Solution:
B
O
(b)
(a)
y
A
B
O
(c)
x
x
A
B
x
x
(d)
Solution 1(2)
2.
As shown in Fig. P1.8, a robot is moving on the floor with two links AB and BC both
rotating about the pin A and B, respectively. If a fixed reference O-xy is defined as shown,
AB = BC = l, and and are measured from the positive x direction counterclockwise as
positive. Write the expressions of
(a)
(b)
(c)
(d)
Solution:
l
x
B
O
Fig. P1.8
y
rA
B
x
(a) rA x A i y A j
A
l
rA = r ( cos t i sin t j )
v A = r ( sin t i cos t j )
a A = r 2 ( cos t i sin t j )
(c) Derive the velocity and acceleration of point B if r is very
small compared with l ( r<<l ).
xB = r cos t + l 2 r 2 sin 2 t
2
r
= r cos t +l 1 sin 2 t
l
2
1r
= r cos t +l [1 sin 2 t ]
2l
1r
vB = r [ sin t + sin 2t ]
2l
r
aB = r 2 [ cos t + cos 2t ]
l
B
x
Solution 1(4)
r 8t 2 i (t 3 5) j
where the magnitude is in meter, and t in second. Determine the magnitudes of particles
velocity and acceleration when t = 3 s. Also determine the equation y = f(x) of the path. (H1266)
Answer: 55.1, 24.1 y= (0.125x)3/2 + 5