Introduction

Above is a figure of the Six-Bar Slider-Crank Power Hammer Mechanism. 

This mechanism is often used in forging to strike hot material during welding and can also be found in fabrication shop. This mechanism is preferred over a manual hammer due to the accuracy the mechanism provides. 

The mobility of this system can be represented using Gruebler's Equation: M = 3(6-1) - 2*7 = 1 DOF. 

Design Process and CAD

Since I had easy access to a 3D printer, these linkages are made of PLA. The assembly is shown below

The most challenging part of this assembly is assembling the slider mechanism. To constrain the aluminum extrusion block, I used a 3D printed part that has 3 bearing wheels with wheel profiles that matched the cross section face of the aluminum extrusion. This provides a low-friction assembly that constrained the aluminum block to only allow for movement vertically. 

Kinematic Analysis and Synthesis

The following graphs show the position, velocity, and acceleration for the linkages in this system with the 

Kinematic Plots of Slider

Kinematic Plots of Linkage 5

Kinematic Plots of Linkage 4

Kinematic Plots of Linkage 3

The following animation is provided to show simulated movement 

Manufacturing and Assembly

Electronics and Software

Final Prototype

Conclusions and Future Work

Appendix