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Determining Link Lengths
Figure 23. Determining Link Lengths in CAD
A snapshot of Figure 2 was imported into CAD, and the lengths of the links were recorded. These lengths were over 27", so the team "normalized" them by dividing by the longest link. Doing so yielded the proportions. We then multiplied these proportions by a scale factor of 4" in order to obtain more feasible link lengths. See table below.
COLOR | LINK | LENGTH (in.) | Normalized Length (%) | Scaled to 4 in. |
GREEN | L2 | 27.2277 | 0.76028906 | 3.04115625 |
CYAN | L3 | 35.8123 | 1 | 4 |
NAVY: CYAN TO PINK | L4 | 18.7271 | 0.52292369 | 2.09169475 |
NAVY: CYAN TO GROUND | L4 | 27.4023 | 0.76516448 | 3.06065793 |
NAVY: PINK TO GROUND | L4 | 27.5022 | 0.76795403 | 3.07181611 |
PINK | L5 | 35.7325 | 0.99777172 | 3.99108686 |
RED | L6 | 27.3148 | 0.76272119 | 3.05088475 |
GROUND: GREEN TO RED (X - VALUE) | L1 | 32.6155 | 0.91073458 | 3.64293832 |
GROUND: GREEN TO RED (Y - VALUE) | L1 | 0 | 0 | 0 |
GROUND: GREEN TO NAVY (X - VALUE) | L1 | 16.30775 | 0.45536729 | 1.82146916 |
GROUND: GREEN TO NAVY (Y - VALUE) | L1 | 4.0072 | 0.11189452 | 0.447578067 |
The 4" scaled lengths were used in the the following calculation procedures as well as in manufacturing.
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The following schematic was used to model the proposed mechanism:
Figure 34. Mobility Calculations Joint and Linkage References
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