What is the kinematic equations relating the end-effecter position and orientation to the joint displacements. Shown below is a construction robot having two revolute joints and one prismatic joint.Notice that the axis of the prismatic joint has an offset of 1 from the first revolute joint atthe origin O. Namely, the distance between point O and point A is 1, a constant, and theangle between OA and AB is 90 degrees, a constant as well. Joint 2 is a prismatic joint,whose displacement is given by distance d, a variable. Using the geometric parameters andjoint displacements shown in the figure, answer the following questions.yLink 3BJoint 3Link 2Link 1Joint 2AᎾLink 0Joint 1Link 0xex

Answered: Image /qna-images/answer/217cc216-b17d-4243-b9f8-3ccb7132ad04.jpg

Answered: Shown below is a construction robot…

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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Derive the equation of motion for the following system, using (the rotation of the beam about the hinge) as the degree-of-freedom. Not that there is an applied force (F, sin wt) as well as an applied moment (Mo sin wt). The total bar mass is m. Treat the bar as two bars: one to the left of the hinge point; one to the right. The one to the left has a mass moment of inertia of 2 mL²; the one to the 27 192 Fo sin cor right has a mass moment of inertia of mL². Then transform this differential equation of the Laplace domain, assuming zero initial 192 conditions. Lastly, compute the damping ratio and damped natural frequency for this system. 1/4+1/12 mo LUC m Mo sin cor
8. A Hooke's joint connects two shafts whose axes intersect at 150°. The driving shaft rotates uni- formly at 120 r.p.m. The driven shaft operates against a steady torque of 150 N-m and carries a flywheel whose mass is 45 kg and radius of gyration 150 mm. Find the maximum torque which will be exerted by the driving shaft. [Ans. 187 N-m] mum
Derive the equation of motion for the following system, using (the rotation of the beam about the hinge) as the degree-of-freedom. Not that there is an applied force (Fo sin wt) as well as an applied moment (Mo sin wt). The total bar mass is m. Treat the bar as two bars: one to the left of the hinge point; one to the right. The one to the left has a mass moment of inertia of- mL²; the one to the 27 192 1 mL². Then transform this Fo sin cor right has a mass moment of inertia of- 192 differential equation of the Laplace domain, assuming zero initial conditions. Lastly, compute the damping ratio and damped natural frequency for this system. TET 4 fm o Mo sin or
4. Pulleys 1 and 2 of the rope and pulley system shown are connected and rotate as a unit. The radii of pulley 1 and 2 are 100 mm and 300 mm, respectively. Rope A is wrapped around pulley 1 and is fastened to pulley at point A'. Rope B is wrapped around pulley 2 and is fastened to pulley 2 at point B'. The rope is continuou: over pulleys 3 and 4. Determine the tension T in the rope, required to hold body W in equilibrium, if the mas of body W is 225 kg. B'A' TV C B
Task 3 Generate free body diagram for the following mechanism: C B 4 m E D m 6 m -8 m-
PROBLEM 2: The crank shown is free to rotate at B about the x-axis only. Given the following dimensions: x1 = 53 cm x2 = 25 cm Y₁ = 74 cm 2₁ = 29 cm A 100-N force is applied at A with the following spatial angles: From positive x-axis: a = 64° From positive y-axis: B = 119° It is known that the angle from positive z-axis is obtuse, 90° ≤ y ≤ 180⁰ Required: 1. Determine the moment about B due to the applied force at A. INCLUDE (-) NEGATIVE SIGN IF NECESSARY, FOR THIS ITEM ONLY. MA = k N-m use 2 decimal places 2. Determine the component of the force along line AB. 1+ 8= j+ PAB = Nuse 2 decimal places 3. Find the angle between the force applied and its component along line AB. use 3 decimal places
Q3/ For the crank- connecting rod mechanism shown: OA= 10cm , AB= 30 cm, AC= 10 cm, it's single degree of freedom coordinate is e. If angular velocity of OA=30 rad/sec. Find angular velocity AB at e = (30)° crank angle. A C 8.7 rad/sec O23 rad/sec O 16.3 rad/sec
Figure 1.1 shows a crank, OA = 72 mm long which rotates anticlockwise about O at w = .A straight bar DBC is pivoted at B, which is 150 mm vertically below O and the rev 150 min length BC = 75 mm. The portion BD of this bar slides in a trunnion fitted at A on the crank OA. A slider E slides in horizontal guides 30 mm below B, and is connected to C by a rod CE = 240 mm long. For the position shown, where angle AOB = 120°, 1.1. Construct a space diagram 1.2. Construct a velocity diagram then 1.3. Find the linear velocity of slider E 120 E Figure 1.1 Plain mechanism
2. (A) Sketch the kinematic diagram of the following mechanism shown and give brief description on how each link move relative to each other. (B) compute the degree of freedom. (C) Determine the location of all revolute pairs shown in the figure as revolute pairs J and K moves to J' and K'. Use the actual size based on the figure below. z, OVERHEAD LOADER
pls very urgent
4. Figure 3 shows a crank loaded by a force F = 1000 N and Mx = 40 Nm. a. Draw a free-body diagram of arm 2 showing the values of all forces, moments, and torques that act due to force F. Label the directions of the coordinate axes on this diagram. b. Draw a free-body diagram of arm 2 showing the values of all forces, moments, and torques that act due to moment Mr. Label the directions of the coordinate axes on this diagram. Draw a free body diagram of the wall plane showing all the forces, torques, and moments acting there. d. Locate a stress element on the top surface of the shaft at A and calculate all the stress components that act upon this element. e. Determine the principal stresses and maximum shear stresses at this point at A.
Use the planar version of Gr¨ubler's formula to determine the number of degrees of freedom of the mechanisms shown in Figure. Comment on whether your results agree with your intuition about the possible motions of these mechanisms.

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