Computer Programming Skills MathCad Solution by DF Sozinando Student at the

Vaal University of Technology

With the cylindrical part P of weight 1500-N in its grip, the robotic arm pivots about O through the range
45 - s 45 s with the angle at A locked at 120. Determine and plot (as a function of ) the moment at O due to
the combined effects of the weight of part P, the 600-N weight of member OA (mass center at G
1
), and the 250-N
weight of member AB ( mass center at G
2
). The end grip is included as a part of member AB. The lengths L
1
and
L
2
are 900 mm and 600 mm, respectively. What is the maxumum value of M
o
and at what value of does this
maximum occur ?
L
1
900mm := L
2
600mm := W 1500N := W
1
600N := W
2
250N := 120deg :=
M
o_1
W
1
L
1
, ,
( )
L
1
2
cos ( )
0
0
|

\
|
|
|
|
|
.
0
W
1
0
|

\
|
|
|
|
.
:=
M
o_2
W
2
L
1
, L
2
, ,
( )
L
1
cos ( )
L
2
2
cos 180deg - - ( ) +
|

\
|
|
.
0
0

(
(
(
(
(

0
W
2
0
|

\
|
|
|
|
.
:=
M
o_3
W
2
L
1
, L
2
, ,
( )
L
1
cos ( ) L
2
cos 180deg - - ( ) +
0
0
|

\
|
|
|
|
.
0
W
0
|

\
|
|
|
.
:=
Computer Programming Skills MathCad Solution by DF Sozinando Student at the
Vaal University of Technology
M
o
W
1
W
2
, L
1
, L
2
, ,
( )
M
o_1
W
1
L
1
, ,
( )
M
o_2
W
2
L
1
, L
2
, ,
( )
+ M
o_3
W
2
L
1
, L
2
, ,
( )
+ :=
M
o
W
1
W
2
, L
1
, L
2
, ,
( )
simplify
0
0
15000 N mm 65 cos 60 deg - ( ) 123 cos ( ) + ( )

(
(
(

For Maximum moment

M
d
d
0 =

M
o
W
1
W
2
, L
1
, L
2
, ,
( )
d
d
simplify
0
0
15000 N mm 65 sin 60 deg - ( ) 123 sin ( ) - ( )

(
(
(

1 deg :=
Given
15000 N mm 65 sin 60 deg - ( ) 123 sin ( ) - ( ) 0 =
Find ( ) := 19.9 deg =
M
o_max
M
o
W
1
W
2
, L
1
, L
2
, ,
( )
:= M
o_max
2480.63 N m =
For plot
M
o

p
( )
15000 N mm 65 cos 60 deg
p
-
( )
123 cos
p
( )
+
( )
:=
40 - 20 - 0 20 40
0
1000
2000
M
o

p
( )
N m

p
deg