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Lesson 5
EX5.1 Robot
•
Robot Dance
(Those crazy
Europeans!)
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View Full Documentr
= 1 − 0
.
5 cos
(
2
π
t)
m
θ
= 0
.
5 − 0
.
2 sin
(
2
π
t)
rad
.
Determine the radial and transverse components of the
force exerted on
A
by the robot’s jaws at
t
= 2 s.
What forces are being exerted on the part?
There is some type of radial
motion, plus a changing angle
θ
.
We should choose polar.
F
r
F
θ
ma
θ
ma
r
e
r
e
θ
The radial force is due to friction of the grips, the
transverse force is due to the normal force of the grips.
r
r
a
m
F
∑
=
∑
=
a
m
F
a
a
)
(
sin
2
r
r
m
mg
F
r

=

)
2
(
cos
r
r
m
mg
F
+
=

What next?
Equations of motion –
write them out.
)
2
cos(
5
.
0
1
t
r
π

=
)
2
sin(
2
.
0
5
.
0
t

=
)
2
sin(
5
.
0
)
2
(
t
r
=
)
2
cos(
5
.
0
)
2
(
2
t
r
=
)
2
sin(
2
.
0
)
2
(
2
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 Spring '05
 staff

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