Answered: Yo STANDART FORM [4+h+ m,r} + m>q} 0…

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Obtain the Lagrangian equations of the PR(prismatic+rotarary) manipulator in the figure. write in standard form. (find kinetic and potential energy,angular and lineer velecoties-h for finding lagrange equations)

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Yo
STANDART FORM
[4+h+ m;rf + m>q?
M(q) =
m, ,I,
[a,(m,r + m>q;) cos q1
a„m2 sinqr
C(q.4\4 = . 8(4) =
m, ,I,
a1

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Answer number 7 Please use any neceecasary diagrams to further explain steps in soluton

Yo STANDART FORM [4+h+ m,r} + m>q} 0 M(q) = m [4,(m,r +m>q;) cos q1 a„m2 sinqi g(q) = l. m, ,I a,