Part A, Baseline MechanismA design team working on a robotic mechanism has been assigned the analysis of part of the mechanism. The part for you to analyse is shown below. This linkage has an actuator at point A that needs to apply a couple at point B of up to 2.5 N m. The angle range at point B is from 20 to 120 degrees. Determine the maximum torque (couple) required of the actuator at point A and the minimum length of rod AC. For the project, plot the results for the length of AD, the force of the collar on AC at D and the required moment at A to keep the mechanism in equilibrium as functions of the angle at B. The approximate solutions with the angle at B equal to 20 degrees are:Length of AD = 78 mmForce of the collar on rod AC at D = 17 NCouple at A = 1.3 N mPart B, Modified MechanismThe lead designer would like to move the actuator at A 100 mm to the left. Analyse the new mechanism with the distance from A to B now modified to 250 mm.Identify and define known information.Draw the Free Body Diagrams of the rods BD and AC as well as the collar at D.Identify the information you need to find.Outline a solution procedure to find the information required.
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