Team 3 - Kinematic Analysis and Synthesis

Overview:

The pick & place mechanism is a 4-bar mechanism coupled with a simple gear train through an inverted spherical geneva mechanism. Our kinematic analysis consists of the vector loops for the 4-bar mechanism. 

Calculations:

Mobility: 

Position Analysis: Calculations to figure out the link angles and Position of the end effector

Velocity Analysis: Calculations to figure out angular speed of the end effector and the other links if one link maintains a constant angular velocity

Animation: Linkage animation of the mechanism showing the path of the end effector

MATLAB Plots: Matlab plots for position and velocity analysis when the input link (link 2) rotates at a constant angular velocity

The leftmost image shows the path the end effector covers when the input link angle goes from 0 to 360 degrees.

The middle image shows the end effector velocity when the input link goes from 0 to 360. The angles where the velocity goes to 0 correspond to the topmost and the bottommost points along the path traced by the end effector.

The rightmost image shows the variation in the angular velocity of the output link as a function of the angle of the input link.