Problem 3: The robot shown has five degrees of rotationalfreedom. The x-y-z axes are attached to the base ring,which rotates about the z-axis at the rate w1. The arm 0,O2rotates about the x-axis at the rate w2 = è. The controlarm 0,A rotates about axis O,-O2 at the rate wz and abouta perpendicular axis through O, which is momentarilyparallel to the x-axis at the rate w4 = ß. Finally, the jawsrotate about axis Oz-A at the rate w5. The magnitudes of allangular rates are constant. For the configuration shown,determine the magnitude w of the total angular velocity ofthe jaws for 0 = 60° and ß = 45° if w1 = 2 rad/s ,Ô = 1.5 rad/s, and wz = W4 = W5 = 0. Also express theangular acceleration å of arm 0,0, as a vector.

Base ring rotates in the z-axis and attached to the xyz axes with the rate of ω1 At the base, the…

Answered: Problem 3: The robot shown has five…

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