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Dr. Bob Williams, williar4@ohio.edu Mechanical Engineering, Ohio University 2012 Dr. Bob Productions
Table of Contents
ZERO-DOF (OR LESS) STRUCTURES ..................................................................................................... 3 ONE-DOF MECHANISMS .................................................................................................................... 3 MULTI-DOF ROBOTS........................................................................................................................ 16 REAL-WORLD MECHANISMS / KINEMATIC DIAGRAMS ..................................................................... 18 MATLAB SIMULATION/ANIMATION GALLERY .................................................................................. 19
One-dof Mechanisms
4-Bar Mechanism
Cam-and-Follower Mechanism
Scotch-Yoke Mechanism
Dual-Slider Mechanism
Pantograph Robot
Ratchet Mechanism
Toggle Mechanism
6-bar Mechanism
10
11
2-Stroke Internal Combustion Engine Mechanism Whitworth Mechanism S-C Inversion 1 S-C Inversion 2
12
13
14
15
16
Multi-dof Robots
17
18
19
Crossed Branch
0.25
0.2
0.2
0.15
0.15
0.1
0.1
Y (m)
0.05
Y (m)
0.05
-0.05
-0.05
-0.1
-0.1
-0.15
-0.2 -0.05
0.05
0.1
-0.1
-0.05
0.05
0.1 X (m)
0.15
0.2
0.25
0.3
0.15 X (m)
0.2
0.25
0.3
0.35
Slider-Crank Mechanism
20
0.2
0.6
0.15
0.4
0.1
0.2
Y (m)
0.05
-0.2
-0.4
-0.05
-0.6
-0.1 -0.1
-0.05
0.05 X (m)
0.1
0.15
0.2
-0.4
-0.2
0.2
0.4
0.6
0.8
18
16
1
14
12
0.5
10
Y (m)
-0.5
2
-1
-2
-8
-6
-4
-2
10
12
-1
-0.5
0 X (m)
0.5
1.5
21
5 1.5
1 3
2 0.5
-1 -0.5 -2
-3
-1
-4
10
Gearbox Simulation
200
150
100
50
Y (m)
-50
-100
-150
-200 -200
-150
-100
-50
0 X (m)
50
100
150
200
Cam/Follower Animation
0.5
Y (m)
0 -0.5 -1 -0.5
0.5 X (m)
1.5
23
3D View 2 2 1.5 XZ Plane
0 1 0 Y -1 0 1 X
Z
2
0.5
0 0
0.5
1 X XY Plane
1.5
0.5
-0.5
0 1
0.5
0 Y
-0.5
-1
-1 0
0.5
1 X
1.5