Question

c) In order to assemble two parts together, one part must be pushed into the other with a force of 15-lb in the y-axis direction, 8-lb in the z-direction, and be turned with a torque of 5 lb.in along the x-axis direction. The object's location relative to the base frame of a robot is described by To Assuming that the two parts must be aligned together for this purpose, find the necessary forces and moments that the robot must apply to the part relative to its hand frame. [O -0.707 0.707 3] 0 5 0.707 4 1 RTo= C 0 0.707 0 0 1 (10 marks)

Answer 1

Given that Dala- Tarces in y-Diveclim Tarces in -Diseckm sLb then F(o 1s 8 and toque in x-Disecin St6-in (5D D)T 6-in 0-t07 OTo 2 5 O 0-107 teto Trem the albove malxwe wte T (oI0) 1 o-704 0 (o.To7 3 S) and J K FP 3 S4 -IsitIsi-30 k ound (F P) 30 K 20it19 (o I5 (o X 1026

AE = 0 F (-00 0)(O ) 3.3S06 a F HF7 T (0-704 0 070) O Is 8) 3-3516 Ound tma (o10) (201+1sj-31k) |メS1 Lims my = (-07 0 0707) (2oi+-s0) (0.101X20 - 0.101 xo) 35-35b-in (FxP)tm) Co.t07 0 0) (201t1sj-3-ト) 1ma a 0.707メ20 -30x0.407 (4.14-21.2 7.076-1n The necexany Fores and momanG thal the Pobot iust apply tthe pant lave t 9/ fuames ane

HfA 3 535 Lb Hm 1S lb-in u!-9158 -7.276in