# 1 2 : Ф Table 1: D-H Parameter of 3-dof robot. d₁ a α Figure 1: A six degree of freedom industrial robot.

For the mechanism shown below, use the graphical position analysis to specify the value(s) of 02 when the linear speed of link 6 is zero. The parameters of each link length is: L2 = 3 cm, L3 =10 cm (O₂B), L5 = 4 cm, L σ₂³ = 5 cm. ////////////////// 5 B 4 0₂ 2 3 A₂ on 2 and 4 A3 on 3 10.5 cm

23. The programmer used three-point method to set up an accurate UF[3] on the part reference surface by sequentially recording points 1, 2, and 3 that are specified on the part reference surface for the three-points method in the robot system. If the programmer recorded three points used by the three-point method in the sequence of points 1, 3, 2 rather than point 1, 2, 3, then (a) the direction of x-axis is not changed (b) the direction of z-axis of UF[3] is changed (c) UF[3] setup is not accurate relative to the part reference surface (d) the origin of UF[3] is changed 24. The programmer preciously recorded all robot points P[n] for a robot task program. However, it is found that during the execution of the robot program, the robot TCP can't always precisely reach to each recorded point. Which of the following statements is correct: (a) The robot has poor accuracy (b) the robot has poor repeatability

CAM