The robot given in Figure-3 is supposed to be used for pick-place operations. The parameters of...
Fantastic news! We've Found the answer you've been seeking!
Question:
Transcribed Image Text:
The robot given in Figure-3 is supposed to be used for pick-place operations. The parameters of this robot, are given in the table below. Obtain the Lagrange dynamics for this robot in parametric matrix form. 1, m, Parameter Mass of link-1 Mass of link-2 Friction coefficient of joint-1 Friction coefficient of joint-2 Length of link-2 Yo 9₁ Value m₁ m₂ b₁ b₂ 1₂ Figure-3 4 1₂ m₂ 9₂ Ye Parameter Inertia of link-1 Inertia of link-2 Force input of Actuator-1 Torque input of Actuator-2 Value 4 1₂ fi T₂ The robot given in Figure-3 is supposed to be used for pick-place operations. The parameters of this robot, are given in the table below. Obtain the Lagrange dynamics for this robot in parametric matrix form. 1, m, Parameter Mass of link-1 Mass of link-2 Friction coefficient of joint-1 Friction coefficient of joint-2 Length of link-2 Yo 9₁ Value m₁ m₂ b₁ b₂ 1₂ Figure-3 4 1₂ m₂ 9₂ Ye Parameter Inertia of link-1 Inertia of link-2 Force input of Actuator-1 Torque input of Actuator-2 Value 4 1₂ fi T₂
Expert Answer:
Answer rating: 100% (QA)
To obtain the Lagrange dynamics for the given robot in parametric matrix form we need to determine the kinetic energy T and potential energy V of the system and then apply the Lagranges equation to de... View the full answer
Related Book For
Accounting Principles
ISBN: 978-1119048503
7th Canadian Edition Volume 1
Authors: Jerry J. Weygandt, Donald E. Kieso, Paul D. Kimmel, Barbara Trenholm, Valerie Warren, Lori Novak
Posted Date:
Students also viewed these accounting questions
-
The adjusted trial balance for Marine Fishing Centre is as follows: Instructions (a) Prepare an income statement for the year ended March 31, 2017. (b) Prepare a statement of owner's equity. The...
-
7 B 9 D 11 92 The adjusted trial balance for Ally Centre is as follows: a. Prepare closing entries b. Prepare a post-closing trial balance ( 33 34 35 36 37 38 19 40 ALLY CENTRE Adjusted Trial Balance...
-
The adjusted trial balance for Chiara Company as of December 31 follows. Debit Credit $ 234,800 52,000 20,200 172,500 16,000 166,000 Cash Accounts receivable Interest receivable Notes receivable (due...
-
Evaluate Lim- X-0 b) Evaluate Lim t-1 4 3 10x3-8x4+2x3 c) Evaluate Lim 2 2 15x4+3x3-5x 2t +21 +5t+5 t+t-71-7 -4 5m +4m +18m m 6m + 4m-6 If lim [x -f(x)] = 2, use the Rules of Limits to evaluate...
-
The following exercise is about amortizing copyrights and trademarks. 1. Fulton Publishing Company purchased the copyright to a basic computer textbook for $80,000. The usual life of a textbook is...
-
Sports Specialists makes baseballs and softballs in a three-step process. Unfortunately, the sewing machine process has been identified as a bottleneck. Each softball has a contribution margin of...
-
The velocity ratio of third systemof pulleys is _____.
-
On January 1, 2010, the Kobe Construction Company entered into a 3-year contract to build a dam. The original contract price was $21,000,000 and the estimated cost was $19,400,000. The following cost...
-
MACRO In September 2007, country A presents the following data in its population survey active (in thousands of people) total population 7710 Population aged 15 and over outside institutions 6326...
-
Jill has decided that the BackPack Company must have very good customer service. She has asked you to develop a level aggregate plan using inventories but not back orders. All demand must be met each...
-
Webjet acquired Trip Ninja at the end of 2021: 1) Research about the Webjet's acquisition of Trip Ninja. Why would Webjet want to acquire Trip ninja? Discuss. 2) The acquisition price was not...
-
Explain the Brand value for brand ( smart city infrastructure ) Efficiency , sustainable , Innovation , higher economic growth, Community engagement ? and the target market for smart city...
-
The transaction gain or loss in the consolidated financial statements is reported as a foreign currency transition adjustment. In this case, since the transaction gain or loss is negative then it...
-
need help with an assignment in my immigration law class. In your opinion, should Federal Law have sole jurisdiction over Immigration Law? Explain your reasoning.
-
America likes to think its immigration laws are tough. Using citations from the article, present how immigration laws are "modest," and not "tough," as most Americans assume. What role does NAFTA...
-
Write about an example of immigration federalism. Show how Texas is trying to assert control over its border or immigration policy. Or, write about a US immigration law or policy that is affecting...
-
How much of the costs can be included in any provision for restructuring? Rhine plc has decided to restructure its operations. It is estimated that this will cost 5 million, which is made up as...
-
Represent each of the following combination of units in the correct SI form using an appropriate prefix: (a) m/ms, (b) k m, (c) k s /mg, and (d) k m N.
-
Morden Company is trying to determine the value of its ending inventory as at February 28, 2017, the company's year end. The accountant counted everything that was in the warehouse as at February 28,...
-
What are the advantages of first recording transactions in the journal?
-
Nelson Company provides the following information for the month ended October 31, 2017: sales on credit $280,000, cash sales $95,000, sales discounts $5,000, and sales returns and allowances $11,000....
-
One of the main fears that retail startups have is if they will be able to compete against Walmart, Home Depot, and the other big-box stores. This is a legitimate fear. Big-box stores continue to...
-
Influencer marketing is a type of marketing where companies partner with influencers, who have a significant following on social media platforms, to promote their products or services. Influencers...
-
In the summer of 2015, Stephen Kuhl and Kabeer Chopra made their way to Philadelphia to prepare for business school. It was their first semester in the Wharton MBA program. They were both in an...
Study smarter with the SolutionInn App