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>

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Data

UF BFlorida Tech1010020
UF CUCF B100010
USFUCF A0000
UF AValencia1010020