Group 12 Motor transportation machine 12/10/2016 ME 3670K

Transcription

1 Group 12 Motor transportation machine 12/10/2016 ME 3670K Jordan Siegel Alivia Lahr Robby Olander Matt Burns Matthew Steves

2 Executive Summary: The purpose of the mechanism is to retrieve a 200-kg from a stockroom shelf and attach it onto a machine bedplate. The motor is to fit through a 400 mm by 400 mm window and proceed to travel 500 mm horizontally and 200mm upward. After some brainstorming and preliminary calculations, each team member came up with a design and a decision matrix was created to compare the designs quantitatively. The decision criteria included accuracy of positions, branch defects, transmission angles, orientation, installation difficulty, initial position reach, and compactness. Matt Steves design was selected to move on in the process. While the design flipped the motor upside-down in the movement, it was much more compact and efficient than other designs, and thus scored highest. The team created a SolidWorks model to better understand the design. One issue the team encountered was finding a motor with enough torque to power the mechanism. Most motors the team found had too little torque, but after detailed research, a hydraulic motor was selected. It provided enough torque (3,541 in-lb) and power (6.2 hp) to power the engine, for a price of $600. It was also decided to use two motors, one on each side of the mechanism, to ensure the stability of the servomotor throughout its complete motion. Another issue faced was the orientation of the servomotor as it rotates into position. As stated before, the motor flips upside-down before being installed into the machine bedplate. To prevent it from falling, a connector piece was created to hold the servomotor in place during operation. There was a major issue in creating the connector piece in that there must still be room for a tool to bolt the mechanism into the bedplate. The created design takes this into account while still being able to properly hold the servomotor in place. In addition to a SolidWorks model, vector loop equations were created to analyze the movement. The equations were plugged into Matlab to create kinematic plots to better understand the design. The transmission angles were calculated to be between 30 and 150, desirable for creating an efficient linkage. Looking at the coupler motion plot, it was seen that the mechanism moved smoothly through the positions with little interference. As a whole, the design completed the objective of the problem statement. It traveled through the specified distances while minimizing cost and size. Additionally, it can be easily installed by attaching the driver to the hydraulic motor and the output link to the center bar. The chosen motors to drive the mechanism provide sufficient torque to operate the linkage with the weight of the 200 kg servomotor attached at the end of the coupler. Thus, the chosen design was is well suited to be implemented into a stockroom.

3 1. Introduction The goal of this project is to design a product that can efficiently transport a 200 kg servomotor from a stockroom shelf to the final destination underneath the machine bedplate that sits 0.75 meters above the ground. The motor must first fit through a 400 mm square opening on the front of the machine frame, subsequently move 0.5 meters horizontally and finally moved vertically 200 mm into the final position. All of these requirements must be performed by a linkage mechanism that is operated by a sole actuator. Additionally, the mechanism must also be able to remove the servomotor from the machine bed plate when necessary. Stockrooms are heavily packed with products that are constantly being processed in and out of the building so it is vital that the handling and moving of these products is efficient and quick. Additionally, the servomotors being transported are extremely heavy, throwing out the possibility of using man power to complete the job. Both of these reasons introduce the need for a motorized mechanism. With careful measurements and calculations our team can design a linkage mechanism that will pass the servomotors through the necessary stages so that it can reach its final destinations uninterrupted. Additionally, in order to save costs this linkage mechanism will have a mobility factor of one, limiting the number of actuators required to run the machine to one. With careful analysis we will be able to optimize our transmission angle, ensuring efficiency, and meet all of the requirements that are stated above. To help gain an understanding of the environment our machine will be working in, below is a photograph of a typical stockroom. There is usually adequate space between each row of shelves and the vertical placement of the servomotor can range anywhere from the floor to the ceiling. To help envision the procedure even more, a drawing is provided below illustrating the driven dimensions of the machine bedplate and the parameters that dictate the motion of the servomotor. These two pictures together help form a clear representation of the overall process. Figure 1: Problem Statement Environment

