The link lengths, gear ratio (2), phase angle (), and the value of 02 for some geared five bar linkages are defined in Table 2. The linkage configuration and terminology are shown in Figure 2. For the rows assigned, find all possible solutions for angles 3 and 4 by the vector loop method. Show your work in details: vector loop, vector equations, solution procedure. Row a b C Link 1 6 5 9 Link 2 1 9 7 Link 3 7 11 8 Table 2 Link 4 9 8 9 Link 5 4 8 4 2 2 3.2 -4 $ 30° -50° 120° Q₂ 60° -39° 100°

The link lengths, gear ratio (2), phase angle (), and the value of 02 for some geared five bar linkages are defined in Table 2. The linkage configuration and terminology are shown in Figure 2. For the rows assigned, find all possible solutions for angles 3 and 4 by the vector loop method. Show your work in details: vector loop, vector equations, solution procedure. Row a b C Link 1 6 5 9 Link 2 1 9 7 Link 3 7 11 8 Table 2 Link 4 9 8 9 Link 5 4 8 4 2 2 3.2 -4 $ 30° -50° 120° Q₂ 60° -39° 100°

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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For the 3-DOF Industrial manipulator arm as shown in Figure 3, determine the joint displacements for known position and orientation of the end of the arm point. 0. 0. Y1A Y2 A Y3 X2 X3 21 22 23 Yo xo Figure 3. 3 DOF RRR Industrial manipulator arm The link transformation matrices are given by C3 -S3 0 a3C3 S3 C3 1 C2 -S2 0 a,C2 C1 S1 -S1 -C1 d1 S2 C2 2T3 %3D T2 1 1 1 1 1 S1 C\C2a3+C1a2 C1C2C3 – C1S2S3 -C¡C2S3 – C1S2S3 S,C2C3 – S1S2S3 -SĄC2S3 – S1 S2C3 -C1 SịC2a3+ Sja2 Szaz + d1 1 OT3 = = °T, 'T2 ?T3 S½C3 + C2S3 - S2S3 + C2C3
For the given Two Link Manipulator (Fig 1), If 11-1m and 12=1m 01-40° and 02-10° Calculate the coordinates of the end effector (x,y)
Q3) You have been provided with following types of kinematic links. Can Type of link Numbers Binary 8 Ternary 3 Quaternary 2 Can you form a kinematic chain by selecting suitable number of links from the available quantity as indicated in the table above? Justify your answer. Note; (please provide an answer that is based on the Mechanics of Machines 1 handout MIME 3220)
The figure shows a linkage in one position. What is the instantaneous acceleration of point Pif the link O₂A is rotating CW at 40 rad/sec? 4/5 44 201 0₂ Show Transcribed Text MULTIPLE CHOICE a. 8000 in/sec^2 b. 23,073 in/sec^2 c. 15,282 in/sec^2 d. 9,005.8 in/sec^2
The figure below shows an offset slider crank linkage. The links lengths are: link2 = a= 100 mm and link3 = b = 600 mm. The offset is c = 190 mm. we need to : 1. determine the maximum horizontal position of the slider B (dmax) and the corresponding input angle 02 2. determine the minimum horizontal position of the slider B (dmin) and the corresponding input angle 02 Y 03 y В R3 R4 R, 04 R2 02 d ► X R1 The maximum horizontal position of the slider is dmax = Choose... + The input angle 02 corresponding to dmax , in degree and measured CCW from X axis, is = Choose... + The minimum horizontal position of the slider is dmin = Choose... + The input angle 02 corresponding to dmin , in degree and measured CcW from X axis, is = Choose.. +
Problem 3: The RPH robot of Figure 3 is shown in its zero position. Determine the end- effector zero position configuration M, and the screw axes S; in {s}. n. F -inta. Sorowo- Zs {s} Xs L₁ ŷs Lo 0₁5 L2 02 {b} zb 103 pitch h = 0.1 m/rad Ấb ŷb L3 Figure 3: An RPH open chain shown at its zero position. All arrows along/about the joint axes are drawn in the positive direction (i.e., in the direction of increasing joint value). The pitch of the screw joint is 0.1 m/rad, i.e., it advances linearly by 0.1 m for every radian rotated. The link lengths are Lo = 4, L₁= 3, L2= 2, and L3= 1 (figure not drawn to scale).
