8.3 - Kinematic Analysis

Here we have a diagram of our Hydration station. We set up our working equations below.

Figure 13: Working equations for the main four bar mechanism.

We are calculating our degrees of freedom. We used Grubler’s equation to calculate the DOF of our mechanism concerning the links, full joint and half joint.

Figure 14: Degrees of freedom calculations.

We knew our mechanism would begin in the initial condition of being down. We also know we need to get our mechanism to rotate 90 degrees to be mouth-level with someone sitting down. It would then put the cup on the table when the user has finished drinking. So below We mapped our intended path for upward and downward motion.

Figure 15: Grashof's Equation to determine if at least one linkage will make a full rotation.

The following images show the displacement of the cup, the velocity of the cup, the acceleration of the cup, and the displacement of the different joints of the mechanism, as labeled in Figure 13 and 14.

Figure 16: Displacement of the cup of water.

Figure 17: The linear velocity of the cup of water over time.

Figure 18: The linear acceleration of the cup over time.

Figure 19: The torque on the cup.

Figure 20: The path of travel of the joints of the cup.

Figure 21: The mechanical advantage of the cup.