In the machine with homogeneous limbs, the L-length 2nd limb is under the effect of Mah...

 

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In the machine with homogeneous limbs, the L-length 2nd limb is under the effect of Mah moment, and limb 4 is under the effect of horizontal F force. q is the main coordinate, and r and x are the auxiliary coordinates, in terms of the given parameters. a) Cycle closure and constraint (link) equations, Jacobian matrix, b) Equivalent inertia and equivalent moment expressions, c) Differential equation of motion, d) Get moment Ma satisfying the condition of smooth motion ( dot q = 0) at q = 90 deg position e) m_{2} = 2 kg, m_{3} = 0.8 kg, m_{4} = 1.6kg L = 2.4m r= 1.5m q = 37 deg, n = 600 rpm, dot q = 0 and F For values of = 100 N, calculate the value of the Mali moment. NOTE: The I's (i=2, 3, 4) are moments of inertia about the axis passing through the center of mass and perpendicular to the plane of motion. ini, Mtah X mL L m₂, 12 m3, 13 In the machine with homogeneous limbs, the L-length 2nd limb is under the effect of Mah moment, and limb 4 is under the effect of horizontal F force. q is the main coordinate, and r and x are the auxiliary coordinates, in terms of the given parameters. a) Cycle closure and constraint (link) equations, Jacobian matrix, b) Equivalent inertia and equivalent moment expressions, c) Differential equation of motion, d) Get moment Ma satisfying the condition of smooth motion ( dot q = 0) at q = 90 deg position e) m_{2} = 2 kg, m_{3} = 0.8 kg, m_{4} = 1.6kg L = 2.4m r= 1.5m q = 37 deg, n = 600 rpm, dot q = 0 and F For values of = 100 N, calculate the value of the Mali moment. NOTE: The I's (i=2, 3, 4) are moments of inertia about the axis passing through the center of mass and perpendicular to the plane of motion. ini, Mtah X mL L m₂, 12 m3, 13