91962_06_s16_p0513-0640 6/8/09 2:14 PM Page 530

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16–26. Rotation of the robotic arm occurs due to linear

movement of the hydraulic cylinders A and B. If this motion
causes the gear at D to rotate clockwise at 5 rad>s, determine 4 ft
the magnitude of velocity and acceleration of the part C 2 ft
held by the grips of the arm.

45⬚
C
Motion of Part C: Since the shaft that turns the robot’s arm is attached to gear D,
then the angular velocity of the robot’s arm vR = vD = 5.00 rad>s. The distance of
part C from the rotating shaft is rC = 4 cos 45° + 2 sin 45° = 4.243 ft. The
magnitude of the velocity of part C can be determined using Eq. 16–8. D
B 3 ft
yC = vR rC = 5.00(4.243) = 21.2 ft>s Ans.

The tangential and normal components of the acceleration of part C can be A

determined using Eqs. 16–11 and 16–12 respectively.

at = arC = 0

an = v2R rC = A 5.002 B (4.243) = 106.07 ft>s2

The magnitude of the acceleration of point C is

aC = 2a2t + a2n = 202 + 106.072 = 106 ft>s2 Ans.

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