4. a) How do you classify parallel manipulators? b) Figure-2 shows the schematic diagram of planar 2-d.o.f.

five-bar manipulator that is constructed with one prismatic and four revolute joints. Find the end effector position q as function of the two input joint variables, d1 and 2. e E c 4 C b 2 A y 2 a 0: Base Fig. 2 5. a) What is a Jacobian? b) Derive the conventional Jacobian of a planar 2-d.o.f. manipulator shown in Figure-3. y2 x2 B a2 y1 y0 a1 O 1 x0 A 1 B x 3 d1 Q(qx,qy)

x1

Fig. 3 6. a) A single-link robot with a rotary joint is motionless at = 15. It is desired to move the joint in a smooth manner to = 75 in 3 seconds. Find the coefficients of a cubic which accomplishes this motion and brings the manipulator to rest at the goal. Plot the position, velocity, and acceleration of the joint as a function of time. b) What is collision-free path planning? 7. Write about any Robot Language providing a sampling of the important features and statements. 8. Write short notes on any THREE of the following: a) Homogeneous Transformation Matrix. b) Method of successive crew displacements. c) Planning paths using the dynamic model. d) Demonstration of points in space.