Chapter 5, Problem 5.48P

Problem 2 The linkage in Figure P7-5b has o4A = o2A = 0.75, AB = 1.5, and AC = 1.2 in. The effective crank angle in the position shown is 77° and angle BAC = 30°. Find a3, AA, AB, Ac for the position shown for w2 = 15 rad/sec and a2 = 10 rad/sec^2 in the directions shown using an analytic method. (Hint: Create an effective linkage for the position shown and analyze it as a pin-jointed fourbar.) the linkage has a parallelogram form Assume rolling contact

Problem 4-6a The link lengths (a, b, c, d) and the value of 2 for a crank-rocker linkage are defined as 2, 7, 9, 6, 30°, respectively. Draw the scaled linkage. Find all possible solutions (both open and crossed) for angles 03 and 04 graphically. Орen B A LNCS 4 a GCS र 4 4" Crossed (This is not the scaled kinematic diagram.) Problem 4-7a Repeat Problem 4-6a except solve by the vector loop method.

Problem 2 The linkage in Figure P7-5b has O4A = O2A = 0.75, AB = 1.5, and AC = 1.2 in. The effective crank angle in the position shown is 77° and angle BAC = 30°. Find a3, AA. AB,Ac for the position shown for w2 = 15 rad/sec and a2 = 10 rad/sec^2 in the directions shown using an analytic method. (Hint: Create an effective linkage for the position shown and analyze it as a pin-jointed fourbar.)the linkage has a parallelogram form Assume rolling contact

Draw the kinematic diagram of the following mechanism by labelling the links and the joints and calculate its mobility / DOF.

Project 4: Gearbox and compound train gear system are widely used in power transmission systems to change input torques and rotational speed. Your task in a company that manufactures compound gear system box is to determine the necessary parameters to obtain a required output and securely mounting the gearbox. If the compound gearbox shown in Figure.5 has the following design specifications: B D F LOUTPUT INPUT Figure.5: Compound gear train system (left), Gearbox securely mounted by clamps (Right) Gear A has 20 teeth, Gear B has 150 teeth, Gear C has 40 teeth, Gear D 140 teeth, Gear E has 15 teeth and Gear F has 200 teeth. Input power and speed, respectively, 25 kW and 1600 rpm (clockwise). Your manger asked you the perform the following analysis steps: 1. Determine the velocity ratio/ gear ratio of compound gear system. 2. Calculate the output torque and determine its direction. 3. Find the required total/hold torque to securely mount the gearbox. 4. Explain the use of compound gear…

= Given the crank-slider linkage shown in Figure 1 with the linkage lengths as follows: L₂= 500 mm, L32 250 mm, and L₁= 550 mm. The distance between the supports is L₁ = 500 mm. When the angles of the links are 8₂ 36.87° and 83 53.13° the rotational angle rates of the links are wz 8 rad/s and w3 = -11.8859 rad/s. If the link R, is rotating in counterclockwise (CCW) direction with a rotational acceleration of az 5 rad/s², determine the rotational acceleration of links R₂ and the acceleration of the slider R2 03 R₁ R3 isin) R4

Evaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to determine 1. Linear velocity and 2. Angular velocity NOTE: for JOINT 3 ( 03 ) only Connected to robot Figure 2: Wrist assembly The known position and orientation of the end of the arm point is. [-C,S2C3 + S1S3 C;S2S3 +S1C3 |-S;S2C3 – C,S3 S,S2S3 + C,C3 -C2S3 C,C2 S,C2 S2 °T3=°T;'T2?T3= C2C3 [G 0 S, 0 S, 0 -G 0 °T 1 0 0 1 -S2 0 C, 0° C2 0 S, 0 'T2 1 1 [C3 -S3 0 07 S3 C3 0 0 2T3= 1 0 0 0 1 00010 II

Re-work Problem 4 on Homework 2 using Lagrange's equations (see Figure 4 below). As indicated in the original problem statement, find the equations of motion and the constraint force (Hint: to find the constraint force, introduce an additional generalized coordinate and associated Lagrange multiplier).

Gearbox and compound train gear system are widely used in power transmission systems to change input torques and rotational speed. Your task in a company that manufactures compound gear system box is to determine the necessary parameters to obtain a required output and securely mounting the gearbox. If the compound gearbox shown in Figure.5 has the following design specifications: B D 'F LOUTPUT INPUT E T2 Figure.5: Compound gear train system (left), Gearbox securely mounted by clamps (Right) Gear A has 20 teeth, Gear B has 150 teeth, Gear C has 40 teeth, Gear D 140 teeth, Gear E has 15 teeth and Gear F has 200 teeth. Input power and speed, respectively, 25 kW and 1600 rpm (clockwise). Your manger asked you the perform the following analysis steps: 1. Determine the velocity ratio/ gear ratio of compound gear system. 2. Calculate the output torque and determine its direction. 3. Find the required total/hold torque to securely mount the gearbox. 4. Explain the use of compound gear…