Proposed Path:
Click the figure below to see animation.
Mobility:
M = 3*(L-1) - 2*J1 -J2 where L = 5, J1 = 5, J2 = 0
M = 3*(5-1) - 2*5 - 0 = 2
There Therefore we have 2 degrees of freedom
Position Analysis:
[insert labeled diagram]
Add analysis explanation
Add position vs theta graph
Velocity Analysis:
[insert labeled diagram]
Add analysis explanation
Add velocity vs theta graph
Let's start off with our Vector Loop:
We performed a velocity analysis to determine what the velocity at point B is. From the vector loop above we solved for omega 3 and omega 4 values. From the newly calculated angular velocities around each point we then solved for the velocities of link 2,
Initial Physical Prototype:
Here is our first prototype of our mechanism. Although the gears are not grounded in the picture, we were able to create the proposed path from above. Laser-cut gears and links and used M3 nuts and bolts to bring together the prototype. . We do plan to do multiple iterations in the coming weeks to test out different link lengths and find a ratio that gives us a larger surface area. A thought we have is to add a rack and allow the gears to move back and forth along it. This would increase the surface area and give us a greater challenge regarding our mechanical components.