Assume you have a 1U cubesat, which has a total mass of 2kg. It has one reaction wheel to control its orientation around its nadir pointing axis. The mass of the reaction wheel is 200g. The wheel itself has a diameter of 30mm and a thickness of 10mm. You may ignore any translational motion for the time being. (a) Write down the kinematic and dynamic equations of the system and compute all relevant constant values. (b) Where do you want to mount your wheel? Make a drawing and a qualitative argument.

Q.1 Using graphical synthesis, design a mechanism of a car wiper that is 50cm long and capable of wiping 120° motions between the two extreme positions of the wiper with quick return mechanism that have time ratio of 1:1.5.

Design a scotch yoke mechanism that can produce a linear displacement of XX cm. a) Sketch your mechanism with appropriate dimensions. b) Calculate the time taken to move from one end to another end, if the input link rotates at 30 rpm. c) Using complex algebra method, estimate the sliding acceleration of the output link when the input link rotates uniformly at 30 rpm CCW

Define rectillinear translation motion.

diagram, F, is the input force exerted on the cart by the voltage applied to the motor, m, is the mass of the cart. The encoder is used to keep track of the position of the cart on the track. Cart Encoder Mater March 7, 2023 Track X Figure 5: Free body diagram of the cart (ignoring friction) Using Figure 5 and basic Newtonian dynamics you can derive the equations governing the system. 3.3 Motor Dynamics The input to your system is actually a voltage to the cart's motor. Thus, you need to derive the dynamics of the system that converts the input voltage to the foren exertal on the cart. These are the dynamics of the motor. Figure 6 shows a diagram of the electrical components of the motor. Figure 6: Clasic armature circuit of a standard DC motor For this derivation of the motor dynamics we assume the following: • We disregard the motor inductance: IR, so we can use the approximation 0. • Perfect efficiency of the motor and gearbox: -- 1. The torque generated by the motor is proportional…

For the mechanism shown below;i) Show variables on the figure,ii) Determine the space scale, ks=?iii) Write vector loop closure equation(s) by using complex numbers,iv) Solve the vector loop equation in order to determine the relative position ofpiston at point D with respect to point B when 2=60o.

Four masses A, B, C and D as shown below are to be completely balanced. Find the followings: v The axial distance between the planes of rotation of B and C(mm) v The magnitude and angular position of mass of Mp{Kg) v The angle between mass A and D (LAOD-7degree) A B. D 80 Mp Mass (kg) Radius 125 150 100 (mem) 50 60 200 120 A B 115mm

ll b) Obtain the mathematical model of the system shown in Figure Q2b using Newton's second law of motion, F=ma. k₁ w 3- 777777 C1 7771 k₂ D 7777 Figure: Q2b Page 2 of 7 A C2 1112

Obtain the kinematics of the mechanism indicating the variables, inputs and unknowns.

Determine the manipulator linear and angular velocity for the 3-DOF articulated armusing Jacobian modelling