Create a mechanism that is capable of rocking motion with 60° angle and a time ratio of 1:1.75 from a constant speed motor input.

QUESTION 1 Consider the equations of motion of an armature controlled DC motor given by Jw(t)+bw (t) Ki (t) = di (l) L + Ri (t) + Kw (t) = -Tfriction - Tload (t) Vin (t), dt where vin(t) is the input voltage and Tload(t) is the input load torque. The outputs are the armature current i(t) and the motor speed w(t). When the input voltage and torque are constant, the transient response of this system has the form of the homogeneous solution. What is the time constant of the transient response? Find the characteristic roots of this system first. Keep 3 significant figures, and do not include units. Use scientific notation. The constants are given below: Nominal voltage, Vin(t) = 17 V Moment of inertia of the rotor, J = 0.02 kg-m² Motor viscous friction constant, b = 0.009 N-m-s Friction torque, Tfric = 0.003 N-m Armature inductance, L = 0.1 H Armature resistance, R = 0.35 Back emf constant and motor torque constant, K = 0.21 N-m/A. **Recall that the time constant (or relaxation time) is…

PROBLEM Draw the kinematic diagram of the given mechanism below. The ends of the two handles and the end of the bucket should be identified as points of interest. Calculate its mobility as well in terms of the number of degrees of freedom. FIGURE SOLUTION PLATE NO IA: KINEMATIC DIAGRAMS AND DEGREES OF FREEDOM SCORE

Assuming link 2 rotates at a constant rate of 80 rpm CW, determine the velocity of link 6 when link 2 makes a 10-degree angle with the ground (measured as a right hand horizontal)  JUST DRAW THE LOOPS AND SETUP THE EQUATIONS. Identify which variables are the outputs or how they relate to the outputs. Plug in all possible numbers