Exercise Problems for Module 4
[P4.1] Obtain the condition for a four-bar mechanism to be a double crank
from literature. Can this be obtained using the procedure discussed
in Lecture 3?
[P4.2] Plot ϕ1 , ϕ2 and ϕ3 versus θ1 , and plot the coupler curve for a chosen
double crank configuration.
[P4.3] Figure 1 shows a two-degree-of-freedom planar five-bar mechanism.
Assume that θ1 and θ2 are actuated variables. Determine expressions
for the passive variables ϕ1 , ϕ2 , and ϕ3 in terms of the link lengths as
shown in the figure 1.
(x, y)
φ φ2
3 l3
l2
Link 3
Link 2
φ1
Link 4
Ŷ L
Ŷ R
Link 1 l4
{L} l1
{R}
θ2
θ1 X̂ L
l0
OR X̂ R
OL
Figure 1: The planar five-bar mechanism
[P4.4] Determine the expression for the workspace of the five-bar shown in
figure 1.
[P4.5] Use a symbolic manipulation software such as MAPLE⃝ R to derive and
verify the constraint equations for the 3-RPS parallel manipulator.
Obtain the eighth-degree polynomial after elimination.
[P4.6] Figure 2 shows a spatial parallel manipulator. The joints at the con-
nection points at the base and the top platform are Hooke (U) joints,
and each leg has a ‘U-P-U’ configuration. Verify that the parallel
1
manipulator has three degrees of freedom. Formulate and solve the
direct kinematics problem for the U-P-U parallel manipulator shown
in Figure 2.
P2
Top Moving Platform
P0
P3
l3 Prismatic
P1 Joint
B3
l1
U Joint
l2
B0
B2
B1
Fixed Base
Figure 2: The U-P-U parallel manipulator
[P4.7] Figure 3 shows the Stewart platform in the 3–3 configuration. As
discussed in Lecture 5, solve the direct kinematics problem for this
manipulator.
[P4.8] Figure 4 show the 6–3 configuration of a Stewart platform. As dis-
cussed in Lecture 5, solve the direct kinematics problem for this ma-
nipulator.
[P4.9] Figure 5 shows two planar 2R manipulators handling an object. We
assume that the point of contact between the two manipulators and
the object can be modelled as a rotary (R) joint. What is the degree
of freedom of the resulting parallel manipulator? Formulate and solve
the direct kinematics problem for this equivalent parallel manipulator.
[P4.10] For the six- degree-of-freedom (6-RRRS) √ parallel manipulator, dis-
cussed in Lecture 2, assume 2d = 1, h = 3/2, and k12 = k23 = k31 =
√
3k. Further assume that all the ‘fingers’ are identical and l11 = 1,
l12 = 1/2, and l13 = 1/4. Write a Matlab program to vary the six ac-
tuated joints, in convenient steps, and collect the coordinates (x, y, z)
2
Moving Platform
P2
P1
P0
P3
l5
l2 Spherical
l1
Joint
B2 l4
l6 l3
Prismatic
B0 Joint
B3 B1
B0
U Joint
Fixed Base
Note: Each Base Joint is an U Joint
Figure 3: The 3-3 Stewart platform manipulator
Moving Platform
P2
P1
P0
P3
l2
l3
Spherical
Joint
l1
l4
B3
B2
l6 Prismatic
l5 Joint
B1
B4 B0
Fixed Base B5 B6
U Joint
Note: Each Base Joint is an U Joint
Figure 4: The 6-3 Stewart platform manipulator
3
l2 b
r2 φ2
Grasped Object
ŶL φ1
ŶR
{L} l1
{R}
r1
θ2
θ1 X̂L d
OR X̂R
OL
Figure 5: Two 2R manipulators handling an object
of the centroid of the gripped object for which the direct kinemat-
ics problem can be solved. Numerically obtain and plot the cloud of
points (x, y, z) for k = 1.
[P4.11] Intuitively, as the size of the ‘gripped’ object (or k) becomes large or
very small with other dimensions remaining the same, the workspace
of the gripped object or the possible range of (x, y, z) is expected to be
small. Perform the numerical analysis in problem P4.11 for several
values of k greater and less than 1. Discuss what happens to the
‘volume’ of the cloud of points as k increases or decreases from 1.
[P4.12] While designing a Stewart platform one of the important tasks is
choosing the spherical joint. From a purely kinematic perspective,
to choose a spherical joint, we need to know the possible range of ro-
tations at the spherical joint. Assume each leg of a Stewart platform
can be modelled as an R-R-P-R-R-R serial manipulator where the last
three R joints intersect and model an S joint. Derive analytical expres-
sions to obtain the rotations at a spherical joint given a translation
vector and the orientation of the top platform. Assume that the mov-
ing top and fixed base platforms are regular hexagons circumscribed
by circles of radii r and R, respectively.
