Kinematic Analysis and Synthesis - Can't Do This

Our process for this portion of the project was a little different from other groups because we were using an existing linkage system (Klann Mechanism). This meant that we did not have to do as much of the vector loop analysis in order to get kinematic and velocity analysis.

This shows a motion loop for a Klann Mechanism and the design of this mechanism is mainly dependent on the desired stride length because it is primarily used as a mechanism to mimic walking.

There are 6 Links (the 5 moving links shown in red and 1 grounded link shown in blue)

All of the joints we used are pin joints (full joints).

DOF = 6*3 - 3 - 2*7

DOF = 1

We used the PKMS software to simulate the motion of the mechanism using different link lengths so that we could achieve the desired range of motion when sweeping. The positional, velocity, and acceleration data was then exported from PKMS and graphed in Matlab.

The final Klann Mechanism after adjusting our link lengths and positions in order to get the range of motion as well as the desired output angle. We mainly aimed for 2 things, 1) a stride length long enough to sweep the entire length of the base, and 2) motion that was close to parallel to the flat base.

The simulation running can be seen in the video below

We then exported the kinematic data from PKMS and plotted it using Matlab, those plots can be seen below.

Position Graph

Velocity Graph

Acceleration Graph

PKMS File and Matlab Code can be found in the Appendix