Question

Crank #2 provides input for this compound mechanism. Assume the complete kinematic solution is available for position, 1st & 2nd Order Kinematic Coefficients across the complete range of motion of the mechanism. Assume known masses (m2 - m6) for all links, and approximate the primary links as slender rods. Also assume rotational inertias are provided for blocks #3 & #6 about their respective pin joints. Neglecting friction, formulate the necessary system of dynamic constraints (show in matrix form) in order to answer the following questions. 1. Determine the driving torque T2 necessary to sustain a constant speed input w2 when a constant applied, horizontal load L acting through the pin on block #6. 2. Determine the net reaction forces at each joint.

          Crank #2 provides input for this compound
mechanism. Assume the complete kinematic
solution is available for position, 1st & 2nd
Order Kinematic Coefficients across the
complete range of motion of the mechanism.
Assume known masses (m2 - m6) for all links,
and approximate the primary links as slender
rods. Also assume rotational inertias are
provided for blocks #3 & #6 about their
respective pin joints. Neglecting friction,
formulate the necessary system of dynamic
constraints (show in matrix form) in order to
answer the following questions.
1. Determine the driving torque T2 necessary
to sustain a constant speed input w2 when a
constant applied, horizontal load L acting
through the pin on block #6.
2. Determine the net reaction forces at each
joint.

Crank #2 provides input for this compound
mechanism. Assume the complete kinematic
solution is available for position, 1st 2nd
Order Kinematic Coefficients across the
complete range of motion of the mechanism.
Assume known masses (m2 - m6) for all links,
and approximate the primary links as slender
rods. Also assume rotational inertias are
provided for blocks #3 #6 about their
respective pin joints. Neglecting friction,
formulate the necessary system of dynamic
constraints (show in matrix form) in order to
answer the following questions.
1. Determine the driving torque T2 necessary
to sustain a constant speed input w2 when a
constant applied, horizontal load L acting
through the pin on block #6.
2. Determine the net reaction forces at each
joint.

Added by Jessica B.

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