Consider a 4 link planar robot. The end effector is at point (6,8) in reference frame 3, which is at an angle of 45 degrees fromreference frame 2 and is located at (4,5). Reference frame 2 is rotated 80 degrees from reference frame 1 and is located at (3,2). Reference frame 1 is rotated 30 degrees from reference frame 0 and located at (8,2) in reference frame 0. Find the end effector position in frame 0. Sketch the robot and coordinate systems. Verify your solution using the homogeneous transformation matrix commands in MATLA

Amass of m 1.5 kg of steam is contained in a closed rigid container. initially the pressure and temperature of the steam are: p 1.5 mpa and t 240°c (superheated state), respectively. then the temperature drops to t2= 100°c as the result of heat transfer to the surroundings. determine: a) quality of the steam at the end of the process, b) heat transfer with the surroundings. for: p1.5 mpa and t 240°c: enthalpy of superheated vapour is 2900 kj/kg, specific volume of superheated vapour is 0. 1483 m/kg, while for t 100°c: enthalpy of saturated liquid water is 419kj/kg, specific volume of saturated liquid water is 0.001043m/kg, enthalpy of saturated vapour is 2676 kj/kg, specific volume of saturated vapour is 1.672 m/kg and pressure is 0.1 mpa.

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.

The higher the astm grain-size number, the coarser the grain is. a)-true b)-false