- Questions & Answers
- Accounting
- Computer Science
- Automata or Computationing
- Computer Architecture
- Computer Graphics and Multimedia Applications
- Computer Network Security
- Data Structures
- Database Management System
- Design and Analysis of Algorithms
- Information Technology
- Linux Environment
- Networking
- Operating System
- Software Engineering
- Big Data
- Android
- iOS
- Matlab

- Economics
- Engineering
- Finance
- Thesis
- Management
- Science/Math
- Statistics
- Writing
- Dissertations
- Essays
- Programming
- Healthcare
- Law

- Log in | Sign up

ME 320 HW #5 Lecture 15 through 18

1. Consider the following four-bar mechanism for guiding a bucket fixed to the coupler link from the position

1 to the position 2. The position loop equation was used to solve the coupler and follower rotation angles,

j and j, at the position 2 of the bucket when the crank rotates CW of j=-12o.

o

o

XXXXXXXXXX

16.8609

j

j

=

=

(1) Validate the coupler (j) and follower rotation (j) angles from the schematics provided below. You

can show those angles in the diagram below.

(2) Calculate the crank torque Tao needed for statically balancing the external force of Fp=(0, -300N)

applied at P1 in bucket position 1 and at P2 in the bucket position 2. Note that j=j=j= at the

initial position 1 and for the position 2 you need to use j and j values provided above for j=-12o.

You can use the portion of the program Statics_StampingMachine_Lec15.m posted under

Lecture 15 to calculate crank torques.

• Submit your Matlab code for calculating torques (No code is needed for plotting four bar

linkages and calculation of j and j):

Crank torque Ta0 for Fp1 at position 1

Crank torque Ta0 for Fp2 at position 2

Bucket Pos 1

Bucket Pos 2

Fp1=(0,-300)N

Fp2=(0,-300)N

-12 deg

Ta0

(Watt II mechanism)

2. The following plot shows initial (dashed line) and final configurations (blue solid lines) of Watt II

mechanism. The initial link parameters are shown below the plot. The final configuration with =90

degrees is shown in solid lines and its associated solution of the position loop equations for the final

configuration is

*

*

XXXXXXXXXX

4-bar (left) : XXXXXXXXXXbar (right) :

XXXXXXXXXX

= = −

= =

(1) Validate the angles * *, , , given in the problem. You can mark those angles in the diagram.

(2) Calculate the static crank torque Tao needed to balance an external force

*

1 PF . You can modify the

Matlab program Statics_Watt_II_Lec16.m.

=90o

ao bo

o*

Tao

FP1*=[0, -200]

3. The following is a planar 4 bar mechanism used for a

ake pad from the released position to the applied

position. When the applied position is reached, a static force of 2 (200,0)PF N= is to be applied at the

displaced point P2. Note that the following is link parameters for the released position:

The following is solution of the loop equation for =40 degrees when the pad is fully applied:

=19.9988deg, =34.9987deg

Calculate the torque Ta0 and x and y components of a static force applied at the pin a2 that balances

the applied force Fp2 in the fully applied

ake pad position. You can modify the program

Statics_StampingMachine_Lec15.m posted under Lecture 15.

a0

0

4. For the following two-link robot arm, three vectors R1, R2, and R3 are used to express the locations of the

mass centers C1 and C2. The values of those vectors are provided for the configuration given below for

1 2 0 = = .

( ) ( )

( ) ( )

( ) ( )

1

1

2

60

1

60

2

30

3

XXXXXXXXXX43

XXXXXXXXXX.43

XXXXXXXXXX.25

ii

ii

ii

R e e i

R e e i

R e e i

++

−

= = = − −

= = =

= = = −

(1) The following expression gives the locations of C1 and C2 in terms of R1, R2, R3, and 1 2, .

Determine the positions of C1 and C2 for 1 2 0 = = .

( )

1

2 1

1 1

XXXXXXXXXXwhere

i

c

i i

c a a

P R e

P P R e P R R e

= −

= − = − +

(Eq 1)

(2) Using the expression for 1CP and 2CP shown in (Eq. 1), determine the velocity of mass centers 1CV

and 2CV for

1 2

1 2

0

1.0 1.0

= =

= =

.

(3) Using the expression for 1CV and 2CV derived in (2), determine the acceleration of mass center 1Ca

and

2Ca for

1 2

1 2

1 2

0

1.0 1.0

2.0 3.0

= =

= =

= =

.

1=60o

2=-30

o

C1

C

2

R1

R

3

R

2

X

Y

a1

5. The following illustrates a planar four-bar mechanism used to guide a wiper blade. The dimensions for the

mechanism and the link dynamics parameters are provided in the diagram.

Relevant m-file in Canvas: Dynamic_Planar_4Bar1_Lec17.m.

(1) Determine the initial crank, coupler, and follower angles, ( and ) using the dimensional data

provided in the above table on the left in the diagram.

(2) Determine R2, R4, and R5 using the data provided in the table in the above diagram for =0o. Note

that R1, R3, and R6 are given in the table.

(3) Assuming that the crank rotates with a constant speed of 2 rad/s CW, follow the steps to calculate

the crank torque Ta0 needed when the crank rotates 180 = − as shown below:

0

Configuration for =-180

o

CG3

CG2

CG1

Configuration for =0

o

Initial configuration (=0)and dimensions for each link

Mass center

a0 b0

0

a0

Mass centers and mechanical parameters for each link

Step 1: Calculate angular velocity , and acceleration , of the coupler and follower for

2180 , 2 rad/s, 0rad/s = − = − = using the approach used in Lecture 8 Kinematics Four-Bar Part-1.

