Kinematic Analysis and Synthesis (HW)

Mobility calculation:

We performed mobility analysis on only the right wing, because the motor is only driving that one side. Additionally, the left wing mimics the motion of the right wing, so the mobility calculation would be the same for both sides. 

Figure 3.1 Mobility and kinematic analysis sketch and calculation.

Kinematic Calculation MatLab Code

sixbarposition.m

sixbarvelocity.m

Figure 3.2. Inputs for sixbarposition.m code.

Figure 3.3. Beta as a function of alpha generated from MatLab code.

Figure 3.4. Output angular velocity as a function of input angle generated from MatLab code.

Figure 3.5. Intersection graph generated from MatLab code.