Team 17 - 3) Kinematic Analysis and Synthesis
Animation of linkage operation in the full range:
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Degree of Freedom:
L = 6, j1 = 7 --> DoF = 3*(6-1) - 2*7 = 1
Position analysis:
To get the position analysis for the whole linkage, we need to analyze the 4-bar mechanism within it first:
After we got 𝜃3 and 𝜃4, we can solve the vector loop equation for the 6-bar mechanism:
Plot position of joints with full 360° motion of input with Matlab:
Plot position of joints with actual motion we are doing (𝜃2 = 40~230):
Velocity analysis:
To get the velocity analysis of the whole linkage, we also need to analyze the 4-bar mechanism within it first:
After we got ⍵3 and ⍵4, we can solve the vector loop equation for the 6-bar mechanism:
Plot angular velocity with full 360° motion of input:
Plot angular velocity with actual motion we are doing:
Plot velocity of end effector with full 360° motion of input:
Plot velocity of end effector with actual motion we are doing:
