Draw the kinematic digrams of the following mechanisms and compute the number of Degrees of Freedom (Mobility) of the figure below

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

(i) Determine binary link, ternary link for the given kinematic chain as shown in figure below and also find the number of degrees of freedom by using Kutzbach criteria.

writing in paper please

(Robotics D-H representation question) Full working needed for the question in the image, thank you!

4

2) Block 4 slides in a slot in the fixed piece 1. Axis Q₂ of crank 2 is fixed on 1. Q₂₂A = 1 1/2 in., and AB = 4/1/2 Draw the mechanism, assuming limen- sions for 1, if desired, or use center lines only. Draw the four-bar linkage for this mechanism, properly rotate the linkage Q₂ ABQ400; Name each link, and show the finite and infinite cranks. Frind graphically the two extreme positions of 13, The axis of the pin by which link 3 is attached to the block 4.. Dimension the length of the stroke of B. Ans. 3& in. for scale 1:1

For the mechanism shown below, use the graphical position analysis to specify the value(s) of 02 when the linear speed of link 6 is zero. The parameters of each link length is: L2 = 3 cm, L3 =10 cm (O₂B), L5 = 4 cm, L σ₂³ = 5 cm. ////////////////// 5 B 4 0₂ 2 3 A₂ on 2 and 4 A3 on 3 10.5 cm

Using the rule of position analysis pls quickk