2.2 - Project Prototype

Kinematic Analysis with Animation

Figure 1: Path Profile Animation with Position, Velocity, and Acceleration

Figure 2: Path Profile with Velocity and Acceleration of Spoon

Figure 3: Equations of Motion Used for Animation and Analysis

Figure 4: Position of Spoon vs Input Angle

Figure 5: Velocity of Spoon vs Input Angle

Figure 6: Acceleration of Spoon vs Input Angle

Figure 7: Velocity Ratio of Spoon vs Input Angle

Figure 8: Mechanical Advantage of Spoon vs Input Angle

We will utilize the following equations to confirm the degrees of freedom in the system as well as the rotation condition:

Gruebler Equation:

M = 3(L-1) - 2*J₁ - J₂

L = Number of Links

J₁ = Number of Full Joints

J₂ = Number of Half Joints

L = 4

J₁ = 4

J₂ = 0

M = 3(4-1) - 2*4 - 0

M = 9 - 8

M = 1 DOF (Rotation about O4)

Grashof Condition:

S + L ? P + Q

S = Shortest Link = 2in

L = Longest Link = 3in

P = Other Link = 2in

Q = Last Link = 3in

Result:

5in = 5in

Therefore, this inverted parallelogram fits the special case class III Grashof Motions. Although it is a special case, this provides the path that we would like our final product to produce. We will have to keep in mind the toggle point at which the motion can be altered. We hope to avoid this with the use of a motor with constant velocity.

Prototype Iterations
- Iteration #1: Cardboard Prototype To Test Measurements and Lengths
- Iteration #2: Wooden Prototype To Test Motion and Path Profile
- Iteration #3: Acrylic Prototype with Spoon to Test Different Materials and Housing for Spoon

Final Physical Prototype

Final Iteration: Acrylic Prototype with Spoon Oriented to Stir

Bill of Materials Draft #1

Prototype BOM

Previous Page: Project Proposal

Next Page: Design Process