USD Teaching Demo
Kinematic Diagrams Quiz
Question 3: Which of these is one of the things that matter when drawing a kinematic diagram?
Question 2: What are the two kinds of joints that a robot manipulator might include?
Question 1: What is a kinematic diagram used for?
A kinematic diagram is used for figuring out relationships between positions and rotations in a robot manipulator.
A kinematic diagram is used for figuring out relationships between forces on a solid body.
Servos and racks-and-pinions
Rotational and translational joints
Revolute and prismatic joints
Question 4: Which of these is another thing that matters when drawing a kinematic diagram?
The color of the joints has to be right - if a joint is red, green, or blue in the physical manipulator, then the joint has to be red, green, or blue in the drawing.
Question 5: Which of these is the third thing that matters when drawing a kinematic diagram?
The orientation of the joints has to be right - things that are perpendicular (or parallel) in the physical manipulator have to be perpendicular (or parallel) in the drawing.
The range of the joints has to be right - if a physical joint has a 180 degree range, then the joint in the drawing has to have a 180 degree range.
The size of the joint has to be right - if the physical joint is larger than another joint, then the joint in the drawing has to be larger than the other joint.
The shape of joints has to be right - if the physical joint is rectangular, then the joint in the drawing has to be rectangular.
The type of joints has to be right - if the physical joint is a revolute joint, then the joint in the drawing has to be a revolute joint.
Question 6: Shown here is a physical manipulator I have built. Which kinematic diagram is correct?
The mass of the joints has to be right - if a physical joint has a mass of 5kg, then the joint in the diagram must have a mass of 5kg.
The offsets between joints has to be right - if two joints have a physical distance between them in the manipulator, then the drawing of the joints must have a link drawn between them.
The velocity of the joints has to be right - if a physical joint has a maximum velocity of 2 rad/s, then the joint in the diagram has to have a maximum velocity of 2 rad/s.