HW 5 - Ibrahim Ayub

For the 3-DOF Industrial manipulator arm as shown in Figure 3, determine the joint displacements for known position and orientation of the end of the arm point. 0. 0. Y1A Y2 A Y3 X2 X3 21 22 23 Yo xo Figure 3. 3 DOF RRR Industrial manipulator arm The link transformation matrices are given by C3 -S3 0 a3C3 S3 C3 1 C2 -S2 0 a,C2 C1 S1 -S1 -C1 d1 S2 C2 2T3 %3D T2 1 1 1 1 1 S1 C\C2a3+C1a2 C1C2C3 – C1S2S3 -C¡C2S3 – C1S2S3 S,C2C3 – S1S2S3 -SĄC2S3 – S1 S2C3 -C1 SịC2a3+ Sja2 Szaz + d1 1 OT3 = = °T, 'T2 ?T3 S½C3 + C2S3 - S2S3 + C2C3

4. Please explain the difference between Modal and Non-modal Codes. Think about which G-code can be omitted in the following NC program and sign such G-code with bracket. 00001 N10 G20 G40 G49 G54 G80 G90 N20 M06 T03 N30 G43 H03 N40 M03 S2000 N50 G00 X0.5 Y0.5 N60 G00 70.2 N70 G01 Z-0.1 F5.0 N80 G01 X0.5 Y1.5 F10 N90 G01 X0.5 Y1.5

A flange used to connect two pipes is shown in Figure Q3. Holes need to be drilled to fix Drilling should be done in two steps with each step 8 mm. Using absolute coordinate system and the parameters given in the table below, (i) Determine the coordinates of hole H=1 (ii) Determine the shortest distance between hole H=1 and the center (ii) Write a G code program for drilling hole H=1 only. CNC Drilling Operating Conditions Speed of the spindle 1690 RPM Feed rate of drilling 19 mm/minute Size of the drill bit 8 mm Rack number of drill bit Distance kept between the drill bit and the work piece surface 3.5 mm The flange thickness 16 mm H=2 H=3 H=1 B=30° H=4 B A = 60°. angle = 0°. Center (0, 0) Radius = 60 mm %3D

Do 5-2 parts a through e Do not do 5-1 just use instructions from it

4. Consider a batch process of the conveyor oven illustrated in Figure 1. List all input and output process variables involved (binary and continuous), and draw the block diagram for the automation of the conveyor oven temperature and the connection schematic of the programmable logic control interface with process field devices. Motorized circulating fans Airflow (m/s) Electrical heating elements Heater voltage (volt) ww. Thermostat Thermostat ("C) ("C) 111111tt, Cake Cake Cake Cake Cake Cake II Travel direction Screw conveyor Stepping motor Figure 1: Cake conveyor oven.

In the figure below, the location of the tool, WT, is not accurately known. Using force control, the robot feels around with the tool tip until it inserts it into the socket (or Goal) at location T. Once in this "calibration" configuration (in which {G} and {T} are coincident), the position of the robot, T, is figured out by reading the joint angle sensors and computing the kinematics and given below. Assuming T and T are given below, give the transform equation to compute the unknown tool frame, WT. (W) 21

5. The decimal number 37 is equivalent to the binary coded decimal (BCD) number: (a) 00110111 (b) 00100101 (c) 00101111. Test your understanding 2.6 1. Find the decimal equivalent of the octal number 41. 2. Find the octal equivalent of the decimal number 139. 3. Find the binary equivalent of the octal number 537. 4. Find the octal equivalent of the binary number 111001100.

An emergency stop system is to be designed for a certain automatic production machine. A single "start" button is used to turn on the power to the machine at the beginning of the day. In addition, there are three "stop" buttons located at different locations around the machine, any one of which can be pressed to immediately turn off power to the machine. (a) Write the truth table for this system. (b) Write the Boolean logic expression for the system. (c) Construct the logic network diagram for the system. (d) Construct the ladder logic diagram for the system

Frame the three equations and find the constants of the Freudenstein's equation for the given data. A four-bar mechanism is to be designed in a automotive industry to perform automation of packaging. The given input angles and the required output angles are given below. O, is along 03 is 40° greater than 02 Input angle, 0 02 is 30° greater than 01 positive x axis Pi is 20° lesser than P2 Output angle, O P 2 is same as 03 P3 = 02

Find the values of rise time (tr), peak time(tp), settling time(ts) and maximum value from the following figure

In octal (base 8), the 12-bit two's complement of the hexadecimal (base 16) number 2AF16 is? Please show the computation process. Hint: base 16 - base 10 base 2 two's complement of a 12-bit binary string base 10 - base 8

The two axes of an x-y positioning table are each driven by a stepping motor connected to a leadscrew with a 10:1 gear reduction. The number of step angles on each stepping motor is 20. Each leadscrew has a pitch = 5.0 mm and provides an axis range = 300.0 mm. There are 16 bits in each binary register used by the controller to store position data for the two axes. What is the control resolution of each axis? What are the required the rotational speeds and corresponding pulse train frequencies of each stepping motor in order to drive the table at 600 mm/min in a straight line from point (25,25) to point (100,150)? Ignore acceleration.

