Homework Answers
a. Total no. of links, l = 5 ( 2 binary links and 2 ternart link, 1 fixed link)
No. of joints, J = 6
Degree of freedom = 3(l-1) -2J
D.O.F. = 3(5-1) -2*6
= 12-12 = 0
B. Total no. of links L = 6 ( 5 binary and 1 fixed link)
No. of joints J = 7
Degree of freedom = 3(l-1) - 2J
= 3(6-1)-2*7
= 15-14 = 1
C. Total no. of links L = 6 (
Total no of joints J = 6
Degree of freedom = 3(l-1) -2*J
= 3(6-1) -2*6
= 15-12 = 3
D. Total no. of links L = 4 ( all binary links)
No of lower pairs J = 2
No. of higher pairs h = 2
Degree of freedom = 3(l-1)-2*J-h
= 3(4-1)-2*2-2
= 3
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Problem 1 (70) For each mechanism shown: . Give number of links, elements, joints and DOF...
1. (40%) For each mechanism shown below, determine the number of links, number of joints, and...
1. (40%) For each mechanism shown below, determine the number of links, number of joints, and the degrees of freedom. (a) (b) (c) (d) Rolling Contact Slider (C, E, G-sliders)
4) Determine the mobility of each planar linkage shown below, specify the number of joints and...
4) Determine the mobility of each planar linkage shown below, specify the number of joints and members. 5) Determine the mobility of each of the planar linkages shown below. Specify the number of links and members. 6) Determine the mobility associated with the mechanism below. The round part rolls without slipping on the pieces in contact with it 7) If position information is available for all points in the planar linkage shown below, can all the velocities be determined uniquely...
8) Determine the mobility for each of the mechanism shown. Specify the number of joints and...
8) Determine the mobility for each of the mechanism shown. Specify the number of joints and members. Cam Contact Pin in Pin in Pin in 9) Determine which (if either) of the following linkages can be driven by a constant-velocity motor 4.2 2.0 5.0" 2.0" 2.6 4.0 5.2" 2.7" 10) Determine the mobility associated with the mechanism below. The figure is a schematic of the entire linkage for a large power shovel used in strip mining. It can cut into...
Problem3 The following problem is intended to be solved by hand. For the structure shown below A.) Label the structure degrees of freedom (free only) and number the elements B.) For each element, det...
Problem3 The following problem is intended to be solved by hand. For the structure shown below A.) Label the structure degrees of freedom (free only) and number the elements B.) For each element, determine the stiffness matrix in global element coordinates. Label each row and column of each element matrix with its corresponding global DoF. C.) Assemble the structure stiffness matrix Kfr from the element global stiffness matrices D.) Calculate the deflection of the free DoFs. 5 ft 500 k...
Problem 2 Given the 2-DoF PR robot shown, assuming no friction, link 1's center of mass is at its...
Problem 2 Given the 2-DoF PR robot shown, assuming no friction, link 1's center of mass is at its middle ( ½ L), and link 2's center of mass is 1/3L from the proximal end, imz (a) Derive the equations of motion in variable form to find the joint torques/forces F, and τ2-write answers below. b) Express the equations in matrix form using the formulation Clearly indicate each term in the matrices 0.2 .92 . π rad, θ2-0.1 rad, θ.....
Problem # 4 ( CLO 3) (25 Pts). Using Complex Numbers Methed. In the mechanism shown,...
Problem # 4 ( CLO 3) (25 Pts). Using Complex Numbers Methed. In the mechanism shown, AB-8 em. CB BD-4 cm 1 fik 4 is traanslating riahtward with constant velocity of 5 m/sec.. At an instant when 6,-45, determine: Distance AC and the angular position of link 2 b) The angular velocities of links 2 and 3. Velocity of point D. c) B 03
Problem # 4 ( CLO 3) (25 Pts). Using Complex Numbers Methed. In the mechanism shown,...
Problem # 4 ( CLO 3) (25 Pts). Using Complex Numbers Methed. In the mechanism shown,...
Problem # 4 ( CLO 3) (25 Pts). Using Complex Numbers Methed. In the mechanism shown, AB-8 em. CB BD-4 cm 1 fik 4 is traanslating riahtward with constant velocity of 5 m/sec.. At an instant when 6,-45, determine: Distance AC and the angular position of link 2 b) The angular velocities of links 2 and 3. Velocity of point D. c) B 03
Problem # 4 ( CLO 3) (25 Pts). Using Complex Numbers Methed. In the mechanism shown,...
P4.3: The crank-slider offset mechanism shown in Figure P4.3 has the link lengths: Las - 4",...
P4.3: The crank-slider offset mechanism shown in Figure P4.3 has the link lengths: Las - 4", Lap = 24", Loc=0.19". The location of COM is as follows: LAG = 2.330"; LEG2 = 12"; LDG: = 0". In the initial position (home position), 0.19" Tact HO CO 1" o 28 the crank AB makes 0° with the horizontal, where the coordinates of contact point Care (28", 1"). The crank 1 rotates counterclockwise with the angu- lar displacement 0 = 2t (rad),...
