5 Consider the single-link robot arm shown in the Figure below, consisting of arigid link coupled through a gear train to a DC-motor. Let 0l and Om denote theangles of the link and motor shaft, respectively. Then 0m = r 01 where r : 1 is thegear ratio. Derive the equation of motion using Lagrangian dynamic formulationmethod. LinkGearsMotor

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gear ratio. Derive the equation of motion using Lagrangian dynamic formulation method.

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

Consider the single-link robot arm shown in the Figure below, consisting of a
rigid link coupled through a gear train to a DC-motor. Let 0l and Om denote the
angles of the link and motor shaft, respectively. Then 0m = r 01 where r : 1 is the
gear ratio. Derive the equation of motion using Lagrangian dynamic formulation
method.

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