Question
These components are supported by parallel-axis joints, allowing for selective compliance along the X-Y axis, in the SCARA design. For 10 points each:
[10e] Name these components that robots use to interact with the environment. Like their human counterparts, these components may have a shoulder, elbow, wrist, and hand-like end effector.
ANSWER: robotic arms [prompt on robots]
[10m] Robotic arms are often modeled as kinematic chains, for which Gruebler’s equation describes this quantity as a function of links, higher pairs, and lower pairs. This quantity decreases by one during gimbal lock, and is equal to six for a rigid body.
ANSWER: degrees of freedom [or DoF]
[10h] Kinematic chain structures for robotic arms can be solved with this technique. In this technique, joint parameters are solved for a given end-effector position, unlike similar “forward” techniques.
ANSWER: inverse kinematics [prompt on IK]
<RK, Physics>
Summary
| 2024 ARCADIA at BU | 2024-12-06 | Y | 8 | 13.75 | 88% | 50% | 0% |
| 2024 ARCADIA at Duke | 2024-12-06 | Y | 3 | 16.67 | 100% | 67% | 0% |
| 2024 ARCADIA at Missouri S&T | 2024-12-06 | Y | 2 | 15.00 | 50% | 100% | 0% |
| 2024 ARCADIA Online | 2025-05-17 | Y | 5 | 16.00 | 60% | 100% | 0% |
| 2024 ARCADIA at Penn State | 2024-12-06 | Y | 2 | 20.00 | 100% | 100% | 0% |
| 2024 ARCADIA at Florida Tech | 2024-12-06 | Y | 4 | 12.50 | 75% | 50% | 0% |
| 2024 ARCADIA at UC Berkeley | 2024-12-06 | Y | 2 | 25.00 | 100% | 100% | 50% |
| 2024 ARCADIA at Waterloo | 2024-11-09 | Y | 7 | 20.00 | 100% | 86% | 14% |
| 2024 ARCADIA at GT | 2024-12-06 | Y | 4 | 17.50 | 100% | 75% | 0% |
| 2024 ARCADIA at Illinois | 2024-11-09 | Y | 4 | 20.00 | 100% | 100% | 0% |
| 2024 ARCADIA at Warwick | 2024-12-06 | Y | 5 | 16.00 | 100% | 60% | 0% |
| 2024 ARCADIA at Claremont | 2024-11-02 | Y | 3 | 16.67 | 67% | 100% | 0% |
Data
| Chicago A | Notre Dame | 10 | 10 | 0 | 20 |
| Illinois Blue | Purdue B | 10 | 10 | 0 | 20 |
| Illinois Orange | Purdue A | 10 | 10 | 0 | 20 |
| Chicago B | SIUE | 10 | 10 | 0 | 20 |