Answered: 600 mm 160 N Bo 40° 600 mm 150 mm 160 N…

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

Section: Chapter Questions

Problem 1.1MA

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Question

Consider the robotic arm shown below, made up of individual arms ?B and ?C. The weight of
the arms AB and ?C are each 160 N, and the resultant weight force is shown to act through each
arm’s center of gravity as shown. You may assume that the center of gravity is occurring along the
midpoint of each arm’s length. The robotic arm is picking up a package that weighs 40 N, and the
40 N weight force acts through the package’s center of gravity at the location shown.

a) A servomotor at point B is exerting a torque value to resist the rotation induced
by the weight force of the robotic arm BC and the weight force of the 40 N package.
Calculate the required torque at point B necessary to resist the moment caused by the
robotic arm BC and the 40 N package. Indicate the direction of the required torque (↺ or
↻). Report your answer in N-m.
b) A servomotor at point C is exerting a torque value to resist the rotation induced
by the weight force of the 40 N package. Calculate the required torque at point C necessary
to resist the moment caused by the 40 N package. Indicate the direction of the required
torque (↺ or ↻). Report your answer in N-m.
c) Consider the 3 servomotors at A, B, and C. Explain which servomotor is
subjected to the largest demand and justify your explanation.
d) Consider the 3 servomotors at A, B, and C. Explain how you might adjust the
capacity at each location where a servomotor is located such that larger weight forces might
be allowable (e.g., enabling the robotic arm to pick up a 140 N package).

-600 mm
160 N
Bo
40°
-600 mm
160 N
150
mm
C
20°
40 N

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