21/05/2018 Mechanism and Robot Kinematics - - Unit 10 - Week 8

https://onlinecourses.nptel.ac.in/noc18_me18/unit?unit=12&assessment=106 1/8

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Unit 10 - Week 8

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Prerequisites

Week 1

Week 2

Week 3

Week 4

Week 5

Week 6

Week 7

Week 8

Lecture 36:Force Analysis– I

Lecture 37:Force Analysis– II

Lecture 38:Coordinatetransformation –I

Lecture 39:Coordinatetransformation –II

Lecture 40:Coordinatetransformation –III

Week 8 :Lecture Material

Solved Example

Quiz :Assignment 8

Due on 2018-04-04, 23:59 IST.

1 point1)

1 point2)

Assignment 8The due date for submitting this assignment has passed.

Submitted assignment

For the car-lifting mechanism shown, L = 2b = 2 m, and θ = 300. If the weightof the car being lifted is 20 kN, then find the force exerted on the piston in kN.

28.7 kN 32.1 kN 35.6 kN 42.9 kN

No, the answer is incorrect. Score: 0

Accepted Answers:42.9 kN

The operating pressure (p) inside the cylinder is 1 MPa, cross-sectional area(Ap) of the piston is 8000 mm2, length of the crank (r) is 100 mm, and length of the

connecting rod (l) is 200 mm. For θ = 60o, find the amount of torque (τ) required to be

21/05/2018 Mechanism and Robot Kinematics - - Unit 10 - Week 8

https://onlinecourses.nptel.ac.in/noc18_me18/unit?unit=12&assessment=106 2/8

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Assignment 8Solution

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1 point3)

applied at point O on the crank to resist its rotation.

765.23 N.m (Counter clockwise) 884.97 N.m (Counter clockwise) 1024.5 N.m (Counter clockwise) 1178.4 N.m (Counter clockwise)

No, the answer is incorrect. Score: 0

Accepted Answers:884.97 N.m (Counter clockwise)

In the configuration of the 4R mechanism, points C, A and D are collinear withCA=2 cm, AB=5 cm, BD=4 cm, CD=6 cm. A 5 Nm torque (τC) is applied on link CA atpoint C to rotate it in CCW direction. Calculate the torque (τD) required to be exerted onlink BD at point D in CCW direction to prevent its motion.

5 Nm 8 Nm 10 Nm 12.5 Nm

No, the answer is incorrect. Score: 0

Accepted Answers:10 Nm

21/05/2018 Mechanism and Robot Kinematics - - Unit 10 - Week 8

https://onlinecourses.nptel.ac.in/noc18_me18/unit?unit=12&assessment=106 3/8

1 point4)

1 point5)

1 point6)

A force of 50 N (F) is applied at point B in a direction perpendicular to link OBwhose length is 50 mm. Find the torque to be applied at point C on the slotted link inCCW direction to resist its rotation.

1.06 Nm (Counter clockwise) 1.43 Nm (Counter clockwise) 2.14 Nm (Counter clockwise) 3.8 Nm (Counter clockwise)

No, the answer is incorrect. Score: 0

Accepted Answers:1.06 Nm (Counter clockwise)

For the given crimping tool with l2 = 3 cm, l3 = 4 cm, l4 = 6 cm, a = 10 cm, b =

4 cm, the difference between the angular orientation of link 2 and link 3 is 10o, and that forlink 4 and link 3 is 80o. Find the output force (FO) generated, if the input force (FI) is 10N.

150.42 N 214.7 N 283.6 N 387.1 N

No, the answer is incorrect. Score: 0

Accepted Answers:283.6 N

The upper jaw D of the toggle press slides with negligible frictional resistancealong the fixed vertical column. Determine the required force F on the handle to produce a

21/05/2018 Mechanism and Robot Kinematics - - Unit 10 - Week 8

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1 point7)

compression force of 500 N on the roller at point E with θ = 60o.

200 N 250 N 300 N 450 N

No, the answer is incorrect. Score: 0

Accepted Answers:200 N

For the serial robotic manipulator with l1 = l2 = 3 cm, θ1 = 30o, θ2 = 45o, findthe resisting torques (τ1 and τ2) required to be applied at the revolute joints to resist motion

when the end effector supports a weight of 100 N( = 100 N).F̄O j^

21/05/2018 Mechanism and Robot Kinematics - - Unit 10 - Week 8

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1 point8)

τ1 = -182.64 N-cm, τ2 = -42.78 N-cm. τ1 = 197.44 N-cm, τ2 = 2.01 N-cm. τ1 = 254.32 N-cm, τ2 = 24.6 N-cm. τ1 = 337.45 N-cm, τ2 = 77.65 N-cm.

No, the answer is incorrect. Score: 0

Accepted Answers:τ1 = 337.45 N-cm, τ2 = 77.65 N-cm.

For the RR serial robotic manipulator (with l1 = 5 cm, l2 = 4 cm, θ1 = 40o, θ2 =

25o), find the element 12 (1st row 2nd column) of the transformation matrix 0T2.

21/05/2018 Mechanism and Robot Kinematics - - Unit 10 - Week 8

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1 point9)

0.91 -0.91 0.42 -0.42

No, the answer is incorrect. Score: 0

Accepted Answers:-0.91

For the RP robotic manipulator (with l1 = 3 cm, s = 2 cm, θ = 60o, α = 30o),

find the element 23 (2nd row 3rd column) of the transformation matrix 0T2.

3.6 3.9

7.2

8.5

No, the answer is incorrect. Score: 0

21/05/2018 Mechanism and Robot Kinematics - - Unit 10 - Week 8

https://onlinecourses.nptel.ac.in/noc18_me18/unit?unit=12&assessment=106 7/8

1 point10)

Accepted Answers:3.6

Vector AB is expressed as in X1OY1 coordinate system ( being unitvector in X1 direction in X1OY1 coordinate system) which is obtained by translating the

coordinate system XOY from O to O1 and then rotating by an angle θ=30o in CCWdirection. The coordinates of point O1 in XOY coordinate system is given by (4,6).Express vector AB in XOY coordinate system using the concept of homogeneoustransformation.

No, the answer is incorrect. Score: 0

Accepted Answers:

3i^1 i

^1

6.6 + 7.5i^0 j

^0

3i^0

2.6 + 1.5i^0 j

^0

1.73 + 1.73i^0 j

^0

2.6 + 1.5i^0 j

^0

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21/05/2018 Mechanism and Robot Kinematics - - Unit 10 - Week 8

https://onlinecourses.nptel.ac.in/noc18_me18/unit?unit=12&assessment=106 8/8

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