ME172 Quiz 3 - Quiz 3 with answer PDF

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Quiz 3 with answer...

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ME 172 Quiz #3 Answers On Homework #8 Name ____________________________________

Score _______10 points_________

1. What steps taken to derive Eq. (2) from Eq. (1) below? (5 points)   A R B Q A  ( A   A R B Q) VQ  A VBO rg  BAR B VQ  A  B B B B B

(1)

Ci  i vi  i i i PCi  i i ( i  i i PCi )

(2)

A

i

B By rotating (1) by A R , setting {i}={B}, Ω=ω, Q=iPCi, and iViOrg=0

(Or by setting {A}={B}={i}, Ω=ω, iQ=iPCi, and iViOrg=0.) i

2. Evaluate Ni in the below when

 I xxi  Ii  0   0

Ci

0 I yyi 0

0   0 and i i  i i Zˆ i  I zzi 

(5 points) i

k   0   0  i j       Ni  I i  i   i  I i  i  0  0 0 i    0      I zzii  0 0 I zzii  I zzii  Ci

i

i

Ci

i

3. Using the equations below, evaluate the link velocities and accelerations for the first link of a tube-link R-R robot in Fig. 1. Assume that all masses are assignable to the ends of the links as a point mass (i.e., zero weight distribution) (0 points. The Answer in Textbook Page 178.) Note that



 1  0 0 1

1



T

1

PC 1  l1 Xˆ 1  l1

0 0

T

0

0  gYˆ0  l1 0 g

 1  01 R0  0  1 1 Zˆ1

1

1

 1  01R 0  0  01R 0  0  1 1Zˆ 1  1 1Zˆ 1

m2 L2

1 01R[ 0 0 0 P1  0 0 ( 0  0  0 P1 )  0 0 ]

1

C 1 1  1 1P1  11  ( 1 11 PC 1 ) 11

1

1

F1  m1 11

1

N 1 C1I 1 11  11 C 1I 111

L1

m1

0

T

;...