To get the upper green follower motion, we can form the 5 bar linkage problem:
Link 5 motion is known from the analysis I have done in Part 1. Link 2 and Link 5 motions are thus inputs representing 2 DOF so we can solve this 5 bar mechanism.
We are interested ultimately in the motion of link 4, where the flap which connects with the robot leg is located above B and moves with Link 4.
The results are:
The velocity close to 0 angle has the largest magnitude, which represents the backward returning motion of the leg due to the coin pulling it back.
Animation (Positions): Green point is the flap/leg that sits directly above the joint B. We see a flat ellipsoid like motion only because of assumption of no compliance between link 5 and link 4 (The paper model link 4 doesn't falls but rather keep an angle around 80 degrees with respect to link 5)
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Another video that summarizes the motion of both green followers to see if consistent with the cam motion.
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