Question

(16 Points) A robotic arm is being designed to move an object in the vertical direction at a required speed and acceleration. A simplified version of the arm is shown in the figure below. Point C on the arm is required to move in the vertical direction shown with a velocity, Vc = 3 m/s, and and acceleration a, = 4 m/s2. Determine the angular accelerations of arms AB and BC at the instant shown. Make sure you include all appropriate kinematic diagrams and clearly identify all the vectors that you use in the analysis. In the answer box provided enter the magnitude of the angular velocity of link AB that you used in your calculation. 1m va

Answer 1

Ans: Gruen that, Velocity at Ċ V = 4+W, xide Vc = W, Xhelat W₂ X " B -3j - w, êx[i]+w, [15/2j+'/zi] 3j =Wj+w(13/2]î +wallyj) -3j - Wj -w4zj +53/wz QR Compare, -3=W-642 33/2 W..0 W, =-3 Ê W2:0 Decelaration at Ć ązQytok XC94 cle) 30,+(9@1m)+, «[w, x hof)+ ox[*(10) cujo of  *[1]+(-3@)XC-38 x[i])+açæ [2lq+'/zi).

Luj c&j -3 ÂC-3j)+53),dzi +22425 uj = (1 223j + 9C+2+381. Corpore, -4 = 4+42/2 -4-&S3 = , ... 6 -9=0 2,--4-353 szą=9. Q-18 42-4-5.19 &= 653 &=-9,19 Å .0,--4-3(1732)