5.3 Kinematic Analysis:
Kinematic Analysis
Ideal movement:
The desired movement is at least 1 inch along the y-axis and has a capability of at least 4 inches along the x-axis.
Grashof Classification:
Link S: 3.73[mm] (roughly zero, but there is a small displacement between the B34 joint and O4 joint)
Link L: 130 [mm]
Link P: 117.40[mm]
Link Q: 54.85 [mm]
Since S+L is less than P+Q, rotation is predictable
Guuebler-Kutzbach Equation:
Number of links: L1, L2, L3, L4
Number of full joints: O2, O4, A23,B34
Number of half joints: Zero
Mobility = 3(L-1)-2
= 3(4-1)-2(4)-0
=1 DOF
Cam Mobility = 1 DOF
Our system is made up of both a slider crank mechanism along the x axis, and a cam follower mechanism to achieve the jumping motion in the Y axis. With our specked motor running at 1 rad/s, the slider crank will behave as shown.
The Y motion will be achieved through a cam follower mechanism, though the geometry of the cam has not been finalized. For analysis, we chose to use an example cam with an eccentric circular lobe. This cam produced the following velocity and acceleration graphs when driven at 60 rpm.