Question: Please derive equations of dynamics using Lagrange method for three link manipulator depicted in Figure 3. Link 1 is fixed. Please assume that both

Please derive equations of dynamics using Lagrange method for three link manipulator depicted in Figure 3.

Please derive equations of dynamics using Lagrange method for three link manipulator depicted in Figure 3. Link 1 is fixed. Please assume that both moving links can be modeled as uniform slender rods of length I and mass m. Please include appropriate moment of inertia. Ignore friction and other internal forces. fh a. What are the generalized coordinates? b. What is the total kinetic energy of the system? c. What is the potential energy of the system? d. What are the equations of dynamics? To= = 112 TOV 1/2 + 9 h Figure 3. Links 2 and 3 of the Stanford Manipulator

Step by Step Solution

There are 3 Steps involved in it

1 Expert Approved Answer

Step: 1 Unlock

Steps Step 1 of 2 Problem Please derive equations of dynamics using Lagrange method for three link manipulator depicted in Figure 3 Link 1 is fixed Pl... View full answer

Question Has Been Solved by an Expert!

Get step-by-step solutions from verified subject matter experts

Step: 2 Unlock

Step: 3 Unlock

Students Have Also Explored These Related Accounting Questions!

Compute the selling price of 10%, 10-year bonds with a par value of $290,000 and semiannual interest payments. The annual market rate for these bonds is 12%. Cash Flow $290,000 par (maturity) value...

Two products, LB and NH, emerge from a joint process. Product LB has been allocated $14,300 of the total joint costs of $35,000. A total of 2,100 units of product LB are produced from the joint...

A skateboarder with his board can be modeled as a particle of mass 76.0 kg, located at his center of mass (which we will study in Chapter 9). As in Figure P8.67, the skateboarder starts from rest in...

Ne consider an investment problem with 3 risky assets. You are given that - The expected return rate of these three risky assets are r1=0.08,r2=0.13 and r3=0.16 repsectively. - The variances of...

JUST WRITE THE EQUATIONS OF MOTION PLEASE Name Due Tuesday, December 1 0 , by midnight. Problem 1 . ( 1 0 0 points ) Perform modal analysis by using two approaches that we learned in the class: i )...

Find the least squares line through the points: (-3. 3). (-1. 2). (0-1). (1. -l) and (3.4) In class: Find the Least Squares line through the population data: (it may simplifyr things to consider 1950...

Calculus 3 (Math-UA-123) Fall 2016 Homework 6 Due: Thursday, October 27 at the start of class Please give complete, well-written solutions to the following exercises. 1. Consider the function f (x,...

(1) Problem - A bowl of height ro has the shape of a circular paraboloid with equation: z(r) = r/ro. The bowl spins anticlockwise with angular speed decreasing with time t as o(t) = 00 exp(-1/to)...

Math 400 Assignment #3 -- Numerical Integration and Differentiation 1. For the function g x e x 2 2 Due: 6am April 09, 2016 use the centered difference formula with h 101 , 102 , , 1020 to create a...

My assignment .0 3. Consider an economy where there are two agents, indexed by i = 1, 2, living for one period. Let s E {A. B) denote the state of the world for this period. Ex-ante, each state has...

Assume that an economy can produce either 300 tonnes of coffee and no rubber or 100 tonnes of rubber and no coffee. You may further assume that this 3:1 coffee/rubber ratio is constant. Draw a...

Partners I. Jand K share profits and losses equally. On March 31, 2020, the partners voted to liquidate the partnership when its assets. iabifies, and capital were as follows: Cash Note receivable...

Use an appropriate test to determine whether the following series converges. k = 1 4 k 2 5 2 k E . The series converges by the Integral Test. The value of int ^ ( oo ) ( sqrt ( 4 x ^ ( 2 ) 5 ) ) / (...

Tiffany Hopkinson established and ran a small workshop that manufactured original design quality jewelry. What began as a hobby for sale in craft shows grew into a small online business. Later, it...

Why to work in deloitte as a fresh graduate in external auditing (interview question)

Why to work as a auditor in deloitte ( for fresh graduate)

A circular window of 30 cm diameter in a submarine can withstand a maximum force of 5.20 * 10^5 N. What is the maximum depth in a lake to which the submarine can go without damaging the window?

Maya and her family took a boat tour to see crocodiles while vacationing in Australia. The boat goes 8 miles per hour in still water. The current of the river is 2 miles per hour. The trip downstream...

A for-profit entity with a social mission is called aC-CorporationS-CorporationNonprofit CorporationB-Corporation

While preparing Massie Miller's 2012 Schedule A, you review the following list of possible charitable deductions provided by Massie: Cash contribution to a family whose house burned...

In 2012, Margaret and John Murphy are married taxpayers who file a joint tax return with AGl of $25,000. During the year they incurred the following expenses: Hospitalization insurance...

Steve Drake sells a rental house on January 1, 2012, and receives $130,000 cash and a note for $55,000 at 10 percent interest. The purchaser also assumes the mortgage on the property of $45,000....

4. The bulges in the cerebral cortex are called _______ . The grooves between them are called _______ .

2. What term means toward the side, away from the midline, and what is its oppositepg99

5. Sensory nerves enter which side of the spinal cord, dorsal or ventralpg99