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- Q:Draw and implement the figure below using AutoCAD. Note: All the sides of cube are equal 70,70 50 20 70,20 3D 0,0 50 20d. Write a MATLAB code to plot the piston instantaneous position, velocity, and acceleration with respect to crank angle, 0.Evaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to determine 1. Linear velocity and 2. Angular velocity NOTE: for JOINT 3 ( 03 ) only Connected to robot Figure 2: Wrist assembly The known position and orientation of the end of the arm point is. [-C,S2C3 + S1S3 C;S2S3 +S1C3 |-S;S2C3 – C,S3 S,S2S3 + C,C3 -C2S3 C,C2 S,C2 S2 °T3=°T;'T2?T3= C2C3 [G 0 S, 0 S, 0 -G 0 °T 1 0 0 1 -S2 0 C, 0° C2 0 S, 0 'T2 1 1 [C3 -S3 0 07 S3 C3 0 0 2T3= 1 0 0 0 1 00010 II
- The figure below represents a Whitworth quick-return mechanism which is used in shapers. It is required that the tool holder (link 6) maintain a nearly constant velocity during the cutting stroke but accelerates on the return stroke in order to reduce idle time. The inputs are: VA2=8m/s, a2=0. Find the following: a) The angular velocity m4 b) The magnitude of the sliding velocity and acceleration of A c) Angular acceleration a4 d) Find the acceleration of A via link 2 e) Find the acceleration of A using the angular velocity and acceleration along with the Coriolis effect and the acceleration along the axis of slip (via link 4) f) Find the acceleration of the tool holder (C). 2 (VA2 = 6 m/sec 02 4 B * 45° 0,04 0,A = 19.1 cm 0,B = 10.2 cm 35.6 cm 8.9 cm 04 BCConsider the following 4 DOF manipulator. a) Assign the frames, and derive the link parameters in the DH table. b) Calculate the forward kinematics. c) Calculate the inverse kinematics of this robotic manipulator. ZU XH 4 YUA slider-crank mechanism is required to do the following crank angle-slider position coordination. Crank Angle (Q) Slider Position(S) Position-1 0° 12 cm Position-2 90° 10 cm Also at position 2, the speed of the slider will be 5 cm/sec leftwards as the crank is rotating CCW by 1 rad/sec. Then verify your design by drawing your mechanism at crank angles 0° and 90° and measure slider position and see if they are 12 cm 10 cm respectively. If so, proceed with a velocity analysis at second position, assuming that crank has a speed of 1 rad/sec CCW and find the slider speed , check whether it is 5 cm/sec leftwards or not.
- a) Write the number of limbs, determine the degrees of freedom and draw the kinematic chain. b) Determine the degrees of freedom of the given mechanism.Objective 3: After much debate amongst your coworkers, everyone agrees that the design analyzed in Objective 2 is sufficient to do the job. A coworker attaches a motor to link 2 which rotates it clockwise at 120 rpm at the instant shown in the image. Determine the following using any method you desire. • Velocity of Point B • Velocity of Point C • The angular velocity of Link 4 Make sure you submit all relevant calculations and graphical work in an organized and readable fashion. 4.200 1.800 B 105 0.600 2 LA 3.600Question 1: The crank O1A of a mechanism as shown in figure below rotates uniformly at 955 rpm clockwise. Various links have following dimensions: OjA = 100 mm, AC = 700 mm, O3C = 200 mm, BD = 150 mm and O2D = 200 mm. Point B (Joint) is located on link AC as per figure. a) Make appropriate scale to draw position diagram using graphical method. b) Find the linear velocities (mm/sec) and angular velocities (rad/sec) for links O2D and BD and draw velocity diagram. What will be normal acceleration of Point B (Note: No need to draw Acceleration diagram) c) Identify total number of links and full joints (revolt joints) in the mechanism. 200 mm 200 mm A O2 O3 300 mm 400 mm
- Learning Goal: To understand how to use the relative position and velocity equations to find the linear and angular velocity of members in an assembly. A piston is driven by a crankshaft as shown. The crank arm (member AB) has a length of ri = 0.50 in and the connecting rod (member BC') has a length of r2 = 3.65 in . The crankshaft rotates in the counterclockwise or positive direction.(Figure 1) y r2 Find the magnitude of the velocity of C, vc, when the piston has moved to the new position 0 = 27.0° and ø = 7.01° The crankshaft (member AB) is still rotating at 220 rpm . Express your answer to three significant figures and include the appropriate units. • View Available Hint(s) Value Units SubmitEvaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to determine 1. Linear velocity and 2. Angular velocity NOTE: for JOINT 3 ( 03 ) only Connected to robot arm Pitch Roll Yaw Figure 2: Wrist assembly The known position and orientation of the end of the arm point is. C, C2 [-C,S2C3 + S¼S3 -S;S2C3 – C1S3 C2C3 C¡S2S3 + S1C3 S4S2S3 + C,C3 -C2S3 01 S,C2 S2 1 °T3=°T¡'T2²T3Learning Goal: To understand how to use the relative position and velocity equations to find the linear and angular velocity of members in an assembly. A piston is driven by a crankshaft as shown. The crank arm (member AB) has a length of r₁=0.55 in and the connecting rod (member BC) has a length of r2 = 4.25 in. The crankshaft rotates in the counterclockwise or positive direction. (Figure 1) Figure C 1₂ @₂ @1 0 B X 1 of 2 Part C - Velocity of C Find the magnitude of the velocity of C, vc, when the piston has moved to the new position = 33.0° and p = 6.23°. The crankshaft (member AB) is still rotating at 300 rpm Express your answer to three significant figures and include the appropriate units. ► View Available Hint(s) vc= 15.5 in S Submit Completed Part D - Rotational Speed of the Crankshaft W1 = Previous Answers The velocity of the piston is vc = 70.0 in/s j the instant when 0 = 33.0° and = 6.23°. Find the rotational speed of the crankshaft (member AB) at this instant. The crankshaft…