Mechanism Analysis Based On Coordinate Constraint Method

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Helsinki University of Technology | Diplomityö
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Date

2007

Department

Konetekniikan osasto

Major/Subject

Koneensuunnitteluoppi

Mcode

Kon-41

Degree programme

Language

en

Pages

93

Series

Abstract

This work is carried out in Laboratory of Machine Design at Helsinki University of Technology (TKK). Machine Design Lab in TKK has a commercial software, ADAMS (Automated Dynamic Analysis of Mechanical Systems), which can deal with analysis of mechanisms, but its source codes are not public available. Thus we intend to develop a computer program which can be used as a toolbox to do kinematic analysis of planar mechanism under the planar motion: The mechanism is limited in single-degree of freedom, amount of links, which connected only by revolute joint, is no more than 10. The general purpose program is developed based on a numerical method, Newton-Raphson method. This method is powerful for operation nonlinear equations and independences on loop topology and the structure of the configuration space for mechanisms. Since equations used in this thesis are full of matrix operations, MATLAB 6.5 is selected as a tool to make program. All the users need to do is enter parameters relative to the motion and configuration of the mechanism, the desired results of kinematic analysis are numerically shown up as an output in short computation times. Accuracy of the results obtained by this general purpose program is good by means of comparing with ADAMS.

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Supervisor

Airila, Mauri

Thesis advisor

Makkonen, Petri

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https://urn.fi/URN:NBN:fi:aalto-2020120553436

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[dipl] Teknillinen korkeakoulu / TKK