Mechanism Description The Mechanism Shown In Fig 1 Has 6 Links The Geometries Of The Links Are Described In Table 1 1 (44.63 KiB) Viewed 23 times
Mechanism Description The Mechanism Shown In Fig 1 Has 6 Links The Geometries Of The Links Are Described In Table 1 2 (14.82 KiB) Viewed 23 times
Mechanism Description: The mechanism shown in Fig. 1 has 6 links. The geometries of the links are described in Table 1. Pin O₂ is the origin. Links 1a and 1b represent the ground link. Link 2 is driven by a motor operating at a constant 120 RPM CCW. Link 3 is pinned to Links 2 and Link 4. Link 4 is a slider that is grounded to O₂. Link 5 is pinned at B to Link 3 and slides through Link 6, a rotating slider. Link 6 is pinned to Os. The mechanism drives torsional load, T, which acts on Link 6. The load opposes the rotating motion, acting CW on link 6 when Link 6 is rotating CCW and acting CCW when link 6 is rotating CW. The load is zero when Link 6 is stationary. Assume each link to be a thin uniform slender rod except the sliders (Links 4 and 6), which should be modeled. as a rectangular parallelepiped with width of 3 cm and a length along the axis of motion of 6 cm. Table 1: Link Geometry and Mass 0₂ 0₂ Link Number la 2 3 4569 T End Points Length (cm) 04-0₂y O₂-A A-C A-B 0₁ B-D O 06-0₂ D 06 B 5 20 60 21 3WX6L 45 3WX6L (30,-25) Figure 1: Six Bar Mechanism Mass (kg) 2.0 và an 6.0 2.1 5.0 650 4.5 5.0 U 0₂
2. Write the MATLAB code for the mechanism that uses 8₂ as the independent variable. a. For a given input of 8₂, your code should calculate the angular position, angular velocity, and angular acceleration of Link 6. b. Using FBDs, determine the forces on all the links and the motor torque acting on Link 2 that is required to drive the load as a function of 8₂ for the three loading conditions.
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