For the manipulator shown in the figure below, answer the following questions: Assign the link frames and give the DH parameters. Derive all the transformation matrices. dz 02

5.Design a system to measure the bending moment (up and down) and torque in the tail boom of the human-powered aircraft shown below. You will need two Wheatstone bridges. Your system should measure the bending and torque independently, but not be sensitive to any other internal forces, like axial force, transverse shear, or bending moment about the vertical axis (back and forth). (If relevant) A clearly labeled diagram (or diagrams) about your analysis with a coordinate system and relevant labels. Final answer with appropriate units and significant figures. You can use the fprintf() command in MATLAB to format numerical results A 2-3 sentence reflection on your answer. Does it make sense? Why or why not? What are some implications? (a) Make a few clear, labeled sketches showing approximately where you would place the strain gauges. Consider the location (along the length of the boom), positioning (around the circumference of the boom), and orientation of the gauges. Show clearly…

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).

Q4

Please solve 509 and 510, thanks!

Find the transformation matrix for the following transformations: 1) Rotate 45° about Xo-axis. (Xo, Yo, Zo) → (X₁, Y₁, Z₁); 2) Followed by a rotation of 90° about Xo-axis. (X₁, Y₁, Z₁)→ (X₂, Y₂, Z₂); 3) Followed by a rotation of 60° about Y₂-axis. (X₂, X2, Z2)→ (X3, Y, Z3); 4) Followed by a rotation of 60° about Z₂-axis. (X3, Y3, Z3) → (X, Y4, Z4). Note: give final answer in matrix multiplication form, no need to write out the elements of the matrices or multiply the matrices out. URALLY AND AFICIALLY LG

All pertinent rigid dimensions are specified for the linkage shown. Note that the ground pivot for the input link is at the origin of the coordinate system. The input angle []in is currently 170° measured from the x axis as shown. The figure is not exactly to scale, but it is reasonably close for checking purposes. (a) Calculate the value of the angle []out as shown on the figure. Use the equations developed from the loop closure method. Note that you will need to incorporate a change of coordinate axes orientation to the axes defined for the loop closure equations. (b) Calculate the absolute location of point P with respect to the coordinate axes shown. 18 30° 9° 9 P 20 50° -170° X

Position Analysis of the crank-slider linkage. The link length and offset for a fourbar slider-crank linkage are: link 2= 3.5, link3= 10, offset=1. Find both open and crossed solutions for angle theta3 and slider position, d, as driver makes a complete revolution.construct graphs to describe how the slider and theta3 varies as theta2 makes the entire revolution.

Create a Kinematic Diagram of the following RLR or RPR robotic arm. Show coordinate, and link length and proper orientation following the Denavit-Hartenberg frame method. Place you into the above box.

writing in paper please