MENG 371 Test 2 April 22, 1998 Page 2 1) (35) A robotic manipulator has the configuration as shown in the figure. Link a is an extendible / 8 arm of length a, while link b has fixed length b. Develop the vector equations for the position, velocity and acceleration of point c in terms of the link lengths, the joint angles(@, and @2), and 0, their derivatives. For programming purposes, the vector AC is specified (x+j) as well as the | angle 03, as well as the derivatives of cach. a B Write a Matlab script to solve for the link A eae lengths, joint angles and their derivatives. gts, fA 6, i x MENG 371 Test 2 April 22, 1998 Page 3 For the following problem please use complete sentences in your discussion. 3) (10) What is the fundamental law of cam design? What problems are generated if the fundamental law of cam design is not followed? 4) (10) Why is the acceleration measured in actual applicati accel ) Why is th al applications I i which is predicted by the design methods in cam Guign? Srger than the “en “ i 5) (10) Why do you not want to use the curves for the RDFD. profile for the RFD profile?