1. What are the three steps of the kinematic analysis? 3. What are the three ana
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Question
1. What are the three steps of the kinematic analysis?
3. What are the three analytical techniques covered in class and what are the limitations of each?
4. Chace’s solution requires that the closure equation be written in a certain way; why? Is it always possible to formulate a 2D case so it can be solved using the Chace’s technique?
5. Which Chace’s case is each one of the following mechanisms (i.e. case 1, case 2, case 3, or case 4)?
1. What are the three steps of the kinematic analysis? 2. What form of equation is used to determine the position unknowns? How many vectors can this equation include? How many unknowns can it be solved for in the 2D case? 3. What are the three analytical techniques covered in class and what are the limitations of each? 4, Chace's solution requires that the closure equation be written in a certain way; why? Is it always possible to formulate a 2D case so it can be solved using the Chace's technique? 5. Which Chace's case is each one of the following mechanisms e. case 1, case 2, case 3, or case 4)? Mechanism#2: Input is link#2 Mechanism#1: Input is link Connecting Mechanism#3: Input is link#2 Mechanism#4: Input is link#2 6. What is the basic idea of Newton's Raphson technique? When is it used? What are its limitations?Explanation / Answer
Answer
2. One of methods used in position analysis is the vector closure equation method.
It will include vectors representing the linkages. That means the number of vectors will be equal to the number of linkages. If the length of the linkages are known,
The number of scalar unknowns that can be solved = number of scalar equations + degree of freedom of the system.
3. Analytical techniques used in kinematic analysis and their limitations are
a. Trigonometric method: suitable to find out the position of linkages, but becomes very complex in case of velocity and acceleration
b. Complex number method: the main problem is the difficulty in solving the equations formed, especially when the number of linkage are more than four
c. Chase method: requires the formulation of loop closure equation in a certain way.
4. Chace formulation requires the loop closure equation in a certain way because it involves elimination of one of the unknowns to retain only one in each equation by taking product of vectors
5. Case1: the direction and magnitude of the same vector are unknown
Case2: the magnitude of two different vectors is unknown
Case 3: the magnitude of one vector and direction of another vector are unknown
Case 4: Directions of two different vectors are unknown
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