# Part A, Baseline Mechanism A design team working on a robotic mechanism has been assigned the analysis of part of the mechanism. The part for you to…

Part A, Baseline Mechanism

A design team working on a robotic mechanism has been assigned the analysis of part of the mechanism. The part for you to analyse is shown below. This linkage has an actuator at point A that needs to apply a couple at point B of up to 2.5 N m. The angle range at point B is from 20 to 120 degrees. Determine the maximum torque (couple) required of the actuator at point A and the minimum length of rod AC.

For the project, plot the results for the length of AD, the force of the collar on AC at D and the required moment at A to keep the mechanism in equilibrium as functions of the angle at B. The approximate solutions with the angle at B equal to 20 degrees are:

• Length of AD = 78 mm
• Force of the collar on rod AC at D = 17 N
• Couple at A = 1.3 N m

Part B, Modified Mechanism

The lead designer would like to move the actuator at A 100 mm to the left. Analyse the new mechanism with the distance from A to B now modified to 250 mm.

• Identify and define known information.
• Draw the Free Body Diagrams of the rods BD and AC as well as the collar at D.
• Identify the information you need to find.
• Outline a solution procedure to find the information required.

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