(Solved): Two stages planetary transmission is shown in figure. The train contains two arms and two compound ...

Two stages planetary transmission is shown in figure. The train contains two arms and two compound planets. Gear 2 is fixed to the second arm (Arm 2). Arm 1 is free to rotate about the central axis of the system. The brakes \( \boldsymbol{B r} \) is used to adjust \( \omega_{10} \), consequently, the desired output speed \( \omega_{9} \) can be adjusted. Consider the case of full application of \( \boldsymbol{B r}\left(\omega_{10}=0\right) \). The input speed is \( \omega_{2}=1200 \mathrm{rpm} C C W \) as shown. (a) Calculate the number of degrees of freedom of the gear train. (b) Determine the speed of gear 6 (magnitude and sense). (c) Determine the output speed \( \omega_{9} \) (magnitude and sense). (d) The transmission ratio \( i_{29}=\omega_{2} / \omega_{9} \).