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Problem 3: The robot shown has five degrees of rotational freedom. The x-y-z axes are attached to the base ring, which rotates about the z-axis at the rate wq. The arm 0,02 rotates about the x-axis at the rate w2 = è. The control arm 0,A rotates about axis O,-0, at the rate wz and about a perpendicular axis through O, which is momentarily parallel to the x-axis at the rate w4 = ß. Finally, the jaws rotate about axis Oz-A at the rate w5. The magnitudes of all angular rates are constant. For the configuration shown, determine the magnitude w of the total angular velocity of the jaws for 0 = 60° and ß = 45° if wz = 2 rad/s , è = 1.5 rad/s, and wz = W4 = w5 = 0. Also express the angular acceleration ã of arm 0,0, as a vector. %3D

Problem 3: The robot shown has five degrees of rotational freedom. The x-y-z axes are attached to the base ring, which rotates about the z-axis at the rate wq. The arm 0,02 rotates about the x-axis at the rate w2 = è. The control arm 0,A rotates about axis O,-0, at the rate wz and about a perpendicular axis through O, which is momentarily parallel to the x-axis at the rate w4 = ß. Finally, the jaws rotate about axis Oz-A at the rate w5. The magnitudes of all angular rates are constant. For the configuration shown, determine the magnitude w of the total angular velocity of the jaws for 0 = 60° and ß = 45° if wz = 2 rad/s , è = 1.5 rad/s, and wz = W4 = w5 = 0. Also express the angular acceleration ã of arm 0,0, as a vector. %3D

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