Note that angular positions for the coupler, (=−), and follower, (=−), are given in the above

diagram for 180 = − .

Step 2: Calculate the positions of CG1, CG2, and CG3 for 180 = − . Note that 1 jR can be

determined by either 1 1

i

jR R e

= or 1 1

j j

j j

j

C S

R R

S C

−

=

.

1 1 1

XXXXXXXXXX

3 1 6

i j

CG j

i j i j

CG j j

CG j

P R e R

P W e R e W R

P G R

= − = −

= − = −

= −

Step 3: Calculate the accelerations of CG1, CG2, and CG3 for 180 = − . Refer to the slide 4 of

Lecture 17.

1

2

1 1

2

1 1 1

2

2 3 3

2

3 6 6

i ij j

j j

j j

CG j j j j

CG a j j j j

i W e W e

CG j j

a i R R

a a i R R

a i R R

−

= − +

= − +

= − +

Step 4: Calculate the crank toque needed for 180 = − assuming 0 0bT = and no external force, i.e.

Fp=0. You can use inverse dynamics formulation shown below and modify the m file posted in Lecture

17, Dynamic_Planar_4Bar1_Lec17.m.

0

0

0

1 1 2 2

1

1

XXXXXXXXXX

0

1

6 6 5 5

XXXXXXXXXX

XXXXXXXXXX

XXXXXXXXXX

XXXXXXXXXX

XXXXXXXXXX

XXXXXXXXXX

XXXXXXXXXX

XXXXXXXXXX

XXXXXXXXXX

x

y

j j j j

x

y

j j j j x

y

x

j j j j

a

a

a

y x y x

a

a

y x y x

y x y x

T

F

FR R R R

F

F

R R R R F

F

F

R R R R

− −

− −

− −

− −

− −

1

1

2

2

3

1

1

1

2

2

2

3

3

3 0

1

3

y

CG x

CG y

CG x

CG y

CG x

C

j

j

j

G

y

m

m

I

m

m

I

m

a

a

a

a

I T

F

a

am

=

−

• Note that R6 and R7 in the slide #6 of Lecture 17 are replaced by R5 and R6 since there is no coupler point P1 in

this problem.

• No external forces applied to the coupler points, i.e. Fpx=Fpy=0.

6. The crank motion used in Problem 5 has a constant acceleration. Formulate the crank motion again using

the same boundary conditions by the cubic spline discussed in class.

1

2

1 1

2 2

0sec

1.2sec

( ) 0, ( ) 0

( ) 40deg, ( ) 1.2rad/s

t

t

t t

t t

=

=

= =

= =

(1) Determine the coefficient row vector C.

Answered 1 days AfterApr 09, 2022

Task 6:

Task 3:

Task1:

Task 2:

Task 4

Task 3:

Task1:

Task 2:

Task 4

SOLUTION.PDF## Answer To This Question Is Available To Download

- [10 pts] You are given two datasets ( 1. case1.mat & case2.mat). Each .mat file contains two vectors of data, namely x and y. Both x and y are sampled versions of the same random noise signal. One of...SolvedMay 09, 2022
- A vertical surface of height 1.0 m is at 300 K and is subjected to a uniform upward flow at 1.0 m/s. The fluid is at temperature 1000 K and may be taken as optically thick. Formulate the problem by...SolvedMay 05, 2022
- Two concentric spheres have diameters of 6 cm and 10 cm. The inner one is at a temperatureof 1000 K and the other one at 300 K. Calculate the heat lost by radiation by the inner spherefor the...SolvedMay 05, 2022
- Two circular disks are parallel and directly facing each other. The disks are diffuse, but their emissivities vary with wavelength. The properties are approximated with step functions as shown. The...SolvedMay 05, 2022
- CENTRE FOR BULK SOLIDS AND PARTICULATE TECHNOLOGIES MECH XXXXXXXXXXAssignment 3 – Wall loads and feeder design Alignment with Course Learning Outcomes: This assignment aligns with the following Course...SolvedMay 02, 2022
- Explain briefly the traditional automation pyramid. Why has the classical so called “automation pyramid” have the shape of a pyramid and why could that pose a problem to the implementation of...SolvedMay 01, 2022
- AMME3500 Systems Dynamics and Control Design Project 2 Due: 11:59pm, Friday Week 13 This project asks you to apply the knowledge and tools that have been taught in this course to (1) find and (2)...SolvedApr 28, 2022
- Microsoft Word - AE4132_Final_Project.pdf AE4132 - Finite Element Analysis Spring 2021 Homework 6 1 Project description This project for the class involves writing your own finite element analysis...SolvedApr 16, 2022
- AE4132 - Finite Element Analysis Spring 2022 Homework 2: Rayleigh-Ritz Method Due Friday, February 11th 2022 Problem 1 Consider the bar depicted in Figure 1. 1. Derive the corresponding expression for...SolvedApr 14, 2022
- Why is it so important that you need to know when calculate a bevel gear two (2) different numbers of gear teeth are to be know? (4 marks) 3 b. Find the indexing on the crank handle to turn an angular...SolvedApr 13, 2022

Copy and Paste Your Assignment Here

About Us | Contact Us | Help | Privacy Policy | Revision and Refund Policy | Terms & Conditions | Honor Code

Copyright © 2022. All rights reserved.