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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,
two well-insulated tanks contain air. initially tank a hold 1.0 lb of air at 1440 r and tank b has 2.0 lb of air at
The following cycle involves 3 kg of air. From 1 to 2 is polytropic compression where P1=150 kPa, T1=360 K, P2=750 kPa, V2=0.54 m^3 and n=1.2 . From 2 to 3 is constant pressure cooling and from 3 to 1 is constant temperature heating. Determine the to..
an ideal gas is heated from 50 c to 80 c a at constant volume and b at constant pressure. for which case do you think
Determine the resulting stress equations for σx, σy and τxy given the Airy's stress function ? = a1x^4 + a2(x^3)y + a3(x^2)(y^2) + a4x(y^3) + a5(y^4), where ai are constants. Also determine, if any, the restrictions between constants.
A uniform bar of length l and weight w is suspended symmetrically by two strings, set up the differential equation of motion for small angular oscillations of the bar about the vertical axis, and determine its period.
a cannonball is fire with initial speed of 1600 ftsec. the cannon recoils and strikes a plate attached to a spring.
write a function that accepts an array a as input and searches the contents of the array for elements in three
a spring-loaded pistoncylinder assembly contains water at 500 c and 3 mpa. the setup is such that pressure is
the need arises in a laboratory for 2000cm3 of an antifreeze consisting of a 30 mole-percent solution methanol in
piston cylinder device contains 0.06 m3 of saturated water vapor at 350 KPa pressure. Determine the temperature and the mass of the vapor in.
Gas in a closed system undergoes the power cycle as shown in the p-v diagram below as described by 1->2 is a constant pressure process, 2-> 3 is a constant volume process and 3 -> 1 is a pV = const. process. The internal energy U1 = U2 = 30 kJ/kg and..
a heat pump that operates on the ideal vapor compression cycle with refrigerant - 134a is used to heat a house. the
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