III. Kinematic Analysis and Synthesis - PU

In this section, I go over how I conducted my kinematic analysis. This was an important step in the build process as it gave me insight into the motion and function of my mechanism before I test it in the real world. This not only saves me time but also decreases the chance of me messing up. In this analysis, I went over positional, velocity, and acceleration analysis. I then created a program in Matlab to help me visualize these equations. 

Mobility

M = 3(L-1) - 2J1 - J2 

M = 3(6-1) - 2(7) - 0 = 1 DOF

Position Analysis

Velocity Analysis

Acceleration Analysis

Animation

Below I included an image of my animation that is based upon the kinematic calculations and analysis that I did.

https://drive.google.com/file/d/1OeUTmAFTuR2VJ0bySHtBA0RB173Dtj7K/view?usp=sharing

I made the plots below in Matlab. Tracking different metrics in relation to the input angle.