Construct the dynamic equations for the two-link manipulator in Figure 4. Assume that link 2 has all its mass, m2, located at its middle, link 1 has all its mass, m1, located at the end. The corresponding inertial tensors are C1l1 and Ca12. Assume that gravity is directed downward (opposite Yo).

Construct the dynamic equations for the two-link manipulator in Figure 4. Assume that link 2 has all its mass, m2, located at its middle, link 1 has all its mass, m1, located at the end. The corresponding inertial tensors are C1l1 and Ca12. Assume that gravity is directed downward (opposite Yo).

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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Concept explainers

Clutches, Brakes, Couplings, and Flywheels

The clutch is described as a machine element used to connect or disconnect two shafts together to transmit torque or power. The clutch works on the principles of friction. The clutch is commonly used in automobiles to transfer power from the driving shaft to the driven shaft.

Question

Construct the dynamic equations for the two-link manipulator in
Figure 4. Assume that link 2 has all its mass, m2, located at its middle, link 1 has all
its mass, m1, located at the end. The corresponding inertial tensors are C11, and
C212. Assume that gravity is directed downward (opposite Yo).
m2
Figure 4 Two-link manipulator.

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