4 The height of the linkage must range from at least 0.75 to 0.90 meters to lift the motors into the frame. The width of the linkage must be at least 0.5 meters to horizontally position the motor. The plate to hold the motor will have a maximum height and width of 0.4 meters. The linkage will transport several servo motors into a machine s bedplate. The linkage will be designed to position the motors for installation into the bedplate and remove the motors from the machine. The linkage will have a similar function as the machine in the photo below. Figure 2: Design Considerations At first glance, the Lazy Tongs Linkage as seen above will be useful in creating this design. This linkage makes it simple to raise and lower the mechanism. There is only one degree of freedom with this linkage, thus being acceptable. Another idea is a curved pin-in-slot. This is will help the linkage move both vertically and horizontally with only having one degree of freedom. Another pin in slot joint will be implemented to raise the mechanism 200mm into place. This project will be created using the techniques we learned in class. The whole concept with this particular problem is predicting the path of movement and motion generation. The machine s bedplate needs to be moved into a specific place so using a graphical position analysis will be sufficient. The design will also be comprised of several links and joints. The design specifications are listed below.

5 Quantitative Data regarding design specifications: Estimated size of solution linkage: o Machine frame approximately 1.2 m wide, 1 m long, and 1.2 m high o Linkage itself estimated to extend approximately 1.5 m and contract to around.5 m to satisfy motion requirements Mobility and Degrees of Freedom: o Degrees of freedom: 1 D.O.F. o Mobility: 1 Motion requirement of linkage: o Linkage must move 0.75 m downward to retrieve motor and must move motor 200 mm upward into position o Linkage must also extend 0.5 m horizontally o Must support 200 kg servo motors Potential actuator of linkage: o Mechanical actuator used for horizontal and vertical translation Limitations to joint types: o Spatial joints not needed Figure 3: Rough Representation of Frame

6 The team set up a regular schedule to meet on Sunday nights, sometime around 6-8pm. The meetings last 1 hour and unless plans change, meetings will be held at Scott Lab, in either room E200 or N150. At the latest meeting, each group member agreed on a specific role: Matt Burns - Project planning Alivia Lahr - Research Rob Olander - Research Jordan Siegel - SolidWorks modeling Matt Steves - Calculations In addition, each member will contribute toward writing the reports. A summary of each role is described below: Project Planning Objective: To create a sense of organization and structure to the project, maintain communication with instructor, and detail the roles of the project. Deliverables: Meeting organization, meeting minutes, all necessary s to the instructor, report formatting and editing. Timeline: s, minutes, and other administrative tasks will be completed within 48 hours of assignment. All necessary information conveyed to members in this time. The editing and formatting of all reports will be completed before the due date/time. Research Objective: To develop the project design by using external resources to find possible solutions and concepts. Deliverables: Concepts and designs for the mechanism, sketches/diagrams of the concepts. Timeline: After the research is deemed necessary, the researched concepts must be delivered by the time of the next meeting. A diagram/sketch must be provided at that time. SolidWorks Modeling Objective: To create an accurate model of the mechanism by means of SolidWorks. Deliverables: Individual part models, mechanism assembly. Timeline: After the calculations for the model are completed, the models must be completed before the report due date. Calculations Objective: To calculate quantitative measurements and parameters for the design. Deliverables: All mechanism specifications and values. Timeline: When the team decides on a design, the person responsible for calculations will communicate with the member in charge of the SolidWorks Modeling to decide on a reasonable time for the specifications to be delivered. The concept report will need to be finalized by November 8 th, giving the project team a little over a month to complete the prototype and submit the final report on December 12 th.

7 2. Conceptual Design Jordan Siegel: Figure 4: Fully Dimensioned Double Crank Mechanism Figure 5: Double Crank in its Initial Position

8 Figure 6: Double Crank in its Final Position Above is Jordan Siegel s initial design for ME 3670K design project problem 12. The design starts at position 1. Position 1 is.45 Meters long, the coupler link. The coupler needs to go.2 meters vertical and 0.5 meters horizontally. The linkage needed to only have one degree of freedom so the movement needed to be one swift rotation. The mechanism is supposed to rotate clockwise when putting in the servo motors and counter clockwise when removing them. The goal of this project is to design a product that can efficiently transport a 200 kg servomotor from a stockroom shelf to the final destination underneath the machine bed plate that sits 0.75 meters above the ground. This design would fit that criteria. Pros- Follows problem statement Lightweight and easy to construct Keeps Servomotors relatively horizontal through motion path Able to transport easily Cons- Going to require its own stand and base Due to the nature of the Double Crank, a motor will need to switch directions once it reaches position 2. The range of motion is too large, for example the coupler that holds the motors goes below the initial position during the rotation. For this design, the Cons outweigh the Pros and as a group, it was decided to not to use this design for the Final Report.

