3.2a Mechanism Analysis

Below is the animation of our linkage, with arrows conveying the velocities of each joint and the dotted curve showing the path of the end effector.

Figure 1. Linkage Animation

Kinematic Analysis

After obtaining a basic understanding of the dimensions and angles through Grashof calculations conducted in the initial proposal, we proceeded with position, velocity, and acceleration analysis.

Position

Figs. 2 and 3 show our position graph as well as the position profile displayed in the linkage animation. The "pulling" of the noodles will occur between approximately 50 degrees and 300 degrees, on the lower "flat" portion of the profile, while the rest of the rotation will be used to bring back and (ideally) re-fold the noodles.

Figure 2. Position Analysis vs. Angle

Figure 3. Position Profile (y vs. x)

Velocity

As demonstrated in Fig. 4, the velocity between ~50 and 300 degrees is near constant in both magnitude and direction. This is ideal for pulling the noodles, as the action must be slow and consistent to avoid tearing the dough. Conversely, the magnitude between 0/50 and 300/360 degrees is much higher, which will allow the mechanism to re-fold the noodles quickly.

Figure 4. Velocity Analysis

Acceleration

The acceleration analysis in Fig. 5 once again shows that our velocity is near close in the noodle-pulling phase, as the magnitude is near zero from 50 to 300 degrees.

Figure 5. Acceleration Analysis

Force Analysis

We can see the mechanical advantage for our mechanism in Fig. 6, which is low and near-constant apart from two peaks at ~90 and 325 degrees. If the dough provides too much resistance, we can add gears to increase the overall mechanical advantage.

Figure 6. Mechanical Advantage

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