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1. Design a Hoeken straight-line linkage to give minimum error in velocity over 22% of the cycle for a 15-cm-long straight-line motion. Specify all linkage parameters.
2. Design a Hoeken straight-line linkage to give minimum error in straightness over 39% of the cycle for a 20-cm-long straight-line motion. Specify all linkage parameters.
A 3 DOF robot manipulator is shown in Figure 1. a) Give a complete D-H parameter table. b) Give the three A-matrices that correspond to this robot. c) Obtain the forward kinematics equations for this robot. d) Solve the inverse kinematics problem. e)..
a steel plate which is 1.5 m by 1.5 m and 30 mm thick is lifted by four cables attached to its corners that meet at a
Calculate the actual power transmitted to the second pulley and calculate the power which canb itted if the maximum tension in the belt is limited to half of the ultimate strength of the belt.
a two-cylinder 250 cm3 displacement motorcycle engine that operates on an ideal otto cycle at 4500 rpm. the compression
Air with a dry bulb temperature of 38°C and a dew point temperature of 20 °C is at a barometric pressure of 93.1 kPa. Without making use of the psychrometric chart for the given moist air determine the relative humidity
Ammonia enters a valve as saturated liquid at 9 bar and undergoes a throttling process to a pressure of 2 bar. Determine the rate of entropy production per unit mass of ammonia flowing, in kW/(kg·K). If the valve were replaced by a power-recovery tu..
A pitot probe is used to measure the speed of a ground vehicle on the Salt Lake ?ats. It measures 3400 Pa in 28-C air. Estimate its speed assuming:
a feeder heater extracts steam from a turbine at 600kpa and 250c which it combines with 0.3 kgs of liquid at 600 kpa
Use the result of part (a) to determine the volume of the solid object that is made by the revolution of the semicircle area of Figure 2.55(b) about the Y -axis.
air at 1.0 atmosphere pressure and 77 0c enters a 5.0 mm i.d. tube with a bulk average velocity of 2.5 ms. the velocity
A 500-N concrete block is to be lifted by the pair of tongs shown. Determine the smallest allowable value of the coefficient of static friction between the block and the tongs at F and G.
The C150 × 19:3 channel is used as a column with an effective length of 3 m. Determine the largest eccentricity e of the 14.5-kN load for which the maximum tensile stress does not exceed the maximum compressive stress. Use E = 200 GPa.
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