Problem 3 For the pin-jointed fourbar linkage shown below, the input link is AB, the output link is ED and the coupler link is BD. Link AB has a constant angular velocity of 20 rad/s CCW. At the position shown, a) determine the Grashof condition and Barker classification b) draw the vector loop and put clearly the global coordinate system c) find the input angle 62and the output angle 04 d) find the angular velocity of link ED and link BD. -3 in.- 5 in. -5 in. -3 in.- B G Ꭰ E 4 in.

Determine the number of instant center and locate all of them using IC Circle method. You may use a software to visualize the motion of the linkage. With a Variable 0 = 45. Block 3 slides along link 2. Q1A = 12 inch, Q2D = 2 Linch, Q2C = 1 2 inch, BC = 3-inch, 8 16 AB = 2 inch, Q1Q2 = 2 2 inch 2 4 1 Q1 Q2 A B.

5. The figure shows a scaled kinematic diagram of a linkage. The velocity magnitude of joint A is 10 in/s and its direction is as shown in the figure. Find the velocity magnitude of joint B using the instant center method. AC= 1.95" AD = 2.0" V42 DE = 1.1" BD = 0.9" BE = 1.9" A B 3 2 C (3.35", 0.3") E Rectangular Snip 1.0"-

A general fourbar linkage configuration and its notation are shown in Figure below. The link lengths, coupler point location, and the values of 02 and w2 for the same fourbar linkages as used for position analysis in Chapter 4 are redefined in Table below. For the row c, draw the linkage to scale and Using an analytical method calculate w3 and w4 and find the velocity of point P. find the velocities of the pin joints A and. RPA Y B 4 03 04 02 1 02 FIGURE P6-1 Configuration and terminology for the pin-jointed fourbar linkage of Problems 6-4 to 6-5 TABLE P6-1 Data for Problems 6-4 to 6-5† Row Link 1 Link 2 Link 3 Link 4 02 Rpa 83 02 a 2 7 9. 30 10 30 7 9. 8 85 -12 9 25 3 10 8 45 -15 10 80

A general fourbar linkage configuration and its notation are shown in Figure below. The link lengths, coupler point location, and the values of 02 and w2 for the same fourbar linkages as used for position analysis in Chapter 4 are redefined in Table below. For the row c, draw the linkage to scale and Using an analytical method calculate w3 and w4 and find the velocity of point P. find the velocities of the pin joints A and. RPA AY 2 04 02 04 FIGURE P6-1 Configuration and terminology for the pin-Jointed fourbar linkage of Problems 6-4 to 6-5 TABLE P6-1 Data for Problems 6-4 to 6-5† Row Link 1 Link 2 Link 3 Link 4 02 02 Rpa 83 6. 2 7 30 10 6. 30 b. 9 3 8 85 -12 9. 25 10 6. 8 45 -15 10 80 O73

Find the velocity of point B and angular velocity in link 3 using relative analysis and polygon method. Note the drawing is not in scale. B 02 @2=1 rad/s 2 30° A 1 3 4 04 02A=4" AB=7" 0204-=9" 04B=8"

Evaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to determine 1. Linear velocity and 2. Angular velocity NOTE: for JOINT 3 ( 03 ) only Connected to robot Figure 2: Wrist assembly The known position and orientation of the end of the arm point is. [-C,S2C3 + S1S3 C;S2S3 +S1C3 |-S;S2C3 – C,S3 S,S2S3 + C,C3 -C2S3 C,C2 S,C2 S2 °T3=°T;'T2?T3= C2C3 [G 0 S, 0 S, 0 -G 0 °T 1 0 0 1 -S2 0 C, 0° C2 0 S, 0 'T2 1 1 [C3 -S3 0 07 S3 C3 0 0 2T3= 1 0 0 0 1 00010 II

Assignment 2 Determine the angular acceleration of links 3 and 4 given that L1 = 10 mm, L2 = 5 mm, L3 3 mm, sin(02) = 3/5, w2 = 1 rad/sec and a, = 1 rad /sec?. = 6 mm, L4 = You must • start by performing position analysis and focusing on open configuration • Use analytical method for all of your calculations Rp P AY 3 B y 4 A 03 2 02 X 1 02 04

The figure below shows an offset slider crank linkage. The links lengths are: link2 = a= 100 mm and link3 = b = 600 mm. The offset is c = 190 mm. we need to : 1. determine the maximum horizontal position of the slider B (dmax) and the corresponding input angle 02 2. determine the minimum horizontal position of the slider B (dmin) and the corresponding input angle 02 Y 03 y В R3 R4 R, 04 R2 02 d ► X R1 The maximum horizontal position of the slider is dmax = Choose... + The input angle 02 corresponding to dmax , in degree and measured CCW from X axis, is = Choose... + The minimum horizontal position of the slider is dmin = Choose... + The input angle 02 corresponding to dmin , in degree and measured CcW from X axis, is = Choose.. +

EXAMPLE TL ROBOT - In a TL robot, assume that the origin of global coordinate system is at J2 · Determine the coordinate of the ef point if the joint twist by an angle of 30 degrees and the variable length is Im. · Determine the variable link length and angle twist if the ef is located at (0.7071,0.7071) J2(X2. Y2) Ean + (x, y) Jq(X1, Y1)