1.2 - Kinematic Analysis
Kinematic Analysis
Plots/description of ideal motion/force profiles for the problem statement
Mobility calculation for all systems/subsystems
Kinematic analysis resulting in determination of positions, velocities, and accelerations of all the points and links of interests in full range of operation of the mechanism
The above plot shows the velocity profile of the end effector joint of our chosen linkage both with x and y components as well as the magnitude of the velocity vector. There are two noticeable points at which the velocity is equal to zero, which occurs when the linkage switches directions.
The above plot depicts the acceleration profile of the end effector joint of our chosen linkage with x and y components as well as the magnitude of the acceleration vector.
Force analysis resulting in determination of forces/torques/mechanical advantage of all points and links of interest in full range of operation of the mechanism
The above plot depicts the transmission ratio between the input linkage and output (end effector) linkage. It’s worth noting that the mechanical advantage has vertical asymptotes at points corresponding to the zero velocity points from the velocity analysis. This is not expected to be a problem as the mechanical advantage is not equal to zero at any point in the travel.
The above plot depicts the signed magnitude of the output force at our end effector given the torque specs of the motor we have selected and the transmission ratio throughout the travel. The minimum absolute value of this force is approximately 90N, which is more than enough to support the weight of our robot, showing that the motor we have selected will be sufficient for this project.