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Engineering · Mechanical Engineering
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Five-bar 2DOF Planar Robot Project 2DOF planar robots have many 2D applications, such as plotting, engraving, handling, etc. For more stability and less vibrations, the two motors can be placed on the frame by increasing the number of links to five. This means that the reference datum of the two motor angles is the frame. Develop a kinematic model of a that 2DOF robot that can trace given paths and jump from point to point in the 2D space. End-effector (x,y) Motor 1 2 Motor Figure 1: Kinematic representation of the 5-bar 2DOF planar robot Project Requirements 1. Calculate mobility index of the mechanism 2. Create a vector closure graph and write the equation. 3. Graphically represent the working space ofthe robot. Note that End-effector cannot reach below bottom frame and the length of all links is equal to 10 4. Select three reachable points and draw robot position at each one. 5. Represent analytically x and y as functions in 01 and 02 (forward kinematic analysis 6. Represent analytically the velocity and aeeeleration of the end effector as functions in 01 and 02 with constant speeds (forward kinematic analysis0 7. Develop an Excel sheet that evaluates end-effector position (x and y), velocity and aeeekeratieh when Both 01 and 02 change simultaneously from 90 to 1200, and the angular speed of each is 1rads in the shown directions. Plot x Vs. y s. Develop a motion study of the robot, showing the two motor angles relationship plot in response to a horizontal motion path of the robot end-effector. Length of the path is 10 and located within robot reach. Develop a motion study of the robot, showing the two motor angles relationship plot in response to 9. moving the robot end-effector over a trace of a circle of a center at (5,10) and a radius of 4

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