b) (4 marks) The links are driven by PMDC motors that are directly-connected (no gearbox). What motor torque is required

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B 4 Marks The Links Are Driven By Pmdc Motors That Are Directly Connected No Gearbox What Motor Torque Is Required 1 (82.27 KiB) Viewed 36 times

b) (4 marks) The links are driven by PMDC motors that are directly-connected (no gearbox). What motor torque is required to achieve an acceleration of -1.5 rad/s² (clockwise) at the lower joint from an initial position of = 45°, ¢ = 90°? (1 mark for a correct free body diagram, 1 mark for correctly writing the equation of motion, 1 mark for the correct inertia, 1 mark for correct answer) The rotor has an inertia of 0.4 kg.m² at the base of the first link. The joint has a static friction torque TF of 0.4 Nm and a dynamic friction torque of 0.3 Nm L₁ L₂ = 1.0 m, m₁ = m₂ = 1.0 kg