Escolar Documentos
Profissional Documentos
Cultura Documentos
Project #2
Modeling Project
A Four-Bar Mechanism
Project Due Date 3 January, 2016
We have a four-bar mechanism experimental setup at the Mechatronics lab shown in Figs. 1 and 2. It
would be nice if we can measure all the data we want, however there are quantities that are not
measureable and hard to measure due to cost and availability. In order to study the system shown in Figs.
1 and 2, Adam/view has been used to study the dynamics of the system. Adams/view is powerful dynamic
simulation software. Based on the simulated data available on iLearn, answer the followings.
Joint with clearance
Link 3
Link 2
Accelerometer in D
Link 4
2
fo = followers angular acceleration (given data in deg/s )
2) Derive the equivalent moment of inertia consisting of link 2 (crank), link 3 (coupler), and link 4
(follower) with respect to link 4 (follower) angular velocity.
Fall 15
Project #2
3) Neglecting the friction and the stiffness of the system, derive the governing equation for the
mechanical system.
4) Based on 3), plot the motor torque, Tm. In order to plot this, use the calculated data based on the
simulation of Figure 3. Use SI units of [Nm] for torque when calculating and plotting.
Belt
DC Motor
Data Acquisition
system
Flywheel
Spring
Power
supply
coupler
crank
follower
Fall 15
Project #2
5) Based on the motor specification available on iLearn used in the four-bar mechanism setup,
calculate the torque constant, Kt and Kb using formulas given in the textbook.
6) The motor torque has been calculated using Tm K t i and plotted shown in Figure 4. All the
values are positive. Compare this against the plot obtained in 4) and comment your observation
based on this comparison.
0.5
0.45
0.4
0.35
0.3
0.25
0.2
0.15
0.1
0.05
1000
2000
3000
4000
5000
6000
Data points
7000
8000
9000
10000
Comments)
1.
2.
3.
4.
Fall 15