What is the order of basic transformation of frame {i-1} to frame {i}: (A). Translation along $z_{i-1}$ axis by distance $d_i$ (B). Rotation by an angle $\alpha_i$ about $x_i$-axis (C). Translation along $x_i$-axis by distance $a_i$ (D). Rotation by an angle $\theta_i$ about $z_{i-1}$-axis Choose the correct answer from the options given below:

Question

What is the order of basic transformation of frame {i-1} to frame {i}: (A). Translation along $z_{i-1}$ axis by distance $d_i$ (B). Rotation by an angle $\alpha_i$ about $x_i$-axis  (C). Translation along $x_i$-axis by distance $a_i$  (D). Rotation by an angle $\theta_i$ about $z_{i-1}$-axis Choose the correct answer from the options given below:

cdquestions Admin · Accepted Answer

The order of transformation for frame $i-1$ to frame $i$ starts with translation along the $z_{i-1}$ axis by distance $d_i$, followed by translation along the $x_{i-1}$ axis by distance $a_i$, then rotation by an angle $\theta_i$ about the $z_{i-1}$ axis, and finally rotation by an angle $\alpha_i$ about the $x_{i-1}$ axis.

Answer

(A), (B), (C), (D)

Answer

(A), (C), (D), (B)

Answer

(D), (B), (C), (A)

Answer

(D), (A), (C), (B)

LIST I (Robot Configuration)	LIST II (Joints)
A. Cylindrical	I. RRR
B. Cartesian	II. RPP
C. Spherical	III. PPP
D. Articulated	IV. RRP

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The Correct Option is B

Solution and Explanation

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