Design a fourbar linkage to carry the bolt in Figure P5-
Question and Solution
Design a fourbar linkage to carry the bolt in Figure P5-7 from positions 1 to 2 to 3 without regard for the fixed pivots
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Design a fourbar linkage to carry the bolt in Figure P5-7 from positions 1 to 2 to 3 without regard for the fixed pivots shown. The bolt is fed into the gripper in the z direction (into the paper). The gripper grabs the bolt, and your linkage moves it to position 3 to be inserted into the hole. A second degree of freedom within the gripper assembly (not shown) pushes the bolt into the hole. The moving pivots should be on, or close to, the gripper assembly, and the fixed pivots should be on the base. Use the free choices given below. Given: Coordinates of the points P1 , P2 and P3 with respect to P1: P1x ?? 0.0 P1y ?? 0.0 P2x ?? 99.0 P2y ?? 13.0 P3x ?? 111.3 P3y ?? ?151.8 Angles made by the body in positions 1, 2 and 3: ?P1 ?? 272.3?deg ?P2 ?? 301.7?deg ?P3 ?? 270.0?deg Free choices for the WZ dyad : ?? ?? 70?deg ?? ?? 140?deg Free choices for the US dyad : ?? ?? ?5?deg ?? ?? ?49?deg
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