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Simulation of Position Vectors from a linear starting distance of 0.6 inches to 2.2 inches for the Link 2 of Mechanism A. Also plots trajectory of Point P on Mechanism B, which is a critical point responsible for interacting with objects to be picked up.
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The below figures shows the angular positions in global coordinates of both sub-mechanisms of the robotic gripper for each step increment of the helical joint. The input link 2 of Mechanism A has a limit of 2.18 inches for this configuration
The below figures shows the angular velocities of both sub-mechanisms of the robotic gripper for each step increment of the helical joint based on a motor rotation speed of 4 revolutions per second or for a 1/4-20" threaded rod, 0.2 inches/second.
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We were unable to solve for the output angles of Mechanism B symbolically, so a numerical approach was used throug through the vpasolve command from Matlab. See Appendix for applicable code. The code does take much longer to solve, but there is convergence.
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