The robot shown has five degrees of rotational freedom. The x-y-z axes are attached to
Chapter 7, Problem 7/16(choose chapter or problem)
The robot shown has five degrees of rotational freedom. The x-y-z axes are attached to the base ring, which rotates about the z-axis at the rate 1. The arm O1O2 rotates about the x-axis at the rate 2 The control arm O2A rotates about axis O1-O2 at the rate 3 and about a perpendicular axis through O2 which is momentarily parallel to the x-axis at the rate 4 Finally, the jaws rotate about axis O2-A at the rate 5. The magnitudes of all angular rates are constant. For the configuration shown, determine the magnitude of the total angular velocity of the jaws for 60 and 45 if 1 2 rad/s, 1.5 rad/s, and 3 4 5 0. Also express the angular acceleration of arm O1O2 as a vector.
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