Consider the manipulator with DH parameters below i ai di αi 1 a1 d1 0 2 0 0 π/2 3 a3 0 −π/2 Draw the mechanism in its zero-angle position. Label all zi and xi axes, and non-zero length parameters. Given the position 0d03 of the last frame with respect to the base frame, find the joint angles. Make sure to identify multiple solutions.
Please do all the questions with hand written in steps. Thanks. A 3DOF spherical manipulator (RRP) has the following DH parameters and forward kinematics. L10e0-90 C2d3 3 a) Is each joint revolute or prismatic? [1st Joint 2nd Joint 3rd Joint 30° b) Ifd2 -2, find the position of the end-effector for a set of joint variable to be: q -45° c) The Jacobian matrix has been found to be: d3S2C2 10% Determine if q -0°is a singularity A 3DOF spherical...
e ws resporse. Question 3 A total of Dh 34 500 was invested at an annual interest rate of 5.5 % compounded annually. What will the value of the investment be after 2 years if there was a withdrawal of Dh 20 000 at the end of year 17 Dh 17 299 36 Dh 18 295 Dh 18 500 Dh 17 450.25 & Moving to another question will save this response
2. Use Hess’s Law to determine the enthalpy of the reaction below. 2F2(g) + 2H2O(l) → 4HF(aq) + O2(g) DH˚= ? H2(g) + F2(g) → 2HF(aq) DH˚ = -546.6 kJ 2H2 (g) + O2(g) → 2H2O(l) DH˚ = -571.6 kJ a. 42 kJ b. -1120 kJ c. -251 kJ d. -521 kJ e. -1690 kJ
3. For the following 2-port circuit, determine the Z parameters (211, 212, 221, 222). (We will cover this material on Thursday). 50 + 25 I O
True of False: The reverse reaction of 2 B(s) + 3 H_2(g) rightarrow B_2H_6(g) dH = +36 kJ is an exothermic reaction. True False
For the following chemical reaction DH = -1453 kJ: 2 CH3OH(l) + 3 O2(g) ---> 2 CO2(g) + 4 H2O(l) How much energy in kilojoules will be released when 250 g of CH3OH undergo combustion? (M.M. (CH3OH) = 32.04) a)11337 kJ b)5669 kJ c)2834 kJ d)726.5 kJ e)1453 kJ
What is the enthalpy of reaction, dH(rxn), for the following reaction? C2H4 (g). +. 6 F2 (g). --->. 2 CF4 (g). +.4 HF (g) dH(f) +52.3 -680 -268.5. kJ/mole dH(rxn) - +2486 kJ dH(rxn) = -2486 kJ o dH(rxn) = -2434 kJ • dH(rxn) = -1000.8 kJ
2) Determine ; and op from the given parameters of the population and sample size. H = 47, 0 = 6, n= 20
Problem 3b: Results from a CU Triaxial test are given below. a. Determine the total shear strength parameters of the soil. b. Determine the effective shear strength parameters of the soil c. Determine the long term shear strength of the soil at 20 ft depth. c. Determine the short term shear strength of the soil at 20ft depth. Assume y 115 pcf, Water table at 12 ft depth Sample 2 σ)" 15 psi OA- 18 psi u- 3 psi Sample...