The two slider-crank mechanisms in the panda model are analyzed individually as two separate fourbar non-offset inversion #1 slider-crank linkage mechanisms in the XY Plane (2-Dimensional). The two mechanisms are analyzed separately, since it makes it easier to perform the vector loop position, velocity, and acceleration approach analysis on mechanisms that each have one input, one output, and one degree-of-freedom. Thus, we will first perform position, velocity, and acceleration analysis on the fourbar horizontal non-offset inversion #1 slider-crank mechanism that is comprised of four-bar linkages and has one degree of freedom. Then, we will perform position, velocity, and acceleration analysis on the fourbar vertical non-offset inversion #1 slider-crank mechanism. Kinematic still drawings of both slider-crank mechanisms are illustrated in fig.(##) and fig.(##) shown below as reference.
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Fig. ## Kinematic drawing of horizontal slider-crank mechanism (for bamboo stick)Fig. ##
Kinematic drawing of vertical slider-crank mechanism (for lower jaw)
3.1 Given/measured parameters for both slider-crank mechanisms
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The slider acceleration vs input crank angle plot and slider acceleration vs time both shown above, illustrate that as the lower jaw and bamboo stick are at positions displaced between maximum and minimum displacements (48mm and 0 mm) the acceleration is constant since the velocities of both slider are changing speeds. The slider acceleration vs time plot also illustrates that despite the vertical ground/slider link and input crank angle being offset by 90 degrees, both the vertical and horizontal mechanisms make a complete revolution in the same amount of time. Therefore, it is shown from the time plot that both the panda’s lower jaw (vertically) and bamboo stick (horizontally) have the same accelerations at the exact same times.