4. A general fourbar linkage configuration and its notation are shown in the following figure and table. Find a 3, a 4,A¼, ABA, AB,Ap for open circuit by vector loop method. Row Link 1 Link 2 Link 3 Link 4 02 Rpa 63 6 2 7 9 30 10 6 30 - 12 - 15 7 3 8 85 25 3 10 6 8 45 -10 10 80 d 7 25 24 - 4 45 e 75 -50 10 300 Rp B A 03 2 X 04 NO O55
1. Find a combination of link lengths where motion of a point on output link is one quarter of a circle. 2. Find the value of all 0, 0, 0, and y in open and close configuration Read the value of link lengths and the input angle 8., then use the formulae given below to calculate the value of unknowns 03, 0, and y K₁ = = K₂= d K2 K3 = a²-b²+c²+d² 2ac A = cos 0₂ - K₁ - K₂ cos 0₂ + K3 B = -2 sin 0₂ C = K₁ (K₂ + 1) cos 02 + K3 -B± √B²-4AC 2A 0412 = 2tan-1 d K₁ = — K5 = c²d²a²-6² 2ab D = cos 0₂ - K₁ - K4 cos 0₂ + K5 E = -2 sin 0₂ FK₁+ (K₁ - 1) cos 02 +K5 0312 2 tan-1 (-E± -E± √E²4DF 2D Y = 04-03
Problem 1 The link lengths, coupler point location, and the values of 02, w2, and a2 for the samefourbar linkages as used for position and velocity analysis in Chapters 4 and 6 areredefined in Table P7-1, which is the same as Table P6-1 (p. 371). The generallinkage configuration and terminology are shown in Figure P7-1. For the row(i) assigned, draw the linkage to scale and find the accelerations of points A and B. Then calculate a3 and a4 and the acceleration of point P. All steps of calculations must detailed and clear RPA 04 02 04 FIGURE P7-1 TABLE P7-1 Data for Problems 7-3, 7-4 and 7-11t Row Link 1 Link 2 Link 3 Link 4 02 02 a2 Rpa d3 i 4 5 2 80 25 - 25 80
Problem 1 The link lengths, coupler point location, and the values of 02, w2, and a2 for the samefourbar linkages as used for position and velocity analysis in Chapters 4 and 6 areredefined in Table P7-1, which is the same as Table P6-1 (p. 371). The generallinkage configuration and terminology are shown in Figure P7-1. For the row(i) assigned, draw the linkage to scale and find the accelerations of points A and B. Then calculate a3 and a4 and the acceleration of point P. All steps of calculations must detailed and clear
‏The link lengths , coupler point location , and the values of 02 , w2 , and a2 for the samefourbar linkages as used for position and velocity analysis in Chapters 4 and 6 areredefined in Table P7-1 , which is the same as Table P6-1 ( p . 371 ) . The generallinkage configuration and terminology are shown in Figure P7-1 . For the row ( i ) assigned , draw the linkage to scale and find the accelerations of points A and B. Then calculate a3 and a4 and the acceleration of point P.
The general linkage configuration and terminology for an offset fourbar slider-crank linkage are shown in Figure below. The link lengths and the values of 02 and w2 are defined in. For the row(s) b and c, find the velocities of the pin joints A and B and the velocity of slip at the sliding joint using an analytical method. Draw the linkage to scale and label it before setting up the equations. Link 3 Offset 04 = 90° Link 2 02 Slider position d TABLE P6-2 Data for Problems 6-6 to 6-7† Row Link 2 Link 3 Offset 02 1.4 4 1. 45 10 2 6. -3 60 -12 3 8. -30 -15