Fig. $1$

Part name: Parallel Base

Material: cast iron

Unit: inch

Define the part origin and coordinate as shown in Fig. $1.$

We want to position a laser nozzle above to$-$be$-$drilled

holes O through C for automatic inspection. To avoid

crashing, a gap of $0\mathrm{.}1$ inch is maintained between the

nozzle and the part during the motion.

The nozzle starts and ends at its home position $,$

z$)=(10,10,5)$

Find the coordinates of the nozzle directly above each hole.

Use matrix algebra for both rotation and translation.

Name each matrix according to the hole, e$.$g$.,$ matrix LA for laser nozzle location above the hole A$.$

Start with hole Q$,$ then A$,$ then B$,$ then C$,$ then back to home position H $.$

Legible handwriting is acceptable.