Dynamic Analysis of a Planar Mechanism With Variable Topology
Document Type
Conference Proceeding
Language
eng
Publication Date
2015
Publisher
American Society of Mechanical Engineers
Source Publication
Proceedings of the ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Source ISSN
978-0-7918-5716-8
Abstract
There is a demand for mechanisms with variable topology (MVTs) that can perform multiple tasks with the least amount of actuators. These devices have the ability to provide numerous motion profiles within one device. In this paper, a specific planar MVT was dynamically analyzed. This mechanism functions as a RRRP mechanism (i.e., slider-crank) in one configuration and as a RRRR mechanism (i.e., crank-crank) in the other. The kinematics and kinetics of the RRRP and RRRR configurations were analyzed with a Lagrangian approach. The resulting equations were coded both in equation form and in Matlab SimMechanics then compared. A method for transitioning between configurations was also developed. These equations could be used to develop an applicable controller and principles for synthesizing future MVTs.
Recommended Citation
Malak, Peter William and Voglewede, Philip A., "Dynamic Analysis of a Planar Mechanism With Variable Topology" (2015). Mechanical Engineering Faculty Research and Publications. 96.
https://epublications.marquette.edu/mechengin_fac/96
Comments
Published as part of, Proceedings of the ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2015. DOI.