9 Mobility Analysis: M=3*(4-4-1) + 1=1 D.O.F=1 Grashof s inequality- s + l > p + q- Non-Grashof 4 bar. All four joints oscillate between limits l=0.60 M q=0.51 M p=0.52 M s=0.45 Motion limits: When the 0.6 Meter member is at a degree angle with the horizontal axis, that is when the motor is required to change directions in order to solve the problem statement, thus causing a motion limit. This is position 2.

10 Alivia Lahr: Figure 7: Fully Dimensioned Slider-Crank Figure 8: Slider-crank in Initial and Final Position

11 The Slider-Crank takes the motor from position one at (0,0) and moves it along the circular path. The second position in arbitrary and acts to constrain the motion to fit in the 400 mm opening, while remaining below the 0.75 meter vertical limit. The final position is 0.77 meters above the ground and 0.5 meters lateral from the original position. The design is constrained by the dimensions of the design bedplate. The slider crank moves along a curved slider path. Design Assessment Pros: Cons: The slider-crank is completely separate from the machine bed-plate. The design is able to pass the mobility analysis and passes through the required positions precisely. The shape of the coupler link remains horizontal throughout the motion, providing a flat base for the motor. The crank link is required to be over 2 meters long to reach all three positions in the GCP analysis. The actuator needed to run the crank would need to be very powerful to move a 200 kg servo motor at that distance. The actuator is required to be reversible to remove the mechanism from the machine because the full motion of the mechanism would hit the machine bed-plate. The machine bed-plate must be placed above the mechanism or the mechanism must be placed underneath the machine with the motor already in place.

12 Robby Olander: Figure 9: Initial Sketch Mechanism meets constraints of an arbitrary position.75 m above the ground and another position.5 m to the right and.2 m upwards. Also shown is the arbitrary position of the.4 m square opening within the machine frame, from a side view. This position can be adjusted according to our assumptions about the machine frame. Pros: Meets positional requirements Lightweight and cheap design (Minimal linkages) Coupler remains mostly flat through movement, keeping servo motors balanced Cons: Range of motion extends desired limits Combination of vertical and horizontal translation means more room is required for mechanism within machine for movement of mechanism Continuous motion Mobility Analysis: M = 3*(4-4-1)+4 = 1 D.O.F: 1 Degree of freedom P+q=s+L therefore the mechanism is a grashof neutral 4 bar. Motion of the mechanism can be shown by editing sketch two within the SolidWorks file, shown below. Positions limits: both cranks are fully rotatable.

13 Figure 10: Linkage in Initial Position Figure 11: Linkage in Position 2 Figure 12: Linkage in Final Position

14 Matthew Steves: Figure 13: Final Linkage with Dimensions Figure 14: Linkage in Initial and Final Positions The overall concept of this linkage was derived by using the GCP for motion generation [3]. The three predetermined positions included the final destination of the servomotor, a position exactly 200 mm vertically downwards of the final position, and a position 0.5 meters directly to the right where the machine frame opening is located. These measurements match accordingly to positions described in the problem statement. A horizontal constraint was placed on the first two of these three positions in order to keep the servomotor upright while being installed into its final destination, while the third position was not constrained to its angular orientation in order to maximize the number of possible solutions. This of course would require the servomotor to be strapped into the seat of the coupler which could be a cause of concern, as discussed later in the section. Although not accounted for in the immediate GCP, the initial

