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After setting up our vector loop, we had a three dimensional vector loop equation. We used MATLAB’s symbolic toolbox to get the th1 and c variables in terms of th2. The kinematics analysis was very valuable here, because we were able to explore the feasible range of dimensions for this mechanism. These results were then plugged back into our vector loop equation and used to perform velocity and acceleration analyses for our mechanism.
Based on the results from a study on human hand motion [], we converted the position, velocity, and acceleration data for the hand to angular positions, velocities, and accelerations of an elbow joint, theta 2. These values were then fed into our equations to determine the motion profiles of link R4's rotation (theta 1) and the slider's sliding (c).
We also plotted the X,Y, and Z projections of the Coriolis acceleration for this range of motion:
