Question

Problem (13) The Body AB and rod BC of the robotic component shown rotate ; = 0.6 rad/s about Y axis. Simultaneously a wire-and-pulley control causes arm CD to rotate about C at the constant rate 02 dB/dt = 0.45 rad/s. Knowing B = 1200, determine the velocity and acceleration of point D. [Note that AB and BC are welded together). 500 mm

Answer 1

یہ بیاد 1 w.. (0.Grad/s); CD = 400mm =(0-Grad/s); D Wolf= We =-6.45 rad/s)k gla 500 mm e / (-0.45rady) K w=witwa =(0.6 rad/s);-co.ug rad/sk for B=1200 role = 400 sino: + 400 cosso; A = 2001+ 346.413 ro/B = 5ooi trpic = tool +346.41 ) Velocity of o. Yo=VoltVoIE Мра ) тор =(0-6 rod Alj x( 700 i +346.41] ==(420mm/s) * 'D/F= Woleroic · F - 60.45 rod/s] K x L 200 1 + 346.41.77

= -90 mm/s); +(155.88 mm/); ND= Volt VolF; No = ( 156 mm)s) i-comm /573420mm /s]K Acceleration of ada aplita platac ab' = 2 x (LXWD 3) = 2x vp'. = (0.Grad S); *C-420mm/s)k S-C252 mm)523;. a olf = WolEXCUDIF = WDE ONDE "Dlo) =-60.45 vads)kx[-90; +(55.88);] 5-(410-5 mm ls"); - ( 70-148 mm)3 ); a c= 2.02 x Nole 5260.6 rad /s]jx [-903+(155.88);] - -(187.06 mm/5²) k aprap'tad IE tac = -252 mm 15 i-40.5mm/} .; -(to 148 mm/h); _(187.06 mm/sk ap=-(295 mm/s):-(70.1 mm/s );-(187mm) k.