15 position shown on the left in Figure 14 was optimized by changing the geometry of the congruent triangles drawn on each coupler position and finding appropriate locations for the fixed pivots. This design is a Type II Non-Grashof 4-bar linkage that has a mobility factor of 1. Each joint contains one degree of freedom and the mechanism is driven by a rotary motor attached to the driver (the bottom link depicted in Figure 13). Additionally, the linkage is more than capable of moving beyond the starting and ending task positions shown in Figure 14. This introduces the need to program the motor to stop once it reaches one of the ending task positions and start again in the opposite direction. Furthermore, this design is to be used primarily as a concept for the final prototype and is not yet clean of imperfections. Some of the positive and negative aspects of this design are discussed below. There are multiple pros to this design that make it a strong candidate for the ongoing of this project. One of the strongest features of this design is the consistency of the transmission angle. For the majority of the motion, the transmission angle remains between 45 and 135 degrees and only hits a minimum of about 13 degrees at its limit position. Keeping the transmission angle between 30 and 150 degrees is ideal to keeping the mechanism running efficiently. The overall compactness of the linkage is one other positive attribution of the linkage that will aid in its versatility. Stockrooms with tight aisles that don t allow a lot of lateral movement will still be accessible to this machine design. Most importantly though, the design meets the design specifications given in the design proposal and should be able to handle the load of the 200 kg servomotor. Although there are multiple positive things about this concept, there are also some aspects of the design that need to be looked at and taken into consideration. While traveling from the initial position to the opening of the machine frame, the seat for the servomotor located on the coupler turns upside down prior to being upright again. This would require the servomotor to be fixed to the seat, possibly requiring additional actuators to clamp the servomotor down, which also introduces the risk of the expensive servomotor slipping out of the seat and crashing to the floor. This can possibly be fixed by placing a horizontal constraint on the coupler and adding the initial position to the GCP. One other cause of concern is the possible interference of the linkage with the machine frame during operation. Although the fixed pivots are located on the exterior of the machine frame, the driver and output link could possibly interfere with the inside of the machine while trying to reach the final destination of the servomotor. This is something that will have to be closely examined when designing the machine frame. If it is decided to move forward with this concept, these considerations will be implemented into the alterations of the design while trying to keep the positive aspects of the design intact.

16 Selection of Final Concept: After careful examination of all five concepts, it has been decided that our group will move forward with Matthew Steves design while trying to implement the positive aspects of the other concepts as well. In order to create a final product of the highest quality, it is critical that the final design takes into account ideas from each concept. The decision matrix shown below helps break the down the final decision process and closely examines the traits of each team member s design in order to gain a clear understanding of what needs to be utilized from each concept. The design with the highest total score was elected to be the final concept moving onward. Table 1: Decision Matrix Group Member Jordan Siegel Alivia Lahr Matt Burns Robby Olander Matthew Steves Accuracy of Position Limits (1-5) Branch Defects? (1 or 0) Transmission Angle Optimization (1-5) Servomotor Orientation Throughout Motion (1-5) Ability to be Installed on Machine Without Interference (1-5) Coupler's Reach in Initial Position (Picking Up Servomotor) (1-5) Compact? (1-5) Total Points

17 This table helps carefully break down the strengths of weaknesses of each design in order to further understand what needs to be improved to the overall design. For example, one of the weaknesses of Matthew Steves design is the orientation of the servomotor throughout the complete motion seen in row four. Moving across the row, it is notable that the other four members of the group scored high in this category. With this knowledge, our group can now focus on combining the concepts for this distinct trait of each design to strengthen the final design. The 2D CAD sketch of the final concept is shown in the figure below. As noted in the table above and seen in the figure, some of the reasons for this concept being selected include: the accuracy of the limit positions, the quality of the transmission angle throughout the entire motion, and the overall compactness of the linkage. Figure 15: Final Concept Design Although the matrix played a key role in determining the final concept that our group would be moving forward with, it was not the ultimate deciding factor. After a long group discussion expressing the concerns and limitations of each concept, the group decided that the concept shown above provides the most flexibility for making changes in the future. In the final stages of developing a working prototype, our group has decided not to limit ourselves to this exact design, rather use this overall concept to shape the final design.

18 3. Digital Prototyping Figure 16: Final Prototype The final design of the prototype models the obtaining of servo motors from an arbitrary position in the stockroom and the transportation of these motors to a position 0.5 meters from the face of the machine and 0.2 meters above the bedplate of the machine, as shown in Figure 16. The mechanism can move to and from the desired position, depending on whether the servomotor needs to be bolted onto the bedplate or removed from the machine.

19 Figure 17: Section View of Final Prototype The final assembly is composed of two subassemblies of the 4 bar linkage that was designed to complete the desired operation, connected by a component on which the servo motors are held and transported. The servo motors are inserted into position on the connector through the open sides and held by the enclosing clamps. This connector improves the original design that the group decided to move forward with by keeping the orientation of the servo motors consistent without allowing the servo motor to fall to the ground during movement of the mechanism. This was the largest concern leading into the creation of the final prototype and the

