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Y Loi li Power converter 2 1, my Power converter 1 Ref PWM gen Controller Ref a Controller PWM gen Enc m2 Enc 1, 4, 1, Figure: 2-DOF Robotic Arm, and the motor&drivers that actuates the robotic arm.
Questions: 1) Do the kinematic analysis parametrically (use vector loop closure method), and obtain the position and velocity constraints. 2) Derive the acceleration equations by taking the time derivative of these velocity equations. (These equations form the basis of dynamic simulation and express the relationship between the load acceleration and the angular velocities and angular accelerations of the two motors in the joints). 3) The acceleration components at the centre of gravity of the links should be calculated, the inertial forces and moment for each link should be obtained. 4) Free body diagrams of each link should be drawn to derive the dynamical equations. Note: Assume that the end effector is carrying a load. The FBD of the end effector is given as:
F 32x Fras mp p/8 60 mpl is the payload mass.