Question

1. A robotic arm with a 0.5-meter segment and a 0.3-meter segment is attached at the origin, as shown in the figure. The computer-controlled arm is positioned by rotating each segment through angles 01 and 82, as shown in the figure. Given that we want to have the end of the arm at the point (0.7,0.2) find 6 and 02 to the nearest tenth of a degree. 05+ 10.5 CB (0.7.0.2) 0:2+

Answer 1

w = 15.9454 P 0.3m 0.5m B TO OD=0.7m QD=0.2m Lo a do OQ = 5(0.77 ² + (0.28? be too wa Tant (8D) = Tant (0.2) = 0.53 m. wsing Casine rule, Cas a = op² +062_pQ² (0.5² (10.53) ² (0.3) ² 2 (0.5)(-0.53) ► 2= Cos(0:69) – 18060° & Car B = P0² +PQ² _ 09² 6 .5+ (0.3) - (10.53)* 2 (PO)(PQ) 20:57(0.3) → B = Cas(0:59) = 123.30° 10,- 90°-(w+2) = 900-(1509454 +18.6°) = 55.45 02- 180° ß = 180°-(129.30°) = 50.70 Cas d = 2 cop, coa) = 2 No.53