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MidTerm
L62A
Spring
ZOLL
PART ll solve
the following problems
as instructed.
open text book
and open lecture notes.
(35 points
total) Problem
1:
The figure below shows a
mechanism used in production
line to turn
overcartons.
ThedriverarmisL5in.
longand,attheinstantshown,itisinclinedat60oasshown.
The
follower arm is
16 in. long. The distance between
the pins on the
carriage is 7 in, and pins
are currently
in verticalalignment.
Cnrriarc
L
+
\.
..
'7tt
1
'h
\
I
I
ii
o
15"
lfi''
Follower arm
\:
l'
't
I
ljrr\''ur

\,
an]l
\
NOT TO
SCALE
Using complex algebra method and applying
the conventions
covered in the
class to the mechanism
shown in the current orientation, solve for the rotational position
of the follower arm and the distance
between the pin joints
that ground
the driver and the follower
arms in the following steps:
(a)
(4 points)
ln the space below, draw
the
R
vectors corresponding to the configuration
in the
figure above. (Vectors
need not beto
exactscale). Clearly indicate rotationalangles
(0,s)
following the convention
discussed in
class.
r!
\..,,; .

V
g_Oa
Rv+:ci;t,*tt,?"irlii
j
'\\
t';rb
#,
5tl
A
,,Y+
2fr
I
Fln
"6
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(c)
(b)
(3 points) Write the loop closure equation first in vector form and then in complex polar form.
Leave the equations in the generalform in terms of 0r,02,03 and 0a and lengths t1, t2,r3and ra.
E*+ila'=Fo*
+
K"p
,f'rt'*r'fiii:i
*4
R=*Fu'=
FuHt
li'
:1i.:,r1"ri;r
Pl,}fii'
}
frgio'
*
q€Je+
= \",g\'r+,.f,*
eleq
t0
i0
i
j
giir
6,
(10 points) Separate out the real and imaginary parts. Now substitute the actual values of
knownrotationalanglesandlengthsandsolvefortheunknowns,i.e.,rotationalpositionofthe
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 Spring '08
 GLENN

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