III) Kinematic Analysis and Synthesis

From performing a mobility analysis, we are able to confirm that the 5 bar slotted slider mechanism has one degree of freedom. As the mechanism is comprised of five links, has five full joints, and one half joint (the grounded pin that runs through the slotted link). The following can be plugged into the equation:

M = 3L - 2J1 - J2 - 3   →   M = 3(5) - 2(5) - 1 - 3   →   M = 1 DOF

Additionally, position, velocity, and acceleration analysis were performed on the mechanism in order to understand the movement of all points throughout the full revolution of the input link. To do so, the mechanism had to be separated into two "parts" and kinematic analysis had to be performed on each. The kinematic analysis and the equations obtained from such are shown below in the attached pdf.

The equations obtained were then used to get the values of all the points throughout the revolution of the input link through MATLAB (code available in Appendix). More specifically, the following graphs detailing the movement of the slider throughout one revolution in terms of position (h), velocity (hdot), and acceleration(hddot) were obtained from the code:

Figure 1. Variations in h, hdot, and hddot

Similarly, we obtained the magnitude of the Coriolis acceleration of the mechanism throughout the full rotation of the link as shown in Figure 2 below.

Figure 2. Magnitude of Coriolis Acceleration for a Full Revolution

Additionally, the paths of the links through the revolution can be seen in the animation of the mechanism using PMKS, which is attached below.