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The mobility of this system can be represented using Gruebler's Equation: M = 3(6-1) - 2*7 = 1 DOF.
Design Process and CAD
Since I had easy access to a 3D printer, these linkages are made of PLA. The assembly is shown below
The most challenging part of this assembly is assembling the slider mechanism. To constrain the aluminum extrusion block, I used a 3D printed part that has 3 bearing wheels with wheel profiles that matched the cross section face of the aluminum extrusion. This provides a low-friction assembly that constrained the aluminum block to only allow for movement vertically.
Kinematic Analysis and Synthesis
The following graphs show the position, velocity, and acceleration for the linkages in this system with the
Kinematic Plots of Slider
Kinematic Plots of Linkage 5
Kinematic Plots of Linkage 4
Kinematic Plots of Linkage 3
The following animation is provided to show simulated movement
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