4. A general fourbar linkage configuration and its notation are shown in the following figure and table. Find a 3, a 4,AA, ABA, AB, Ap for open circuit by vector loop method. Row Link 1 Link 2 Link 3 Link 4 02 a2 Rpa 53 6. 2 7 9 30 10 30 7 85 - 12 - 15 25 3 10 45 -10 10 80 7 25 24 - 4 45 e 8 75 -50 10 300

4. A general fourbar linkage configuration and its notation are shown in the following figure and table. Find a 3, a 4,AA, ABA, AB, Ap for open circuit by vector loop method. Row Link 1 Link 2 Link 3 Link 4 02 a2 Rpa 53 6. 2 7 9 30 10 30 7 85 - 12 - 15 25 3 10 45 -10 10 80 7 25 24 - 4 45 e 8 75 -50 10 300

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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The link lengths and the value of 2 and offset for some fourbar crank-slide linkages are defined in Table 1. The linkage configuration and terminology are shown in Figure 1. For the rows assigned, find (a) all possible solutions for angle and slider position d by vector loop method. (b) the transmission angle corresponding to angle 83. (Hint: Treat the vector R4 as virtual rocker) Show your work in details: vector loop, vector equations, solution procedure. Table 1 Row a b с offset 02 Link 2 1.4 3 5 A R2 0₂ Link 3 4 8 20 slider axis. R3 Link 3 R₂ d R₁ Figure 1. 0₁ Offset 1 2 -5 С B R4 T 84 X Q2 45° -30° 225°
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
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).
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.. +
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
The Figure below shows a sixbar linkage with 02B = 1, BD = 2, DC = 4, DO, = 3, and h = 1.3 in. Use analytical method to find the m3, a3, Ac , Ap, a6 if wz is a constant 1 rad/sec CCW. Vp-0.6 in/sec, Vslip-0.75 in/sec, ApBslip=1.03 in/sec? 6. 06 B 4 3 45° 02
01:53 M 1 or Vo LTED :4G + Assignment 1_KoM.pdf 1/2 Kinematics of Machine Assignment 1 1. Describe various inversions of a single slider crank mechanism giving examples. 2. Describe the inversions of double slider crank mechanism with examples. 3. Define mechanical advantage and transmission angle of a mechanism. 4. For the kinematic linkage shown in fig. 1, find the number of binary link, ternary link, quaternary link and degree of freedom. C (1) DE, F Fig. 1(a) Fig. 1(b) 5. What do you mean by degree of freedom of a kinematic pair? How are pair classified? Give suitable examples. 6. In a slider crank mechanism, the length of crank and connecting rod are 100 mm and 400 mm respectively. Locate all the l-centres of the mechanism for the position of the crank when it has turned 45° from the inner dead centre. Find the velocity of slider and point B. 400 mm 45° m mim Fig.2 7. State and prove Kennedy's theorem as applicable to instantaneous centre of rotation. Explain angular velocity…
Q1: For a four-bar linkage. If a=5.5m, b=6m, c=8m and d=D10m. 1: Find the minimum of the transmission angle in degrees 2: Find the maximum of the transmission angle in degrees 3: Find 0, at the toggle positions in degrees bola
1. Given a four-bar linkage with the link lengths L1 = d = 100 mm, L2 = a = 40 mm, L3 = b = 120 mm, L4 =c= 80 mm. For 0 = 60°, m2 = 5 rad/s (CCW), RCA=110 mm and 83 = 30°, find 03, 04, VĄ, V B, V c for open circuit by a) Graphical method b) Instant center method c) Vector loop method. Then compare the obtained results.
8.) The linkage below: link I is ground, AB is link 2 BC is link 3, slider is link 4. IC 34 is @ what point? E B •IF A
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 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¡'T2²T3