The end effector of the SCARA robot of Prob. 10.24 is working against a force loading of
Question:
The end effector of the SCARA robot of Prob. 10.24 is working against a force loading of 10ˆi1 +
5tkˆ 1 lb and a constant torque loading of 25kˆ 1 in ·
lb as it follows the trajectory described in Prob.
10.30. Find the torques required at the actuators, as functions of time, to achieve the motion described.
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Related Book For 
Theory Of Machines And Mechanisms
ISBN: 9780190264482,9780190264536
5th Edition
Authors: John J. Uicker Jr, Gordon R. Pennock, Joseph E. Shigley
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