Question

The mechanism shown in figure 1 converts rotary motion to linear motion. Find the analytical equations relating the input angular displacements/velocities/accelerations and the output linear displacements/velocities/accelerations. Then, writing a computer program, simulate the motion of the mechanism with various motor inputs of θ, θ, θ for the following cases: 1- Assume that θ, θ are equal to zero, Plot the linear displacement when θ is changing with 1 degree increments. 2-Assume that θ is zero, θ is a constant that you choose and initial condition for is 0. Plot the linear velocity and acceleration of A as a function of time. 3- Assume that 6 is a constant that you choose, and the initial conditions for θ and θ are O. Plot the linear velocity and acceleration of A as a function of time For this project you can change the length of each element of this system as you like. The simulation should be kinematic, neglecting masses, inertias and forces acting on the system. In the simulations you should provide the kinematic motion plots for the point A for at least one cycle. You can use a programming language like C, C++, Java, Matlab, Python or you can use Excel. Other programs will not be allowed Figure 1

Answer 1

Soive e given Hho The minimum dispacement xmina r-e CS

4 + 2.cos θ x(9) 350 300 250 200 150 50 100 θ (in Degree)

HILLAR de Clear Rot (B1%)

60 Velocity -Acceleration 05 70 90 100 1D Tie(s)

Mattab de clc omega s; For tts Probler nne

-1000 -1520 15 20 Tire(s)

eic second E-co: 0.01: (06 2% tp