All 11 Chapters Covered
SOLUTIONS
@LECTJULIESOLUTIONSSTUVIA
,Preface …………………………………………...……………………………………….. 1
Chapter 2 Mathematical Concepts in Kinematics ……………………………………….. 2
Chapter 3 Fundamental Concepts in Kinematics ……………………………………….. 8
Chapter 4 Kinematic Analysis of Planar Mechanisms ....................................................... 19
Chapter 5 Dimensional Synthesis ........................................................................................ 81
Chapter 6 Static Force Analysis of Planar Mechanisms ................................................... 159
Chapter 7 Dynamic Force Analysis of Planar Mechanisms ............................................. 210
Chapter 8 Design & Kinematic Analysis of Gears ............................................................ 288
Chapter 9 Design & Kinematic Analysis of Disk Cams ................................................... 327
Chapter 10 Kinematic Analysis of Spatial Mechanisms .................................................... 364
Chapter 11 Introduction to Robotic Manipulators............................................................. 409
, CONTENTS
@LECTJULIESOLUTIONSSTUVIA
, Problem 2.1 Statement:
Formulate an equation for the vector loop illustrated in Figure P.2.1. Consider that vector
Vj
always lies along the real axis.
Figure P.2.1 Vector loop (3 vectors where changes length) in 2-D complex space
Vj
Problem 2.1 Solution:
Taking the clockwise sum of the vector loop in Figure P.2.1 produces the equation
V e1i 1
V2ei 2
Vj 0.
When expanded and separated into real and imaginary terms, the vector loop equation
becomes
V1 cos 1 V2 cos 2 Vj 0
.
V1 sin 1 V2 sin 2 0
Problem 2.2 Statement:
Formulate an equation for the vector loop illustrated in Figure P.2.2. Consider that vector
Vj
SOLUTIONS
@LECTJULIESOLUTIONSSTUVIA
,Preface …………………………………………...……………………………………….. 1
Chapter 2 Mathematical Concepts in Kinematics ……………………………………….. 2
Chapter 3 Fundamental Concepts in Kinematics ……………………………………….. 8
Chapter 4 Kinematic Analysis of Planar Mechanisms ....................................................... 19
Chapter 5 Dimensional Synthesis ........................................................................................ 81
Chapter 6 Static Force Analysis of Planar Mechanisms ................................................... 159
Chapter 7 Dynamic Force Analysis of Planar Mechanisms ............................................. 210
Chapter 8 Design & Kinematic Analysis of Gears ............................................................ 288
Chapter 9 Design & Kinematic Analysis of Disk Cams ................................................... 327
Chapter 10 Kinematic Analysis of Spatial Mechanisms .................................................... 364
Chapter 11 Introduction to Robotic Manipulators............................................................. 409
, CONTENTS
@LECTJULIESOLUTIONSSTUVIA
, Problem 2.1 Statement:
Formulate an equation for the vector loop illustrated in Figure P.2.1. Consider that vector
Vj
always lies along the real axis.
Figure P.2.1 Vector loop (3 vectors where changes length) in 2-D complex space
Vj
Problem 2.1 Solution:
Taking the clockwise sum of the vector loop in Figure P.2.1 produces the equation
V e1i 1
V2ei 2
Vj 0.
When expanded and separated into real and imaginary terms, the vector loop equation
becomes
V1 cos 1 V2 cos 2 Vj 0
.
V1 sin 1 V2 sin 2 0
Problem 2.2 Statement:
Formulate an equation for the vector loop illustrated in Figure P.2.2. Consider that vector
Vj