20 group found this clamping connector to be the best way to resolve the issue without interfering with the integrity of the deisgn. Each subassembly is driven by a hydraulic motor as shown in Figure 17, and made of Hot-rolled Alloy Steel 4130 [2]. The prototype can be assembled by machining the appropriate parts as dimensioned within the CAD drawings and using the revolute joints to connect the coupler of the linkage to the coupler and rocker. The crank is connected and driven by the hydraulic motor, which is welded to the base of the machine. In order to help achieve synchronized movement of both linkages, a bar runs across the 0.4 meter opening connecting both of the rockers to the base. During transportation, the servomotor sits inside of the connector, as mentioned above, which is welded to the ends of both of the couplers. Operation of the final prototype is fairly simple. The connector of both couplers will obtain the desired servo motor(s), and two hydraulic motors will drive the crank to move the linkage into the position 0.5 meters horizontally from the face of the machine s base and 0.2 m upwards of the bedplate of the machine. These motors are capable of returning the motors to the original position they were obtained from by simply reversing the direction of the hydraulic motor. The motors are digitally synced together and serve as the actuators for our linkages. A visual representation of the model in SolidWorks is shown below in Figure 18. The hydraulic motor runs at 6.2 hp, has a maximum operating speed of 111 rpm and provides a max torque of 3541 in-lbs [1]. This should be an adequate amount of power and torque to move the 200 kg servomotor into position. Figure 18: Hydraulic Motor The machine base itself is to be elevated 0.75 m above the ground. In order to perform tests on the prototype, the rest of the machine base was dimensioned to be 1.45 m tall, 1.2 m wide, and 1 m long. The base also contains a 400 mm x 400 mm square opening in the front, as specified in the problem statement, for the linkages to pass through while transporting the servomotors. The machine base and its dimensions can be seen below in Figure 19.

21 Figure 19: Fully Dimensioned Machine Base In order to test the prototype and ensure that it runs accurately, an animation of the mechanism transporting the servomotors to and from the final destination was created. This animation can be found in the Prototype_Animation.avi movie file.

22 4. Prototype Assessment and Testing As mentioned above, each linkage is ran by two motors that rotate the cranks simultaneously. To further analyze the linkage and its complete motion, the group has derived a few vector loop equations [4]. With these equations, the output angle, coupler angle, transmission angle, and coupler displacement all relative to the input angle were determined. Figure 20 below helps gain an understanding of the assigned variables for each link length and angle that were used for the vector loop equations. Figure 20: Labeled Linkage With these variables set in place, it was decided to set the start of the vector loop at the fixed pivot located at the end of r1 and set the end of the loop at the circle point located at the conjunction of r2 and r3. The two equations for both the i and j directions of the vector loop are shown below. i: r 1 cosθ 1 + r 2 cosθ 2 = r 3 cosθ 3 x j: r 1 sinθ 1 + r 2 sinθ 2 = r 3 sinθ 3 + y In order to determine the behavior of both the output angle θ 3 and the coupler angle θ 2, the opposing angle was isolated and then removed, leaving only the desired angle and the input angle θ 1. The equations for the coupler angle and output angle in respect to the input angle are shown below. Coupler Angle θ 2 = 2tan 1 (t) where t = B+σ B2 C 2 +A 2 C A σ = +1 A = 2r 1 r 2 cosθ 1 + 2xr 2 B = 2r 1 r 2 sinθ 1 2yr 2 C = r r 2 2 r x 2 + y 2 + 2xr 1 cosθ 1 2yr 1 sinθ 1

23 Output Angle θ 3 = 2tan 1 (t) where t = B+σ B2 C 2 +A 2 C A σ = 1 A = 2r 1 r 3 cosθ 1 2xr 3 B = 2r 1 r 3 sinθ 1 + 2yr 3 C = r r 3 2 r x 2 + y 2 + 2xr 1 cosθ 1 2yr 1 sinθ 1 As seen above, the sign of σ is different for each angle. In order to determine the sign for the assembly modes, each angle was graphed for both cases, positive and negative, and was directly compared to the SolidWorks model. The graph that aligned with the angle seen in the model determined the assembly mode for that relative equation. With these angles known, it was also possible to determine the transmission angle at any input angle simply by subtracting the coupler angle from the output angle. Additionally, the project team found it necessary to trace the motion of point P on the coupler throughout the linkages entire motion to ensure that the servomotor moved in a smooth, uninterrupted path that wouldn t damage any of its internal hardware. The two formulas used to determine the x and y coordinates of point P at any given angle θ 1 are displayed below. i: P = r 1 cosθ 1 + r 5 cos(θ 2 + θ 5 ) + r 6 cos(θ 2 + θ 6 ) j: P = r 1 sinθ 1 + r 5 sin(θ 2 + θ 5 ) + r 6 sin (θ 2 + θ 6 ) After determining the motion limits of the input angle for the specific path desired, as seen in the Matlab script in the appendix, these equations were put into Matlab to create plots for the angles and position of P vs the input angle. The four graphs can be seen below in the Figures below. Figure 21: Coupler Angle vs Input Angle

