Chapter 11, Problem 11.33P

An industrial burner uses natural gas as fuel. The natural gas consists primarily of CH4 with small quantities of several other light hydrocarbons and can be represented as C1.16H4.32 To achieve low emissions of oxides of nitrogen, the burner operates lean at equivalence ratio of 0.4. Assume complete combustion and answer the following questions. i) What is the operating air-fuel ratio (i.e. mass air/mass of fuel)? [6 marks] ii) What is the percent excess air in the combustion products? [3 marks] iii) What is the oxygen (O2) mole fraction in the combustion products? [6 marks]

1) Consider the robot, with six degrees of freedom, RRPRR, shown in the following figure.Place the axes through the denavit-hartenberg algorithm and obtain the respective parameter table for the first three joints. 2) Considering the robot from question 1, calculate.the. Determine the Homogeneous Transformation Matrix in relation to the Direct Kinematics of the robot, for the first three joints:b. Considering the first three joints of the robot and L1 and L2 equal to 200 mm:I. calculate the pose of the robot relative to the base, knowing the joint variableshave the following values: q1= 90°, q2= 0°, q3= 50mm:

Please do not rely too much on chatgpt, because its answer may be wrong. Please consider it carefully and give your own answer. You can borrow ideas from gpt, but please do not believe its answer.Very very grateful! Please do not copy other's work,i will be very very grateful!!