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Dynamic Analysis of a Planar Mechanism With Variable Topology

[+] Author Affiliations
Peter W. Malak, Philip A. Voglewede

Marquette University, Milwaukee, WI

Paper No. DETC2015-46271, pp. V05CT08A018; 8 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5C: 39th Mechanisms and Robotics Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5714-4
  • Copyright © 2015 by ASME


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.

Copyright © 2015 by ASME



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