313 pinned to to slide horizontalwithin a slot ft a

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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 III-28 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 III-30 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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This document was uploaded on 01/20/2014.

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