5. Theoretical Kinematics Analysis Results

Using the recorded dimensions of the cam radii, shaft lengths, and a constant input velocity of 25 rpm, a position and velocity analysis of the penguin was conducted with the following code. The height of the penguin to the top of its head was plotted, and from the given position values, the position was plotted - taking into account how the penguin drops after rotating 270 degrees. Velocity of the penguin in motion was also plotted, showing the constant velocity along the rotation as well as the drop to rest at the 270 degree rotation. Since velocity is constant in this scenario, acceleration is zero. 

clear all 

clc

theta = 0:1:360;

rpm = 25;

w = rpm*60/(2*pi); %radians/sec

ro = 1.5;%cm

rl = 3.5;

rate = (rl-ro)/360;

r = ro:rate:rl;

axle = 12.6;

h = axle+r;

plot(theta,h)

title('Penguin Head Height v Input Rotation');

xlabel('Rotation Angle (degrees)');

ylabel('Position (cm)');