b$)$ Figure below shows the torque$-$speed curve of a DC motor. Find the speed and motor current for the following conditions:

$.$ For the arm robot shown below, if link $1$ weight is about $80$ kg with length $70$ cm $,$ link $2$ has $50$ kg weight with $45$ cm length and gripper's weight is about $10$ kg $.$ Calculate the needed torque for the motor at joint $A,$ its speed and current. $[5$ points$]$

$F_{BA}=784\mathrm{.}8N$

$FBC=490\mathrm{.}5N$

$F_{\text{G}\text{r}\text{e}\text{p}\text{e}\text{r}}=98\mathrm{.}1N$

${}_{a+B}=30$

$$ at $A=45$

Find Total Torque

at ioint $A$

CamScanner

Fig$\mathrm{.}3\mathrm{.}2.$ Torque$-$speed curve of a DC motor

b$)$ Figure below shows the torque$-$speed curve of a DC motor. Find the speed and motor current for the following conditions:

$.$ For the arm robot shown below, if link $1$ weight is about $80$ kg with length $70$ cm $,$ link $2$ has $50$ kg weight with $45$ cm length and gripper's weight is about $10$ kg $.$ Calculate the needed torque for the motor at joint $A,$ its speed and current. $[5$ points$]$

$F_{BA}=784\mathrm{.}8N$

$FBC=490\mathrm{.}5N$

$F_{\text{G}\text{r}\text{e}\text{p}\text{e}\text{r}}=98\mathrm{.}1N$

${}_{a+B}=30$

$$ at $A=45$

Find Total Torque

at ioint $A$

CamScanner