5:48 PM Mon May 9 89% 4. (25%) The mechanism in Figure 5 is called a five-bar linkage. Clearly there are only four bars

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5 48 Pm Mon May 9 89 4 25 The Mechanism In Figure 5 Is Called A Five Bar Linkage Clearly There Are Only Four Bars 1 (36.74 KiB) Viewed 71 times

5:48 PM Mon May 9 89% 4. (25%) The mechanism in Figure 5 is called a five-bar linkage. Clearly there are only four bars in the figure, but in the theory of mechanism it is a convention to count ground as an additional linkage, which explains the terminology of so called five-bar linkage. Note that the two lengths markedly are the same. First, make an assumption about the lengths of links 1 and 3 such that the kinematic computation will be greatly simplified. Then answer the following questions: a) What is your assumption about the lengths of links 1 and 3? b) Under what assumption the coordinates of the centres of mass of the various links in terms of generalized coordinates can be expressed as follows: la cose a lasin *212 cos y Y2 lasin Nc3 = le cose + 2 cose Ya - l3sinh + 12 sind, X-4 = h cosch + 4 cos(0, -1) = cos(-1e4cose Yo = sin 6 + 4 sin(0-1) = 1 sind, -14 sind, c) For given and I=1.4. find out the condition under which the mass matrix of the manipulator is diagonal and give the expression of the diagonal mass matrix. (Hint using the definition of the kinetic energy to find out the mass matrix.) Figure 5: A closed-loop five-bar manipulator,