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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) Obtain the Jacobian matrix using Vector product method,
A Boeing 747 is flying at M = 0.7 at an altitude where the temperature is 223.15 K. The density is 0.41268 kg/m3, and the pressure is 26429.7 Pa. The pressure coefficient on a point of the wing is -2. a) Calculate V0. b) Calculate the pressure (in Pa..
a heat pump uses a 100000 gallon swimming pool as a heat source in the winter. when the heat pump is running at full
an air-standard dual cycle has a compression ratio of 18 and a cutoff ratio of 1.1. the pressure ratio during
a gate with a circular cross section is held close by a lever 1 m long attached to a buoyant cylinder. the cylinder is
h2o as saturated liquidvapor mixture enters a counterflow heat exchanger operating at steady state at 0.7 bar with a
the lower yield point for an iron that has an average grain diameter of 5 x10-2 mm is 135 mpa 19500 psi. at a grain
Starting with the differential form of the Cauchy equation, derive a differential equation for the kinetic energy, k = 1/(2*u^2) , of a moving fluid.
refrigerant r-134a enters a 1 cm constant diameter tube at 400 kpa and 30 degree c. the refrigerant leaves the tube at
your job is to create a design of Rankine cycle that create the most possible power from this heat source . you may use any working fluid for which you can find the properties , assume the turbines 92% efficient and pumps 85%
refrigerant 134a enters the expansion valve of a refrigeration systems at a pressure of 1.0mpa and a temperature of 34
find (a) the power rating of the electric heater and (b) the temperature rise that the air experiences each time it passes through the heater.
a long jumper approaches his takeoff board a with a horizontal velocity of 30 ftsec. determine the vertical component
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