Problem 1 Robotic manipulators are found throughout manufacturing and assembly plants. A simple robotic manipulator is...
Fantastic news! We've Found the answer you've been seeking!
Question:
Transcribed Image Text:
Problem 1 Robotic manipulators are found throughout manufacturing and assembly plants. A simple robotic manipulator is a 2-dimensional revolute-revolute joint manipulator with an "end-effector," essentially the gripper at the end of the second link. It consists of two links that are connected to each other with revolute (rotational) joints (see Fig. 1). This is a simpler version of the PUMA robot introduced in the homework. Property link length 1, 1 link length 2, 12 angle between horizontal and link 1,0 angle between link 1 and link 2,02 Table 1: Problem 1 Parameters Value 0.5 m 0.25 m sin(t) cos(t) Derive the kinematic equations for the position, velocity, and acceleration of the end effector and plot the following: 1. the position of the end effector as a function of time for 10s; 2. the velocity of the end effector as a function of time for 10 s; and 3. the acceleration of the end effector as a function of time for 10 s. 0, N Fig. 1: The two-dimensional revolute manipulator of problem 1 Problem 1 Robotic manipulators are found throughout manufacturing and assembly plants. A simple robotic manipulator is a 2-dimensional revolute-revolute joint manipulator with an "end-effector," essentially the gripper at the end of the second link. It consists of two links that are connected to each other with revolute (rotational) joints (see Fig. 1). This is a simpler version of the PUMA robot introduced in the homework. Property link length 1, 1 link length 2, 12 angle between horizontal and link 1,0 angle between link 1 and link 2,02 Table 1: Problem 1 Parameters Value 0.5 m 0.25 m sin(t) cos(t) Derive the kinematic equations for the position, velocity, and acceleration of the end effector and plot the following: 1. the position of the end effector as a function of time for 10s; 2. the velocity of the end effector as a function of time for 10 s; and 3. the acceleration of the end effector as a function of time for 10 s. 0, N Fig. 1: The two-dimensional revolute manipulator of problem 1
Expert Answer:
Related Book For
International Marketing And Export Management
ISBN: 9781292016924
8th Edition
Authors: Gerald Albaum , Alexander Josiassen , Edwin Duerr
Posted Date:
Students also viewed these mechanical engineering questions
-
A small coil C with N = 200 turns is mounted on one end of a balance beam and introduced between the poles of an electromagnet as shown in Fig. 3.70. The cross-sectional area of the coil is S = 1.0...
-
A hot-water tank has the form of a circular cylinder of internal radius r, topped by a hemisphere as shown in Figure 2.8. Show that the internal surface area A is given by Find the formula relating...
-
Upon oxidation of one molecule of pyruvate by mitochondria, the number of ATP generated are (a) 38 (b) 30 (c) 8 (d) 15
-
In your opinion, does the Bible support the use of two financial statements (fund-based and government-wide) to report the position and operations of a local government? Is the one financial...
-
After discovering a new gold vein in the Colorado mountains, CTC Mining Corporation must decide whether to go ahead and develop the deposit. The most costeffective method of mining gold is sulfuric...
-
Consider the regression model fit to the baseball data in Table B.22, using team ERA to predict the number of wins. a. Construct a normal probability plot of the residuals. Is there any indication of...
-
The manager at a water park constructed the following frequency distribution to summarize attendance in July andAugust. Attendance ..... Frequency 1,000 up to 1,250 .... 5 1,250 up to 1,500 .... 6...
-
On January 1, 2021, Entity A Company acquired all the assets and assumed all the liabilities of Entity B Company and merged Entity B into Entity A. In exchange for the net assets of Entity B, Entity...
-
For the case The WM. Wrigley Jr. Company: Capital Structure, Valuation, and the Cost of Capital(Darden Case: UVAF1482) please answer the following questions and explain your reasoningwhere...
-
y = Vx 5 Start Over 10 8. 7. 4 3 1 -10 -9 -8 -7 -6 -5 -4 -3 -2 -1 1. 2 4 7. 8 10 -1 -2 -3 -4 -5 -6 -7 -8 -10 in 10
-
What should be your first step in managing supply chain risks? a. Establish processes for managing supply chain risks and assess their workability . b. Communicate your organization's cybersecurity...
-
Suppose that annual interest rates are 5% in the U.S. and 3% in the UK with the 60-day forward rate for the pound at USD1.408/GBP. Then the current spot rate will be at a _______ of ________ to the...
-
Which investment returns a greater future value at time 10; A or B INVESTMENT A return time time 0 OA 234 5 6 7 INVESTMENT B return 8 9 10 0 1 23456 7 8 3% 3% 3% 3% 3% 3% 3% 3% 3% 3% 1% 3% 4% 3% -2%...
-
Henri and Lila own a restaurant which the government has caused to close due to widening the road in front of their establishment. Since this is the main source of their income, and has caused Lila...
-
What does making corrections during the strategy execution process depend on? Analyzing the situation Determining the necessary course of action Putting full responsibility on frontline workers for...
-
Suppose an amount of water with the conditions given Problem3were placed into a pressure cooker with a volume of 1.50 liters. Assuming the remainder of the volume of the pressure cooker is filled...
-
Outline some of the major problems confronting an international advertiser.
-
Although licensing and contracting may appear to be desirable, they have drawbacks. What are the drawbacks?
-
Go to the library and search out print media (i.e., magazine and newspaper) advertising by a company, or one of its products or brands in different countries. Does this company use standardized or...
-
Is use of the Internet appropriate only for large companies? Explain.
-
What is the change in velocity of \((a)\) cart 1 (b) cart 2 in Figure 4.6? (c) What do you notice about your two answers? Figure 4.6 Velocity-versus-time graph for two identical carts before and...
-
(a) Are the accelerations of the motions shown in Figure 4.1 constant? (b) For which surface is the acceleration largest in magnitude? Figure 4.1 Velocity-versus-time graph for a wooden block sliding...
-
The \(x\) component of the final velocity of the standard cart in Figure 4.8 is positive. Can you make it negative by adjusting this cart's initial speed while still keeping the half cart initially...
Study smarter with the SolutionInn App