The link lengths and the value of 2 and offset for some fourbar crank-slide linkages are defined in Table 1. The linkage configuration and terminology are shown in Figure 1. For the rows assigned, find (a) all possible solutions for angle and slider position d by vector loop method. (b) the transmission angle corresponding to angle 83. (Hint: Treat the vector R4 as virtual rocker) Show your work in details: vector loop, vector equations, solution procedure. Table 1 Row a b с offset 02 Link 2 1.4 3 5 A R2 0₂ Link 3 4 8 20 slider axis. R3 Link 3 R₂ d R₁ Figure 1. 0₁ Offset 1 2 -5 С B R4 T 84 X Q2 45° -30° 225°

Q/2: According to figure below, the component is to be faced and then turned, write A typical program for the required moves of CNC Machine: (all units in (mm) and Absolute). Material Aluminium. Row material size 320 60 mm long. 63 48 43 40 28 20 10

Write a G-Code Program for the part given below. 10 20 40 30 R9 R20 R8 11,98 80 Start Re R7 SS

Given the vectors in Figure P1-2, use a scale of 1 inch = 10 units, and determine the following vectors: Figure P1-2 B=10 ; 270⁰ C=15 ; 210⁰ D=12,5 ; 315⁰ E= 7,5 ; 75⁰ F = 10 ; 215⁰ G= 15 ; 100⁰

④ PROBLEM: Based on the Orthographic Projections of the TERMINAL BLOCK draw a full section.

please send handwritten solution Q4 part a b c

NOTE PLEASE SHOW CODE FOR OCTAVE OR MATLABF(t) = 300N

Q3- Design a logic circuit that can compare between two-two bit binary number. Draw the circuit and find it's truth table.

Given a fourbar linkage with the link lengths L1 d 100 mm, L2= a 50 mm, L3= b = 120 mm, L4c-80 mm. For 0₂= 35° and wą - 31 rad/sec (ccw). Find the angle of VBA in degrees to 2 decimal places for the open circuit of the linkage, given s -12.71° and 04-43.51°. Write your angle as a positive number with respect to the x-axis. VBA is the velocity of B with respect to A. This is a general diagram for a fourbar linkage. Not to scale. 032 3 B Open Crossed

Question 2 A rear-window wiper mechanism is shown in Figure 2 below. It's known that the mechanism is a 4-bar mechanism, and the crank angle, 02 is 50°. The actuator is a motor and it's connected to the shortest link. a) Calculate the Degree-of-Freedom (DOF) of the mechanism b) Calculate length z c) Calculate transmission angle, Y d) Calculate limit angle, A04 210 50 80 190 Figure 2

I want you to draw HGL& EGL For the first picture using the same method on the second picture

The ratio of output to input of a system is known as Transfer function. Select one: O True O False Coloct the cinmple cuctom fcom the fellouuing

Q3: Write two G-code programs using the following figure where units are in inches. a. The first program should use absolute positioning, and b. the second program should use incremental positioning. P4 Finish (6, 4) P2 (1, 3) P3 (4.79, 2) P1 Start (-2, 1) Center (2.5, 1) -2

Problem 3: The RPH robot of Figure 3 is shown in its zero position. Determine the end- effector zero position configuration M, and the screw axes S; in {s}. n. F -inta. Sorowo- Zs {s} Xs L₁ ŷs Lo 0₁5 L2 02 {b} zb 103 pitch h = 0.1 m/rad Ấb ŷb L3 Figure 3: An RPH open chain shown at its zero position. All arrows along/about the joint axes are drawn in the positive direction (i.e., in the direction of increasing joint value). The pitch of the screw joint is 0.1 m/rad, i.e., it advances linearly by 0.1 m for every radian rotated. The link lengths are Lo = 4, L₁= 3, L2= 2, and L3= 1 (figure not drawn to scale).

Draw the kinematic Diagram and determine the degree of freedom of the following machines inside the box: 1. DOF: L= J₁ = J₂ =

Evaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to determine 1. Linear velocity and 2. Angular velocity NOTE: for JOINT 3 ( 03 ) only Connected to robot Figure 2: Wrist assembly The known position and orientation of the end of the arm point is. [-C,S2C3 + S1S3 C;S2S3 +S1C3 |-S;S2C3 – C,S3 S,S2S3 + C,C3 -C2S3 C,C2 S,C2 S2 °T3=°T;'T2?T3= C2C3 [G 0 S, 0 S, 0 -G 0 °T 1 0 0 1 -S2 0 C, 0° C2 0 S, 0 'T2 1 1 [C3 -S3 0 07 S3 C3 0 0 2T3= 1 0 0 0 1 00010 II