A small driving link (red link) with rotational motion connects three larger links. In this mechanism, rotational motion is converted into linear, straight-line motion. The second link, highlighted in red, has 360 degrees of motion.
Figure 1. Linkage Animation
Kinematic Analysis
After obtaining a basic understanding of the dimensions and angles through Grashof calculations conducted in the initial proposal, we proceeded with position, velocity, and acceleration analysis.
Position
By solving the 4-bar linkage mechanism, we determined the values of theta 3 and theta 4, which could be used to find the position for every input angle from 0 to 360 degrees.
Figure 2. Position Analysis vs. Angle
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Figure 3. Position Profile (y vs. x)
Velocity
Taking the derivative of the position equations and calculating omega 3 and omega 4 values using the theta values found, we were able to conduct velocity analysis.
Figure 4. Velocity Analysis
Acceleration
Similarly, for acceleration, we took the derivative of velocity and plotted the speed of the mechanism's movement at different positions.
Figure 5. Acceleration Analysis
Force Analysis
Charting mechanical advantage solutions for each input angle revealed peaks, indicating our greatest mechanical advantage occurs between 75 to 100 degrees and 300 to 350 degrees.
Figure 6. Mechanical Advantage
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