3.38 A single link of a robot arm is shown in Figure P3.38. The arm mass is m and its center of mass is located a distance L from the joint, which is driven by a motor torque T through two pairs of spur gears. We model the arm as a pendulum with a concentrated mass m. Thus, we take the arm's moment of inertial to be zero. The gear ratios are N₁ = 2 (the motor shaft has the greater speed) and N₂ = 1.5 (the shaft connected to the link has the slower speed). Obtain the equation of motion in terms of the angle 0, with T, as the input. Neglect the shaft inertias relative to the other inertias. The given values for the motor and gear inertias are 1m = 0.05 kg-m² IG, = 0.025 kg-m² IG₂ = 0.1 kg-m² IG, = 0.025 kg-m² IG₁ = 0.08 kg-m² Tmf Im The values for the link are Gears Motor 10₂ IGA IG 10₁ m = 10 kg Arm A m L = 0.3 m

3.38 A single link of a robot arm is shown in Figure P3.38. The arm mass is m and its center of mass is located a distance L from the joint, which is driven by a motor torque T through two pairs of spur gears. We model the arm as a pendulum with a concentrated mass m. Thus, we take the arm's moment of inertial to be zero. The gear ratios are N₁ = 2 (the motor shaft has the greater speed) and N₂ = 1.5 (the shaft connected to the link has the slower speed). Obtain the equation of motion in terms of the angle 0, with T, as the input. Neglect the shaft inertias relative to the other inertias. The given values for the motor and gear inertias are 1m = 0.05 kg-m² IG, = 0.025 kg-m² IG₂ = 0.1 kg-m² IG, = 0.025 kg-m² IG₁ = 0.08 kg-m² Tmf Im The values for the link are Gears Motor 10₂ IGA IG 10₁ m = 10 kg Arm A m L = 0.3 m

Principles of Heat Transfer (Activate Learning with these NEW titles from Engineering!)

8th Edition

ISBN:9781305387102

Author:Kreith, Frank; Manglik, Raj M.

Publisher:Kreith, Frank; Manglik, Raj M.

Chapter3: Transient Heat Conduction

Section: Chapter Questions

Problem 3.37P

See similar textbooks

Similar questions

For the double slider mechanism shown in the following figure, the crank OA rotates at a uniform speed of 100 rad/s CW. we need to find the required torque for the crank, if two forces act at sliders B and C as shown in the figure. (P = 2KN, Q = 1KN). OA = 30 cm, AB = AC = 100 cm. mB = mC = 1 Kg. Neglect other links weights. The velocity of slip of slider B in m/s2 = Answer 1 Choose... The velocity of slip of slider C in m/s2 = Answer 2 Choose... The acceleration of slip of slider B in m/s2 = Answer 3 Choose... The acceleration of slip of slider C in m/s2 = Answer 4 Choose... The magnitude of required torque for the crank in N.m = Answer 5 Choose...
MECHANICAL VIBRATIONS The system shown in Fig. P3.3 consists of a uniform rod which has length 1, mass m, and mass moment of inertia about its mass center 1. The rod is supported by two springs which have stiffness coefficients ky and k2, as shown in the figure. Determine the system differential equation of motion for small oscillations. Determine also the system natural frequency.
During a bicep curl on a bicep curl machine, I'm curling a weight stack of 100 pounds (single arm...I'm jacked like that). At this very moment, the weight stack has a moment arm of 0.12m, my elbow has an angle of 63deg, my muscle force vector has an angle of 23deg, and it attaches 3cm below my elbow joint on my radius. How much force must my bicep create right at this moment to hold the weight stack in place?
A rock is thrown horizontally off a 100 m high-rise building as shown in Figure Q4(a). It lands 95 m away. At what speed was it thrown?
Take the mass of the block is M(kilogram=Newton-second2/meter), the spring constant is K(Newton/meter), the coefficient of viscous friction is fv(Newton-second/meter), distance takenin time is x(t)(meter) and force used in the system is f(t)(Newton). Write the transfer functionsfor figure 1.1, and figure 1.2.Solve only this--> Accept that the M=2 kg, K=1 N/m, fv=1 N-s/m and find the transfer function according to thosevalues.
how many degrees of freedom in this system and how do they arise?
show your solution how you get the solutionsubject:Dynamics of Rigid bodies
A rotating mechanical system and free body diagrams for this system are given below.The torque vector denoted by number 3 in the free body diagram of J1Which of the following could it be?
For the double slider mechanism shown in the following figure, the crank OA rotates at a uniform speed of 24 rad/s ccw. we need to find the required torque for the crank, if two forces act at sliders B and C as shown in the figure. (P = 4 kN, Q = 2 kN). OA = 10 cm, AB = AC = 70 cm. mg = mc = 5 Kg. Neglect other links weights. (5) (2) (3) B (4) (6) C 45° X. The velocity of slip of slider B in m/s² = Choose.. + The velocity of slip of slider C in m/s? = Choose... + The acceleration of slip of slider B in m/s² = Choose.. + The acceleration of slip of slider C in m/s² = Choose.. + The magnitude of required torque for the crank in N.m = Choose..
(system dynamics and control) q2 is given in image q3) ?
For the rotational mechanical system shown, find the transfer function Ɵ1(s)/T(s) and Ɵ2(s)/T(s).
If a disk (radius R) is subjected to two tangential forces of equal value and accelerates initially, but then reaches a constant angular velocity how would you represent the torque acting upon the center of the desk?