Скачать или смотреть MN5621 Computer Aided Engineering 1 Resit | Synthesis and Dynamic Simulation of a six-bar linkage

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📌Question 1 (55 points):
Given a robot mechanism with the dimensions as shown in separately the attached
figures, answer the following questions 1-7.
Given θ2 (see it in the figure), ω2 = 25 rad/sec, and α2 = 15 rad/sec2, and taking gravity
acceleration as 9.81m/sec2, answer the following questions 1-7.
The mass density is ρ=100000kg/m3, and the link thickness T is 0.005 m. There is an
external force of Fp acts on the link, applied at point p and lp [m].
1) Find the values of θ3, θ4, ω3, ω4, α3, and α4.
2) Find the accelerations of AA (m/sec2), ABA (m/sec2), AB (m/sec2), AC (m/sec2).
3) Find the centre of mass values lg2, lg3, lg4 of links 2, 3, and 4.
4) Find the mass moment of inertia (kg·m2) about the centre of mass of links 2, 3,
and 4.
5) Find the values of Ag2, Ag3, Ag4 (at the centre of mass) of links 2, 3, and 4.
6) Find the force and moment equations for dynamic force analysis on links 2, 3,
and 4, and cast the equations in the matrix form, and find the values for F12 (F12x
and F12y), F32 (F32x and F32y), F43 (F43x and F43y), and F14 (F14x and F14y), at the joints
and the driving torque τ2 [N·m] needed to maintain motion with the given
angular velocity, and acceleration, ω2 = 25 rad/sec and α2 =15 rad/sec2,
respectively, for this instantaneous position of the link (please use MATLAB to
calculate the derived matrix, add all the codes to the assignment, and upload
them on Wiseflow).
7) Find the position of Point P measured with respect to O2.

📌Question 2 (25 points):
For the robot mechanism described in Question 1, simulate it for the case in which the
motion begins with a given crank angle θ2[rad] (find it in the figure), a given crank
angular velocity ω2 = 0 rad/s and a given angular acceleration α2 = 0.45 rad/s2 in link 2.
The matrix equation (matrix form in Question 1) is solved using a MATLAB User
defined function that will take all of the integrator outputs as input arguments (Figure
1).
1) Plot the values of θ2, θ3, and θ4 for the first 2 seconds.
2) Plot the values of ω2, ω3, and ω4 for the first 2 seconds.
3) Plot the values of α2, α3, and α4 for the first 2 seconds.
4) Plot the values of AA AB, and AC at points A, B, and C for the first 2 seconds.
5) Plot the values of Ag2 Ag3, and Ag4 (at the centre of mass) of links 2, 3, and 4 for
the first 2 seconds.
6) Plot F12 (F12x and F12y), F32 (F32x and F32y), F43 (F43x and F43y), and F14 (F14x and F14y),
at the joints and the driving torque τ2 needed to maintain motion for the first 2
seconds.
7) Plot the coupler curve (plot x positions versus y positions) at the point of the
centre of mass at Point P for the first 2 seconds.

📌Question 3 (20 points):
Create links respectively refereeing to the dimensions as shown above, and assemble
them using any Solidworks versions.
1) You need to check whether the assembled mechanism works or not. If
the design of the parts and the assembly are correct, the mechanism will
work when link 2 is rotated by you.
2) Denote almost the same dimensions of the mechanism as
shown above, and save them. You can denote the
dimensions on Assembly design using Smart Dimension tool.
3) In the assignment, you need to put the screen capture
images of your assembly design and Feature Manager
Design Tree as shown below.
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