HW_C3_sol_partial_f

# HW_C3_sol_partial_f - Position Analysis 1 3 Position...

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Position Analysis 1 3 Position Analysis Problem 3.3: R-RTR-RRT mechanism The planar R-RTR-RRT mechanism is considered in Fig. P3.3. The driver is the rigid link 1 (the element AB ) and makes an angle ± = ± 1 = ² /6 with the horizontal. The length of the links are AB =0.02 m, BC =0.03 m, and CD =0.06 m. The following dimensions are given: AE =0.05 m and L a =0.02 m. Find the positions of the joints and the angles of the links with the horizontal axis. Solution Position of joint A : A cartesian reference frame xOyz with the unit vectors [ ± ; ² ; k ] is selected. Since joint A is in the origin of the reference system A ± O then x A = y A = 0 : Position of joint E : The the coordinates of joint E are x E = ² AE = ² 0 : 05 m and y E = 0 : Position of joint B : Because the joint A is ±xed and the angle ± is known, the coordinates of joint B are computed with x B = AB cos ± = 0 : 02 cos ²= 6 = 0 : 017 m ; y B = AB sin ± = 0 : 02 sin ²= 6 = 0 : 010 m : Position of joint C : Joints E , B , and C are located on the same straight line, EBC . The slope of this straight line is m = y B ² y E x B ² x E = y C ² y E x C ² x E or 0 : 010 0 : 017 ² ( ² 0 : 05) = y C x C ² ( ² 0 : 05) : (3.1) The length of the link BC

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## This note was uploaded on 12/03/2011 for the course MECH 2120 taught by Professor Gabale,a during the Fall '08 term at Auburn University.

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HW_C3_sol_partial_f - Position Analysis 1 3 Position...

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