Question (3): [1 A three-stage double acung telescopic cylinder is controlled with the circuit represented below. The supply pump has a displacement of 9 cm3/rev and it rotates at a speed of 2000 rpm. The cylinder rods have diameters of 100 mm, 80 mm and 60 mm. The barrel diameters are instead 110 mm, 90 mm and 70 mm. When extending, the cylinder sees a resistive force of 28 kN, while when retracting the external load is null. Calculate the extension and retraction velocities and the pressures in the following case: - No restrictions present in the lines Assume an oil density equal to 850 kg/m3. The relief valve is set to 150 bar. Find: a) Extension speeds Vel (for cylinder 1), Ve2 (Cyl 2), Ve3 (Cyl 3) b) Retraction speeds Vr1, Vr2, Vr3 c) Pump pressure during extension and retraction (PPE, PPR) d A. TT. P PP RV DCV WM FTXM Fig 3 CYL -F

a lever with an input of 2 meters has a mechanical advantage of 4. What is the output arms length?

A manipulator’s end-effector position is calculated as follows:x = q0 cos q1 + l2 cos(q1 + q2),y = q0 sin q1 + l2 sin(q1 + q2),where q0,1,2 represent joint displacements and l2 is a constant positive parameter.Which of the following describes this manipulator:1) This is a robot-manipulator with 3 revolute joints.2) This is a robot-manipulator with 2 revolute and 1 prismatic joints.3) This is a robot-manipulator with 1 prismatic and 3 revolute joints.4) This is a robot-manipulator with 2 revolute joints.   A robot’s end-effector’s tool position is defined asx = L1 cos(q1) + q3 sin(q1 + q2)where L1 = const, q1 = q1(t), q2 = q2(t) and q3 = q3(t) with t defining time. Calculate ∂x / ∂q3 1) it is impossible to calculate as the equation for the y and z positions are missing.2) cos(q1 + q2).3) it is impossible to calculate as time is not given.4) sin(q1 + q2).

i need the answer quickly

For the spherical manipulator shown in the Fig. 1, derive the link parameters using D-H convention. Also find T. Fig.1

The following EOMS describe the behavior of an electric motor attached to a torsional spring and damper: [Li + Rz + vb = Vin(t) IÖ= k0b0 + T Importantly, the equations are coupled by the fact that 7 = k₁z and v₂ = k₂0. Here, L, R, kv, I, k, b, and kt are constants. z is the current in the motor, and is the angular displacement of the motor (clearly then, is the motor's angular velocity). Finally, the input to the system is vin (t). Your tasks: A Substituting in the coupling terms (7 = ktz and v k0) into the EOMs, write the state space form of the system x = Ax + Bu, assuming your states are x₁ = z, x₂ = 0, and x3 = 0. Clearly identify your matrices. B Assume that the desired outputs of the system (to be measured) are the current z, the angle and the input Vin all as separate elements in the vector y. Write the output equation y = Cx + Du. Hint: D will NOT be zero in this case. Clearly identify your matrices C Assume there is no stiffness to the spring (k = 0). Using w(t) to represent…

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…

5- Describe how would you check the degree of freedom for a system with multi masses.

A rotary actuator has the following physical data: Outer radius of rotor = 0.75 in Outer radius of vane = 1.5 in Width of vane = 0.75 in If the torque load is 1000 in lb, what pressure must be developed to overcome the load?