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Problem 12-154

This document describes a problem analyzing the velocity and acceleration of an object held by an industrial robotic arm moving along a limacon path. It provides: 1) The analytical solution calculating the radial and transverse components of velocity and acceleration at a given instant using polar coordinate equations. 2) The ADAMS model of the robotic arm consisting of two linked joints to model the limacon path and generate graphs of the tangential and radial velocity and acceleration. 3) The analytical solution matches the results from the ADAMS simulation of the robotic arm system.

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Anderson Oliveira Dos Santos
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70 views

Problem 12-154

This document describes a problem analyzing the velocity and acceleration of an object held by an industrial robotic arm moving along a limacon path. It provides: 1) The analytical solution calculating the radial and transverse components of velocity and acceleration at a given instant using polar coordinate equations. 2) The ADAMS model of the robotic arm consisting of two linked joints to model the limacon path and generate graphs of the tangential and radial velocity and acceleration. 3) The analytical solution matches the results from the ADAMS simulation of the robotic arm system.

Uploaded by

Anderson Oliveira Dos Santos
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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25/10/2022 16:16 Problem 12-154

Problem 12-154
 
Problem Because of telescopic action, the end of the industrial robotic arm extends along the path of the
Description limacon r = (1 + 0.5 cos(theta))m. At the instant theta = Pi/4, the arm has an angular rotation
dtheta/dt = 0.6 rad/s which is increased at a rate of d2theta/dt2 = 0.25 rad/s2. Determine the
Analytical radial and transverse components of the velocity and acceleration of the object A held in its grip
Solution at this instant.
ADAMS
Solution

ADAMS
Model File

 
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problems

See the system in motion


Analytical We use polar coordinates r and theta to describe the motion of A.
Solution
In polar coordinates, the expressions for the velocity and acceleration are:
Problem
Description (1) v = dr/dt er + rdtheta/dt etheta
ADAMS
Solution (2) a = [d2r/dt2 - r(dtheta/dt)2]er + [rd2theta/dt2 + 2 dr/dt dtheta/dt]etheta

ADAMS
Model File Since theta and its derivatives at the instant theta = Pi/4 are given, we only have to find the
expression for dr/dt and d2r/dt2 and these we get from the equation of the Limacon.
 
Back to table of
problems dr/dt = dr/dtheta dtheta/dt = -Sin(theta) dtheta/dt

  Taking derivative of the expression above.

d2r/dt2 = -cos(theta) (dtheta/dt)2 - sin(theta) d2theta/dt2

Substituting the values into equations (1) and (2) gives


v = [0.6 (-0.5sin(Pi/4))]er + [(1 + 0.5cos(Pi/4))(Pi/4)]etheta

v = -0.212 er + 1.063 etheta

a = [-0.5(0.6)2cos(Pi/4) + 0.25(-0.5)sin(Pi/4) - (0.6)2(1 + 0.5cos(Pi/4))]er + [0.25(1 + 0.5cos(Pi/4))


+ 2.062(-0.5sin(Pi/4))]etheta

a = -0.703er + 0.0841etheta

ADAMS Solution
Problem
Description

Analytical
Solution

https://wps.prenhall.com/wps/media/objects/3076/3149958/studypak/adams/Chapter_12/Problem_12_154/problem_12_154.htm 1/2
25/10/2022 16:16 Problem 12-154
ADAMS
Model File

 
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problems

The ADAMS model of the robot consists of two links that are inter-connected by a translational
joint. The base link is connected to ground through a hinge joint. To obtain the equation of the
Limacon, we define the Limacon equation as the relation between the translational and rotational
joint motion.

The graphs below show the tangential and radial velocity and the tangential and radial
acceleration of point A. 

Watch the animated results

https://wps.prenhall.com/wps/media/objects/3076/3149958/studypak/adams/Chapter_12/Problem_12_154/problem_12_154.htm 2/2

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