24 Figure 22: Output Angle vs Input Angle Figure 23: Transmission Angle vs Input Angle

25 Figure 24: Displacement of P All four of these graphs were looked at next to the full motion of the linkage to ensure their accuracy. It is worth noting that the two apparent vertical asymptotes seen in Figure 21 and Figure 22 are actually the angle completing a full circle and transitioning from 360 degrees back to 0 degrees, starting a new revolution. This added feature to the Matlab script was put into place to ensure that the range of 0 <θ<360 was maintained throughout all of the graphs. After careful analysis, it can be observed that the linkage runs efficiently throughout its entire motion. As seen in Figure 23, the transmission angle mostly stays in the desired range of 30 <θ<150 while averaging around 90 degrees. This is optimal for the linkage to effectively transport the servomotors in an energetically efficient manner. Additionally, Figure 24 also helps show that the path of the coupler is indeed a swift fluid motion with little disruptions, ideal for transporting a heavy motor. With these measurements kept in mind, it was decided that the hydraulic motor would operate the cranks at 15 rpm, allowing for more torque. At this angular speed the linkage completes one full operation, installing or uninstalling the servomotor, in seconds. To test the linkage and ensure its effectiveness, the project team conducted a motion study of the prototype running at 15 rpm, as seen in the Prototype_Animation.avi movie file. The movie, in addition to the calculations and plots shown above, demonstrate that the linkage does accurately reach its position limits while operating in a smooth and continuous motion. The prototypes ability to meet the design goals by accurately running the servomotor through each of the required positions in an efficient manner is a clear demonstration that this linkage is a viable and realistic option.

26 5. Conclusions and Future Work: After in-depth testing with the 3D model, it is confirmed that the final prototype satisfies the original design goals as stated in the problem statement. The linkage efficiently transports a 200 kg servomotor from a stockroom shelf to the final destination that exists underneath the machine bedplate while moving the servomotor through the required positions (as described in the Digital Prototyping section of the report). There are a few risks with this design though. One of the risks is that the servomotor linkage flips 270 degrees before its final insertion into the bedplate. This changing direction of the force of gravity relative to the servomotor could potentially cause damage to the servomotor. To help combat this, the project team has decided to operate the linkage at a slower angular velocity, limiting the potential damage due to rapid force changes. In addition, with the connector piece having a solid floor, it may be difficult to lock in the servomotor to the bedplate. An additional actuator may be required in the future to bolt in the servomotors if this is not accessible. If this is not an option, the connector piece may have to be redesigned to allow clearance room. With the information that was gathered from the analysis of the prototype, it is recommended that this prototype be implemented for practical use. The linkage has the strength to attach and remove the servomotor while not interfering with any of its surroundings and would not be difficult to assemble. As far as the individual parts go and there machinability, they are simple enough to be machined in a standard shop. After researching online [2], the project team determined that AISI 4130 would be the steel of choice to create the linkage. It is difficult to purchase the small amount of steel needed to create the linkage, thus the price was proportioned down from a ton. From the referenced site [2], 1 ton of AISI-4130 square bar steel costs $1,500. The final assembly weighed in at 6.88 kg, costing $11.38 after calculations. In addition, the cost of each hydraulic motor would be approximately $600 from McMaster Carr [2]. Lastly, the individual linkage components would need to be machined domestically in a shop. With the appropriate assembly procedures put into place, the prototype could then be assembled and be put into work.

27 6. References 1. Hydraulic Motor Link: 2. Materials to be used for linkage: 3. Lecture 13: Solution defects Motion Generation GCP 4. Lectures 16-17: Kinematic Analysis of 4-bar Linkage

28 7. Appendix: Matlab Script File:

29

30 Bill of Materials:

31 Coupler Part Drawing:

32 Crank Part Drawing:

33 Rocker Part Drawing:

34 Rocker Bar Part Drawing:

35 Pin 1 Part Drawing:

36 Pin 2 Part Drawing: