Unformatted text preview: t
Given:
shown, theArm ABhorizontal, arm ABat point A. A fblock5that iswith the AB at B is constrained
slot is is pinned to ground is at angle o ! = 3.13° pinned to
to slide
horizontalwithin a slot ft. a disk. The disk is rotating about a shaft at O with a constant rate of
and d = 0.5 on
ωdisk . At the instant shown, the slot is horizontal. Find: At Find: At this position, determine the angular velocity angular
this position, determine the angular velocity and and angular acceleration of arm AB. Write
acceleration of arm AB. Write your answers as vectors.
your answers as vectors.
" B O d
L ! A Use the following parameters in your analysis: ωdisk = 10rad/sec (CW), θ = 53.13◦ , L = 3f t and
d = 0.5f t. Problem III28
Given: A robotic manipulator is made up of two links OA and ADB as shown in the
figure below left. Link OA has a fixed length of L = 4 ft, and the length link
III30
ADB is increasing at a cChapter rIII: Moving Reference Frame Kinematics links
onstant ate of 6 ft/sec. The orientation angles of Homework
OA and ADB are increasing at constant rates of d!/dt = 2 rad/sec and d"/dt =
3 rad/sec, respectively.
Problem III.28
Given: A robotic manipulator is made up of two links OA and ADBaas shown0°, the ﬁgure below
Find:
For the position shown below right with b = 3 ft, ! = 0 nd " = 9 in
˙
left. Link OA etermine the acceleration ofthe lengthnlink ADB is changing at a constant rate of b.
d has a ﬁxed length of L, and point B o the manipulator.
Find: For In solving this problem, use an observer that is attached ,to AD and with acceleration of
HINT: the position shown below right with θ = 0 and φ = 90◦ determine the a set of
point B on coordinate axes also attached to AD.
the manipulator. x
x
B
B b y D " L
O ! D A
O 90° y
A ˙
˙
Use the following parameters in your analysis: b = 3f t, b = 6f t/sec = constant, θ = 2rad/sec =
˙
constant, φ = 3rad/sec = constant and L = 4f t....
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 Spring '09
 Cartesian Coordinate System, Acceleration, Angular velocity, Velocity

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