Question

Choose the correct order for assigning frame (i) to link (i) from the given options:
(A) Zi-axis is aligned with axis i, its direction being arbitrary.
(B) Yi-axis completes right-hand orthonormal coordinate frame (i).
(C) Origin of ith coordinate frame is located at the intersection of axis of joint (i+1) and the common normal between axis (i-1) and (i).
(D) Xi-axis is perpendicular to axis Zi-1 and Z.
(E) Xi points away from axis Zi-1.
Choose the correct answer from the options given below:

• A. (A), (B), (C), (D), (E) only
• B. (A), (C), (D), (E), (B) only
• C. (A), (D), (E), (C), (B) only
• D. (A), (E), (D), (B), (C) only

Answer 1

Answer: (C)

(A), (D), (E), (C), (B) only

Answer 2

The correct option is (C): (A), (D), (E), (C), (B) only