7/23/2019 Supplementary Tutorial 1.

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Supplementary Tutorial 1

1. A robotic manipulator is modelled as a two link linkage as shown below. Determine the

velocity and acceleration of the end effector at the end point P in terms of the link parameters

A and B and also the joint angular velocity and joint angular acceleration.

2. A rigid link BCD is attached to rigid link AB and rigid link CE with pin joints at B and C as

shown in Figure 4. The dimensions of the mechanism are AB = 0.2 m, BC = CE = 0.15 m and

CD = 0.1 m. The pin joints at A and E are supported by the walls. At the instant shown in the

figure, link AB and link CE are found to be parallel to each other and link BCD is normal to link

AB. Moreover, link AB rotates with a constant angular velocity of 2 rad/s clockwise. Determine

1) The angular velocities of link BCD and link CE,

2) The angular acceleration of link BCD,3) The acceleration of point D.