Problem 7: a 3-phase stepping motor is to be used to drive a linear axis for a robot. the motor output shaft will be connected to a screw thread with a screw pitch of 1 mm. we want to be able to have a spatial control of at least 0.05 mm. a) how many poles should the motor have? (5 points) b) how many pulses are needed from the controller every second to move the linear axis at a rate of 90 mm/sec? (5 points)

The force on a cutting tool are 2600n vertically downward and 2100 horizontal. determine the resultant force acting on the tool and the angle at which it acts.

Which of the following components of a pid controlled accumulates the error over time and responds to system error after the error has been accumulated? a)- proportional b)- derivative c)- integral d)- on/off.

Refrigerant-134a enters the compressor of a refrigerator as superheated vapor at 0.14 mpa and -10°c at a rate of 0.05 ka/s and leaves at 0.8 mpa and 50°c. the refrigerant is cooied in the condenser to 0.72 mpa and 26'c. it is then throttled to 0.15 mpa. sketch the t-s diagram for the system and evaluate: 6) the rate of heat removai from the refrigerated space (kw), it) the power input to the compressor (kw), ii) the isentropic efficiency of the compressor (%), and iv) the cop of the refrigerator.