A SCARA manipulator which has two revolute joints (0,A) and one prismatic joint (B) is shown in Figure 6. The length of link OA is L = 0.5m and the length of link AB is Lz = 0.6 m. BC is perpendicular to AB, and the link OA is perpendicular to the link AB instantaneously. The two links OA and AB rotate clockwise with angular vekocities and angular accelerations w, = 1 rad/s, a, = 3 rad/s, w, = 0.5 rad/s, a, = 1 rad/s, respectively. The link BC slides along the vertical direction BC with a velocity v = 0.2m/s and acceleration a = 0.1m/s. 1) Determine the absalute linear velocity of the gripper C. 2) Determine the absolute acceleration of the grippe C. B V, a , a Figure 6.

A SCARA manipulator which has two revolute joints (0,A) and one prismatic joint (B) is shown in Figure 6. The length of link OA is L = 0.5m and the length of link AB is Lz = 0.6 m. BC is perpendicular to AB, and the link OA is perpendicular to the link AB instantaneously. The two links OA and AB rotate clockwise with angular vekocities and angular accelerations w, = 1 rad/s, a, = 3 rad/s, w, = 0.5 rad/s, a, = 1 rad/s, respectively. The link BC slides along the vertical direction BC with a velocity v = 0.2m/s and acceleration a = 0.1m/s. 1) Determine the absalute linear velocity of the gripper C. 2) Determine the absolute acceleration of the grippe C. B V, a , a Figure 6.

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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Question

A SCARA manipulator which has two revolute joints (0,A) and one prismatic joint (B) is
shown in Figure 6. The length of link OA is L = 0.5m and the length of link AB is Lz =
0.6 m. BC is perpendicular to AB, and the link OA is perpendicular to the link AB
instantaneously. The two links OA and AB rotate clockwise with angular vekocities and
angular accelerations w, = 1 rad/s, a, = 3 rad/s, w, = 0.5 rad/s, a, = 1 rad/s,
respectively. The link BC slides along the vertical direction BC with a velocity v = 0.2m/s
and acceleration a = 0.1m/s.
1) Determine the absalute linear velocity of the gripper C.
2) Determine the absolute acceleration of the grippe C.
B
V, a
, a
Figure 6.

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