3.38 A single link of a robot arm is shown in Figure P3.38. The arm mass is m and its center of mass is located a distance L from the joint, which is driven by a motor torque T through two pairs of spur gears. We model the arm as a pendulum with a concentrated mass m. Thus, we take the arm's moment of inertial to be zero. The gear ratios are N₁ = 2 (the motor shaft has the greater speed) and N₂ = 1.5 (the shaft connected to the link has the slower speed). Obtain the equation of motion in terms of the angle 0, with T, as the input. Neglect the shaft inertias relative to the other inertias. The given values for the motor and gear inertias are 1m = 0.05 kg-m² IG, = 0.025 kg-m² IG₂ = 0.1 kg-m² IG, = 0.025 kg-m² IG₁ = 0.08 kg-m² Tmf Im The values for the link are Gears Motor 10₂ IGA IG 10₁ m = 10 kg Arm A m L = 0.3 m

3.38 A single link of a robot arm is shown in Figure P3.38. The arm mass is m and its center of mass is located a distance L from the joint, which is driven by a motor torque T through two pairs of spur gears. We model the arm as a pendulum with a concentrated mass m. Thus, we take the arm's moment of inertial to be zero. The gear ratios are N₁ = 2 (the motor shaft has the greater speed) and N₂ = 1.5 (the shaft connected to the link has the slower speed). Obtain the equation of motion in terms of the angle 0, with T, as the input. Neglect the shaft inertias relative to the other inertias. The given values for the motor and gear inertias are 1m = 0.05 kg-m² IG, = 0.025 kg-m² IG₂ = 0.1 kg-m² IG, = 0.025 kg-m² IG₁ = 0.08 kg-m² Tmf Im The values for the link are Gears Motor 10₂ IGA IG 10₁ m = 10 kg Arm A m L = 0.3 m

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

Section: Chapter Questions

Problem 1.1MA

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