Description
Question 1.
A manipulator arm is designed as illustrated by the following figure. It can be
assumed that the mass distributions of the links are insignificant and can be treated as
lumped equivalent masses m1 and m2.
a) Write down the position of masses m1 and m2 in terms of ππ1 and ππ2 referenced
from the given frame. (2 marks)
b) Obtain the velocities v1 and v2 of the mass m1 and m2, respectively. (4 marks)
c) Show that the total kinetic energy of the system, K can be written as
πΎπΎ = 1
2 οΏ½ππ1ππ1
2 + ππ2ππ1
2
οΏ½ππΜ
1
2
+ ππ2ππ1ππ2 cos(ππ2 β ππ1) ππΜ
1ππΜ
2 + 1
2
ππ2ππ2
2
ππΜ
2
2
(4 marks)
d) Obtain the total potential energy of the system. (3 marks)
e) Write down the Lagrangian L. (2 marks)
f) Obtain the equation of motion. (5 marks)