Question

The dimensions of the planar mechanism, shown in Fig. 1 are given in Table 1. Link 1 is rotating at

constant 120 rpm in counterclockwise direction. The external force of 200N is applied on the slider

at point D against its translational motion. Assume the link bars of the mechanism are homogeneous

rectangular prisms with the width of 0.01 m and the depth of 0.001 m. The slider has the width of

0.070 m, the height of 0.040 m, and the same depth of 0.001 m. The links of the mechanism are

homogeneous made of steel having a mass density of 8000kg/m^3. The gravitational acceleration is

9.807m/s^2. Assume point O as the origin of the reference frame.

find：

a) Linear velocity of point D.

b) Linear acceleration of point D .

c) Motor torque.

The dimensions of the planar mechanism, shown in Fig. 1 are given in Table 1. Link 1 is rotating at constant 120 rpm in counterclockwise direction. The external force of 200N is applied on the slider at point D against its translational motion. Assume the link bars of the mechanism are homogeneous rectangular prisms with the width of 0.01 m and the depth of 0.001 m. The slider has the width of 0.070 m, the height of 0.040 m, and the same depth of 0.001 m. The links of the mechanism are homogeneous made of steel having a mass density of 8000kg/mA3. The gravitational acceleration is 9.807m/s 2. Assume point O as the origin of the reference frame 4 0 Figure 1: Planar Mechanism Table 1: Link Geometry Link OA AB BC BE CD en 0.21 0.63 0.16 0.58 0.27 0.35 0.42 0.65

Answer 1

en that - 200 N ent time at dt СО 12.566 Jad

X 12.5 66 0.2 . nea CD 2- o.2э Ч uA+ ·erom?c HoHen u e can こ 12.566 200