Mechanism Analysis

The drawings for each link in the final mechanism can be found in the "Mechanical Drawings" folder in this wiki. The distances and angles in the assembly and in each of the parts were defined by the trajectory of the point of interest. Meeting the specification of the motion, and analysis of position was developed for the final mechanism designed. A simple drawing showing the full assembly of one claw mechanism can be seen in:

Through the position analysis, the result obtained by the trajectory is shown in the following graph:

As can be seen in the graph, the trajectory obtained works for the vertical motion needed it, having a 2.5 cm segment of nearly straight line displacement, meaning that in each revolution of hte motor, we would obtain an ideal 2.3 cm vertical displacement from each claw and 4.6 cm of vertical displacement of the robot.

As well as the position analysis, a velocity and an acceleration analysis were developed with the aim to identify the behavior of the mechanism according to the input of the brushed motor taking into consideration the rotary velocity and torque that the actuator offered. Both velocity and acceleration analysis can be seen in:

As can be inferred from the graphs, the mechanism presents negative values of velocity when the point P changes the direction of the motion. The same behavior is observed in the acceleration analysis where a deceleration is presented in the instant when the direction changes, that is when the point P reaches the rope.

All the equations and the processes used for the position, velocity, and acceleration analysis are included in the annexes section for the Matlab Code.