Ints) For the following mechanism: a. Determine the number of links in the mechanism b. Determine...
ints) For the following mechanism: a. Determine the number of links in the mechanism b. Determine the total joint order in the mechanism c. Determine the number of loops required for this mechanism d. Determine the mobility of this mechanism e. Draw an appropriate vector loop for this mechanism f. Write the vector loop equation(s) in vector form. g. Write the scalar components of the vector loop position equations. h. Determine any geometric constraint equations. i. Determine the scalar known(s)....
kinematic Problem #4 [CLO 3] [25 Pts). Using Complex Numbers Method, In the mechanism shown, AB...
kinematic
Problem #4 [CLO 3] [25 Pts). Using Complex Numbers Method, In the mechanism shown, AB = 8 cm, CB BD 4 em. If link 4 is translating rightward with constant velocity of 5 m/sec. At an instant when 0= 45, determine: a) Distance AC and the angular position of link 2 b) The angular velocities of links 2 and 3. w c) Velocity of point D. D 3 A 03
Problem #4 [CLO 3] [25 Pts). Using Complex Numbers...
1. (40%) For each mechanism shown below, determine the number of links, number of joints, and the degrees of freedom. (a) (b) (c) (d) Rolling Contact Slider (C, E, G-sliders)
4) Determine the mobility of each planar linkage shown below, specify the number of joints and members. 5) Determine the mobility of each of the planar linkages shown below. Specify the number of links and members. 6) Determine the mobility associated with the mechanism below. The round part rolls without slipping on the pieces in contact with it 7) If position information is available for all points in the planar linkage shown below, can all the velocities be determined uniquely...
8) Determine the mobility for each of the mechanism shown. Specify the number of joints and members. Cam Contact Pin in Pin in Pin in 9) Determine which (if either) of the following linkages can be driven by a constant-velocity motor 4.2 2.0 5.0" 2.0" 2.6 4.0 5.2" 2.7" 10) Determine the mobility associated with the mechanism below. The figure is a schematic of the entire linkage for a large power shovel used in strip mining. It can cut into...
Problem3 The following problem is intended to be solved by hand. For the structure shown below A.) Label the structure degrees of freedom (free only) and number the elements B.) For each element, determine the stiffness matrix in global element coordinates. Label each row and column of each element matrix with its corresponding global DoF. C.) Assemble the structure stiffness matrix Kfr from the element global stiffness matrices D.) Calculate the deflection of the free DoFs. 5 ft 500 k...
Problem 2 Given the 2-DoF PR robot shown, assuming no friction, link 1's center of mass is at its middle ( ½ L), and link 2's center of mass is 1/3L from the proximal end, imz (a) Derive the equations of motion in variable form to find the joint torques/forces F, and τ2-write answers below. b) Express the equations in matrix form using the formulation Clearly indicate each term in the matrices 0.2 .92 . π rad, θ2-0.1 rad, θ.....
Problem # 4 ( CLO 3) (25 Pts). Using Complex Numbers Methed. In the mechanism shown, AB-8 em. CB BD-4 cm 1 fik 4 is traanslating riahtward with constant velocity of 5 m/sec.. At an instant when 6,-45, determine: Distance AC and the angular position of link 2 b) The angular velocities of links 2 and 3. Velocity of point D. c) B 03
Problem # 4 ( CLO 3) (25 Pts). Using Complex Numbers Methed. In the mechanism shown,...
Problem # 4 ( CLO 3) (25 Pts). Using Complex Numbers Methed. In the mechanism shown, AB-8 em. CB BD-4 cm 1 fik 4 is traanslating riahtward with constant velocity of 5 m/sec.. At an instant when 6,-45, determine: Distance AC and the angular position of link 2 b) The angular velocities of links 2 and 3. Velocity of point D. c) B 03
Problem # 4 ( CLO 3) (25 Pts). Using Complex Numbers Methed. In the mechanism shown,...
P4.3: The crank-slider offset mechanism shown in Figure P4.3 has the link lengths: Las - 4", Lap = 24", Loc=0.19". The location of COM is as follows: LAG = 2.330"; LEG2 = 12"; LDG: = 0". In the initial position (home position), 0.19" Tact HO CO 1" o 28 the crank AB makes 0° with the horizontal, where the coordinates of contact point Care (28", 1"). The crank 1 rotates counterclockwise with the angu- lar displacement 0 = 2t (rad),...
ints) For the following mechanism: a. Determine the number of links in the mechanism b. Determine the total joint order in the mechanism c. Determine the number of loops required for this mechanism d. Determine the mobility of this mechanism e. Draw an appropriate vector loop for this mechanism f. Write the vector loop equation(s) in vector form. g. Write the scalar components of the vector loop position equations. h. Determine any geometric constraint equations. i. Determine the scalar known(s)....
kinematic
Problem #4 [CLO 3] [25 Pts). Using Complex Numbers Method, In the mechanism shown, AB = 8 cm, CB BD 4 em. If link 4 is translating rightward with constant velocity of 5 m/sec. At an instant when 0= 45, determine: a) Distance AC and the angular position of link 2 b) The angular velocities of links 2 and 3. w c) Velocity of point D. D 3 A 03
Problem #4 [CLO 3] [25 Pts). Using Complex Numbers...
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