Question marks$]$

Figure Q$1-1$: An excavator boom mechanism featuring rotational joints and linear hydraulic actuators

$($a$)$ For the excavator boom mechanism shown in Figure Q$1-1$:

$($i$)$ Identify and number each link and joint, and determine the

$[2$ marks$]$

joint types $($e$.$g$.$ jl or $j_2$ joints$)$

$($ii$)$ Compute the Kutzbach mobility and explain what its yalue

$[3$ marks$]$

implies for this mechanism and the control of motion.

Figure Q$1-2$: A $2-$bar slider linkage

$($b$)$ Figure Q$1-2$ shows a $2-$bar slider linkage with the initial point coordinates. The initial driver angle is $=45.$ For this mechanism:

$($i$)$ Label all links and joints, and determine the Kutzbach

$[2$ manks$]$

mobility

$($ii$)$ Compute the link lengths

$[1$ marks$]$

$($iii$)$ Use loop closure equations to determine the coordinates of

$[$s marks$]$

point C$,$ given that the driver angle $$ is set to $95.$

$($question continues on next page$)$

PTO

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