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Displacement of Output
Figure 23. xxDisplacement of the Output Link
Linear Velocity of Output
Figure 24. xxLinear Velocity of the Output Link
Linear Acceleration of Output
Figure 25. xxLinear Acceleration of the Output Link
Input Link
The input link for the casting mechanism is connected to the ground link that moves with the output link of the positional adjustment mechanism to move the output link of the casting mechanism.
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Displacement of Input
Figure 26. xxDisplacement of the Input Link
Linear Velocity of Input
Figure 27. xxLinear Velocity of the Input Link
Linear Acceleration of Input
Figure 28. xxLinear Acceleration of the Input Link
Mobility Calculation (Grubler's Equation):
Gruebler's Equation is vital for calculating the mobility of robotic mechanisms. It helps determine a mechanism's degree of freedom by considering the number of links, joints, and their respective degrees of freedom. Below is the calculation to determine the mobility of our casting mechanism design.
Figure 29. xxMobility Calculation
Mechanical Advantage of Output/Input
The mechanical advantage of the output was determined using the kinematic velocity data obtained from analysis. By assuming power is preserved throughout the mechanism, we can plot the input velocity divided by the output velocity at each point in time to give mechanical advantage of the mechanism.
Figure 30. xxMechanical Advantage of Output/Input
Animation showing linkage operation in the full range
Figure 31. xxAnimation of Casting Mechanism
Analysis of Positional Adjustment Mechanism
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Ideal Motion of Link 1:
Figure 32. xxAnimation of Ideal Motion of Positional Adjustment Mechanism
Displacement and linear velocity for one full rotation of link 1:
Input - 15 rpms
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Figure 33. xx Displacement of Figure 34. xx