For the SCARA robot of Prob. 10.24 in the posture described, find the instantaneous velocity Figure P10.26 a12 = a23 = a34 = a45 = 0, α12 = 90◦,

α23 = −90◦, α34 = α45 = 0, θ12 = θ23 = 90◦, θ34 = 0,

θ45 = φ4, s12 = φ1, s23 = φ2, s34 = φ3, and s45 = 50 mm.

and acceleration of the same tool point, x5 = y5 =

0, z5 = 1.5 in, if the actuators have (constant)

velocities of φ˙

1 = 0.20 rad/s, φ˙

2 = −0.35 rad/s, and

φ˙

3 = φ˙

4 = 0.