Robotic Mechanisms ..

Robotic Mechanisms ..
2008 Rkm 1
Mathematical Model & Analysis Planar
Mathematical Model & Analysis Planar

A 4-bar mechanism
A 4-bar mechanism

Links = 4 (a, , c, d!" Links = 4 (a, , c, d!" #$% =& #$% =&
Robotic Mechanisms ..
Robotic Mechanisms ..
2008 Rkm 2
Mathematical Model & Analysis 4'ar Planar ((
Mathematical Model & Analysis 4'ar Planar ((

to model
to model

Vectors
Vectors

Complex Numbers
Complex Numbers

Trigonometry
Trigonometry

(Graphical
(Graphical
Robotic Mechanisms ..
Robotic Mechanisms ..
2008 Rkm !
Mathematical Model & Analysis 4'ar Planar ((
Mathematical Model & Analysis 4'ar Planar ((
1" 1"
Vectors#
Vectors#
d c b a

+ +
i d d
j c i c
j c i c c
j b i b b
j a i a a

sin

cos

) 180 sin(

) 180 cos(

sin

cos

sin

cos
where

+
+
+

Robotic Mechanisms ..
Robotic Mechanisms ..
2008 Rkm 4
Mathematical Model & Analysis 4'ar Planar ((
Mathematical Model & Analysis 4'ar Planar ((
2( 2(
)om*le+
)om*le+


,-mers.
,-mers.

sin cos with
0
0 ) 180 (
j e
e d e c e b e a
j
j j j j
+
+

) 180 sin( sin sin :
) 180 cos( cos cos :
+
+ +


c b a y
d c b a x
/(
/(
0ri1onometry Pro2ections on
0ri1onometry Pro2ections on
x
x
'
'
y
y
a+es.
a+es.
1
]
1

1
]
1

1
]
1

1
]
1

d
c
b
a
0 ) 180 sin(
1 ) 180 cos(
sin sin
cos cos

Robotic Mechanisms ..
Robotic Mechanisms ..
2008 Rkm $
Mathematical Model & Analysis 4'ar Planar ((
Mathematical Model & Analysis 4'ar Planar ((
3ol4in1.
3ol4in1.
= f(
= f(

parameters constants/ link called are

links on dependent are , , where
) cos( cos cos or
) cos(
2
) (
cos cos
3 2 1
3 2 1
2 2 2 2
K K K
K K K
ac
d c a b
a
d
c
d


+

+ +
+ +
%R56#5,3057,83 59-ation
%R56#5,3057,83 59-ation
Robotic Mechanisms ..
Robotic Mechanisms ..
2008 Rkm %
Mathematical Model & Analysis 4'ar Planar ((
Mathematical Model & Analysis 4'ar Planar ((
&olution o'
&olution o'
(reudenstein)s *+uation#
(reudenstein)s *+uation#
d). c, b, (a, parameters constants/ link
and ) ( input on dependent are , ,
cos cos sin where
tan 2
3 1 2
2 2 2
1

C B A
K K C K B A
C B
C B A A

,
_

+
+ t

(or gi,en
(or gi,en
a
a
-
-
b
b
-
-
c
c
-
-
d
d
and
and

- t.o solutions o'

- t.o solutions o'

"
"
!ariables " ) , , , (
!ariables # ) , , , , (
3 2 1
K K K f
d c b a f

Robotic Mechanisms ..
Robotic Mechanisms ..
2008 Rkm /
Mathematical Model & Analysis 4'ar Planar ((
Mathematical Model & Analysis 4'ar Planar ((
(or gi,en
(or gi,en
a
a
-
-
b
b
-
-
c
c
-
-
d
d
and
and
- t.o solutions o'
- t.o solutions o'
"
"
Robotic Mechanisms ..
Robotic Mechanisms ..
2008 Rkm 0
Mathematical Model & Analysis 4'ar Planar (( Mathematical Model & Analysis 4'ar Planar ((
:elocity
:elocity
#
#
) )( sin( sin sin
:
) cos( cos cos : $%
2 1
3 2 1

+
K K
ting Diffrentia
K K K
locit& an'ular !e input locit& an'ular !e output
) , , , , , , (
sin ) sin(
sin ) sin(
2
1
2
1

d c b a g
G
z
z
K
K
Robotic Mechanisms ..
Robotic Mechanisms ..
2008 Rkm 1
Mathematical Model & Analysis 4'ar Planar (( Mathematical Model & Analysis 4'ar Planar ((
Acceleration
Acceleration
#
#
Robotic Mechanisms ..
Robotic Mechanisms ..
2008 Rkm 12
Mathematical Model & Analysis 4'ar Planar (( Mathematical Model & Analysis 4'ar Planar ((
Analysis
Analysis
5+am*le.
5+am*le.
a=;0 a=;0
=200 =200
c=&;0 c=&;0
d=20; d=20;
#etermine
#etermine

*osition
*osition

4elocity
4elocity

acceleration
acceleration
4s(
4s(

(in*-t!
(in*-t!