to represent 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 leading superscript 'AP' denote in the context of position vectors?

Numerical values that indicate distances along the axes of coordinate system A Signup and view all the answers

How is the orientation of a body in space typically described?

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

In the context of orientation description, what does 'B=w.r.t A' refer to?

Orientation description of body B relative to coordinate system A Signup and view all the answers

What is stacked together as columns of a 3 x 3 matrix to describe orientation?

$A\widehat{X_{b}}$, $A\widehat{Y_{B}}$, $A\widehat{Z_{B}}$ Signup and view all the answers

What is required, in addition to position, to specify the complete location of a manipulator hand?

Orientation description Signup and view all the answers

Why is it important to describe a body's orientation relative to a reference system?

To allow for easy translation between different coordinate systems Signup and view all the answers

Lecture #1 Mechanics of Mechanical Manipulators

Choose a study mode

Podcast

Questions and Answers

What are the two things involved in deriving objects at a beginner level in mechanics of mechanical manipulators?

Which system is attached to define orientation and position in the context of mechanical manipulators?

What does forward kinematics in the context of manipulators primarily study?

How are the rigid links in a manipulator connected?

What do rotary joints or revolute joints in a manipulator measure?

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

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

How is the orientation of a body in space typically described?

In the context of orientation description, what does 'B=w.r.t A' refer to?

What is stacked together as columns of a 3 x 3 matrix to describe orientation?

What is required, in addition to position, to specify the complete location of a manipulator hand?

Why is it important to describe a body's orientation relative to a reference system?

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