Determine the transfer function G(s) 82(5) = for the gearing system as shown. T(S)
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- Write the difference between linear and angular impulse.Assigned necessary coordinate frames and obtained the total transformation matrix using the D-H method.For the 3-DOF Industrial manipulator arm as shown in Figure 1, determine the joint displacements using inverse kinematics approach for known position and orientation of the end of the arm point. The link transformation matrices are given by
- theta O = 55 The link length and value of O2 for some four bar linkage are defined below, (drive link =4.2 cm , coupler link =5.9 cm , follower link = 5.9 cm, fixed link= 6.85 cm 1. draw the linkage to scale and graphically find all possible solution (both open and cross) for 03 and O4 2. If w = 2 rad /s (CCW) find the angular velocity for bar 3 and 4 3.if a= 5 rad/s? (Ccw) find the normal and tangential acceleration for link 3 and 44) Locate all the instant centers for the mechanism in Problem 2-2) @2 YA 0₂ 45° A 105⁰ 4 X Note:- • Do not provide handwritten solution. Maintain accuracy and quality in your answer. Take care of plagiarism. • Answer completely. • You will get up vote for sure.Find F(1) OF THE LAPALCE TRANFORM FUNCTION
- Q5:B: Draw the following types of motion: linear deformation, angular deformation and rotation. JakEvaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to determine 1. Linear velocity and 2. Angular velocity NOTE: for JOINT 3 ( 03 ) only Connected to robot Figure 2: Wrist assembly The known position and orientation of the end of the arm point is. [-C,S2C3 + S1S3 C;S2S3 +S1C3 |-S;S2C3 – C,S3 S,S2S3 + C,C3 -C2S3 C,C2 S,C2 S2 °T3=°T;'T2?T3= C2C3 [G 0 S, 0 S, 0 -G 0 °T 1 0 0 1 -S2 0 C, 0° C2 0 S, 0 'T2 1 1 [C3 -S3 0 07 S3 C3 0 0 2T3= 1 0 0 0 1 00010 IIPlot the path of point P for: (a) inverted slider-crank linkage; (b) second inversion of the slider-crank linkage; (c) Scott-Russell straight-line linkage; and (d) drag-link linkage. (a) B 3 4 P 4 X (b) (d) y Ba B 3 TO X X OP
- Q3 B) Figure below shows a three-link, 3R manipulator for which joint axes 1 and 2 intersect and axes 2 and 3 are parallel. Demonstrate the non-uniqueness of frame assignments and of the Denavit- Hartenberg parameters by showing several possible correct assignments of frames (1} and {2}.Gearbox and compound train gear system are widely used in power transmission systems to change input torques and rotational speed. Your task in a company that manufactures compound gear system box is to determine the necessary parameters to obtain a required output and securely mounting the gearbox. If the compound gearbox shown in Figure.5 has the following design specifications: B D 'F LOUTPUT INPUT E T2 Figure.5: Compound gear train system (left), Gearbox securely mounted by clamps (Right) Gear A has 20 teeth, Gear B has 150 teeth, Gear C has 40 teeth, Gear D 140 teeth, Gear E has 15 teeth and Gear F has 200 teeth. Input power and speed, respectively, 25 kW and 1600 rpm (clockwise). Your manger asked you the perform the following analysis steps: 1. Determine the velocity ratio/ gear ratio of compound gear system. 2. Calculate the output torque and determine its direction. 3. Find the required total/hold torque to securely mount the gearbox. 4. Explain the use of compound gear…The figure shows a closed-loop mechanism in which link AB of length 1m rotates about a fixed point at A. A second link BC, of length 3m, is pivoted to AB at B; the other end C is constrained to move in a fixed slot which in angled at 45 degrees to the horizontal. At the instance shown, AB is at 60 degrees to the horizontal, and rotating anticlockwise at 5 rad/s. At this instance, in what direction is the link BC rotating? You may wish to sketch a rough velocity vector diagram for this closed loop mechanism to assist you. WAB = 5 rad/s O O O O O Don't Know Anticlockwise B Rotating out-of-plane No rotation Clockwise 60⁰ BL 45⁰