Calculate the mobility of the kinematic chain please

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Figure P6-29 shows a drum pedal mechanism. O2A = 100 mm at 162° and rotates to 171° at A°. 0204 = 56 mm, AB = 28 mm, AP = 124 mm, and 04B = 64 mm. The distance from 04 to Fin is 48 mm. Find and plot the mechanical advantage and the velocity ratio of the linkage over its range of motion. If the input velocity Vin is a constant magnitude of 3 m/ see, and Fin is constant at 50 N, find the output velocity and output force over the range of motion and the power in.

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

A DC servomotor drives the y-axis of a NC milling machine table. The motor is coupled to the table lead screw with a gear reduction of 2:1. The lead screw pitch =5 mm/rev. An optical encoder is directly connected to the lead screw. The optical encoder emits 100 pulse/rev. To execute a certain programmed instruction, the table must move from point (25,28)mm to point (155,275)mm in a straight-line trajectory at a feed rate = 200 mm/min. For the y-axis only, determine: (a) rotational speed of the motor, and (c) frequency of the pulse train emitted by the optical encoder at the desired feed rate

For the 3-DOF Industrial manipulator arm as shown in Figure 1,  determine the joint displacements using inverse kinematics approach for known position and orientation of the end of the arm point.   The link transformation matrices are given by

Obtain the kinematics of the mechanism indicating the variables, inputs and unknowns.

writing in paper please

The location of the tool, VT, is not accurately known. Using force control, the robot feels around with the tool tip until it inserts it into the socket (or Goal) at location ST. Once in this "calibration" configuration (in which {G}and {T) are coincident), the position of the robot, T, is derived by reading the joint angle sensors and computing the kinematics. Assuming T and Tare known, give the transform equation to compute the unknown tool frame, WT. {B} {S} {W} 2G {G} ÎT {T} ☆G XT 2T