III. Kinematic Analysis and Synthesis

DOFs

Our design has one degree of freedom, which is the angle of the driving link.

Points of Interest

For our kinematic analysis, we looked at a few points of interest.

Point A is the location where the bottle is being gripped. This is an important point, as the velocity at this point must be fast enough to release a bottle.

Point B has no real influence on the project application, but the behavior is still interesting.

Here are the locations of these points on our actual prototype:

Kinematic Analysis

Y-component of point A’s location vs T2:

We graphed this, since the speed of release is one of the most important aspects of this device. From this graph, you can see the quick jump in position.

Instantaneous velocity at point A:

Linear velocity at point B:

Angular velocity of link 3:

Linear acceleration at point B:

Angular acceleration of link 3:

Instantaneous acceleration at point A:

Animation

This animation was made using PMKS.

The set up exported into a text document is shown below:

set=s55.5769

mech=

ground,input,R,0.000,0.000,0.000,ffft

coupler,input,RP,0.000,-40.000,0.001,ffff

coupler,ground,R,48.000,-40.000,0.000,ffff

coupler,R,-35.400,-40.000,0.000,tttf

Since we were not able to add the Coriolis acceleration to the animation, the graph below shows the magnitude of Coriolis acceleration at point B vs. theta 2.

Coriolis Acceleration should be acting perpendicular to link 3 in the animation. An image below shows the location and direction of coriolis acceleration at point B.

Vector Loop Analysis

Hand Calculations for Position, Velocity, and Acceleration Analysis: