MechAnalyzer - Rajeevlochana G Chittawadigi
Contents
1. Angular H Coupler Set Scale to Default Link 4 Ydir m s E o 192 0 Square Solid Time s Mechanism Select Mechanism Input Joint Options FOURBAR MECHANISM y L5 0 100058 Minimum Value Inversion GRASHOF 7 L6 0 1000 First v Maximum Value C Other Branch Mirror Number of 7 ja Rotations Figure 7 Graph Plot Options 4 NOTATIONS USED The architecture of industrial mechanisms is usually represented by standard parameters and notations The following notations are used in Mechanalyzer V4 e The fixed link is represented yellow in color apart from mechanism when showing inversions e Black circles on links represent pin joints at that location and links penetrating into cubes represent prismatic joint at that location e The coordinate marker shown at the bottom left corner of the screen uses standard colors i e red for x green for y and blue for z axes respectively 6 MechAnalyzer User Manual http www roboanalyzer com mechanalyzer html e Lines shown in dotted represent axis lines to show extension of links and do not form a part of the mechanism e Fkin implies Forward Kinematics IDyn implies inverse dynamics 5 VELOCITY AND ACCELERATION DIGRAM VAD MODULE Velocity and Acceleration Module VAD Module is a part of MechAnalyzer V4 Here in this user manual the VAD Module has been presented It has been developed to do kinematic analysis of mechanism2. MechAnalyzer 3D Model Based Mechanisms Learning Software Features Forward Kinematics More than 10 Mechanisms Inversions Velocity and Acceleration Module VAD La Freely Available for Academic Use September 2015 Developed by Prof S K Saha amp Team Mechatronics Lab Mechanical Engineering Department IIT Delhi New Delhi India http www roboanalyzer com mechanalyzer htm l PREFACE Study of various planar linkages is covered in Mechanism design which is a basic course taught to most mechanical engineering students Starting with the theory behind them students learn the dynamic equations to analyze different types of mechanisms and eventually solve design problems A computer based approach to solve these equations becomes imminent when the number of equations increases and also for a quick and better understanding through visualization Currently there are many commercially available software which can help students in this matter Unfortunately a considerable time has to be spent to train a student to use these programs Hence there is a need for a Mechanism learning software In this user manual the third version of the educational computer software Mechanalyzer is presented It has been developed to simulate and analyze the mechanisms that are already preloaded Developed in C Mechanalyzer renders 3D OpenGL graphics with an easy to use interface Presently Mechanalyzer can simulate ten mecha
3. Oldhams Coupling and Scotch Yoke Mechanism MechAnalyzer User Manual http www roboanalyzer com mechanalyzer html e Steering Mechanism Ackermann Steering and Davis Steering e Wiper Mechanism e Whitworth Quick Return Mechanism e Fourbar Quick Return Mechanism e Pantograph Copier Mechanism e Cam Follower Mechanism Flat Face follower and Knife Edge Follower e Spur Gear Mechanism Simple Gear Train Compound Gear Train 2 3 LOADING AND ANIMATING A MECHANISM e The desired mechanism can be selected from the Select Mechanism refer Figure 1 dropdown menu The corresponding variant if it applies to the mechanism needs to be selected from the Variant refer Figure 1 dropdown menu e The mechanism parameters window using the zoom button as shown in Figure 2 can be opened to relate the various lengths to the parameters of the mechanism The window also defines any output parameters of the mechanism as Ly 3D Model Graph Pantograph Mechanism x L1 L2 Input Point Output Point Scale Factor Output Dimension Input Dimension La Mechanism Output Parameters Options Scale Factor Te Select Mechanism Pantograph w Variant OK VAD Module Figure 2 Mechanism description window opened by clicking the zoom button e Then the parameters can be defined using the Input Parameters numeric controls e Then the forward kinematic analysis needs to be run using the FKin button in the Analysis Op
4. 3 Click on box to plot graph of a particular node to see joint value joint angle for revolute joint and joint offset for prismatic joints joint velocity and joint acceleration 4 Click on next to the link of which the plots are to be viewed 5 Click on box to plot graph of a particular node to see plots of the end points on the link for linear and angular position velocity and acceleration Linear node gives an option to plot graphs in either X or Y direction NOTE The graphs are plotted for some selected mechanisms like four bar slider crank elliptical trammel scotch yoke and quick return mechanism MechAnalyzer User Manual http www roboanalyzer com mechanalyzer html VTHeVse f eo SE E E Pb Analyses Time Duration No of Stepe 10 00 100 FKin IDm FDm Parameters Lt 0 2000 L5 0 1000 L2 0 0600 LE 0 1000 L3 0 1400 L4 0 1600 a MechAnslyzer 30 Model Graph 3 Joints pP Joint A Joint2 JointPosition y JointVelocity fy JointAcceleration HP Joint3 HFP Joint4 Links Ground Link2 Link3 Ld Link 4 Coupler d Parameters L1 02000 L5 0 1000 L2 00600 gt 16 0 1000 L3 0 1400 L4 0 1600 gt MechAnalyzer 30 Model Graph 3D Mode Graph MechAnalyzer Joints J F Joint 1 H P Joim2 P P Join3 Joint 4 P Links Ground P Link 2 Link 3 Link 4 P EndPointOnLink Linear amp Position Velocity 7 X Direction 14 Di
5. concepts of Mechanisms 2 1 OVERVIEW OF USER INTERFACE The version 4 of Mechanalyzer has been presented to the user in such a way that the user can easily get started with it The user interface of the software as shown in Figure 1 can be divided into the following sections Mechanism Selection Panel The desired mechanism and its corresponding variant can be loaded Mechanism Description Window Displays a labeled image of the mechanism showing its various parameters An enlarged image is shown in a separated window when the zoom button is clicked 3 Input Parameters Panel The user can set the input parameters pertinent to the mechanism 4 Output Parameters Box Some of the important output parameters related to the mechanism are displayed 5 Mechanism Options Other options related to the mechanism if any are shown here Message Window Displays the name of the mechanism its variant and warning messages if any 7 Animation Controls The speed play forward play backward controls are enabled in this toolbox MechAnalyzer User Manual http www roboanalyzer com mechanalyzer html 8 Analysis Options The analysis needed to be performed can to selected 9 Viewing Toolbar The basic CAD viewing options like zoom pan orbit etc are provided 10 Graphic Window This is the window where the mechanism is rendered and simulation is shown 11 VAD Module Opens new window of velocity acceleration diagram mod
6. NALYZER cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccceccscccccscccccccccccecces 1 2 1 OVERVIEW OF USER INTERFACE cccccccccccscccececcccscececeacacscececececececeaeacececeaeaseceseceaeasececeaeaeececeesaeacsceeeaeatsceceeeaeaces 1 2 2 FEATURES OF MIECHANALYZER cence earners otoconia redaction a ate ears sete etfs a en a 2 2 3 LOADING AND ANIMATING A MECHANISM ccccececcceccccscsccceccacscececeacacsceceaeescececsasacecsceceaencececeaeasececsesatacecseeeeaeecesseeass 3 2 4 SD MODEL WIE Wy OPTIONS xao sds cada aaa DU TG ra Ad O Aaaa 4 2 5 GRAPH PLOTS OFFKIN sas ei SS Ed SA SU CS E ee 4 3 GRAPH PLOT OPTIONS wirsssstciscasictiendenstvennseunedeteaeheincedstusieus teas dida coa dia tdi ada dia da dada a dd ainda d can did da dd saias ai 6 aA NOTATIONS USED ainsi dao nin aaa Goa E ENA 6 5 VELOCITY AND ACCELERATION DIGRAM VAD MODULE sccsccsssssccssccssceccescnssceccecccssceccescessceccescssseccescssseccescs 7 5 1 OVERVIEW OF USER INTERFACE ececececececccecccececcncecececeacscececsatacececeaeaencececeasacececeaeaenceseceatacsceeeatatsceceeeaeacecees 7 5 2 a Rea MODULE ates arate esate Sa ES Sr 8 Di INTERPRETATION OF VECTOR DIAGRAIVI Scictscesscapsacsantenassemplecenenncantovetionuounneacaveanegaemevsimedpemnectounsnraounnnaseniesseasiensiaen 8 RoboAnalyzer User Manual http www roboanalyzer com 5 4 LOADINGANDANIAMTINS VECTOR DIAGRAM S rai
7. This is the window where the vector diagrams are drawn and animation can be seen It has three sections consisting of position velocity and acceleration vector diagram Position Velocity Vector Diagram Acceleration Vector Diagram 5 Position 6 Velocity 7 Acceleration Vector Diagram Vector Diagram Vector Diagram 1 Navigation 1 Input Parameters and Draw Panel 4 Message Window ra Te Wk fen Yok tt de Accel C Bfmm s 2 Figure 9 The User Interface of VAD Module 5 2 FEATURES OF VAD MODULE VAD module can be used to perform kinematic analysis of linkage mechanisms Some features of it are as follows e Velocity and acceleration vector diagram e Animation of vector diagrams stepwise formation VAD module comes with six preloaded mechanisms that are as follows e Fourbar Mechanism e Slider Crank Mechanism e Crank and Slotted Lever Mechanism e Whit Worth Quick Return Mechanism e Elliptical Trammel Mechanism e Scotch Yoke Mechanism 5 3 INTERPRETATION OF VECTOR DIAGRAMS In the development of VAD module a proper color code has been followed in order to make it easy for users to interpret Vector diagrams can be interpreted very easily the procedure for interpretation is as follows MechAnalyzer User Manual http www roboanalyzer com mechanalyzer html e Standard conventions has been followed angular velocity is positive in counter clockwise direction e All link leng
8. Visualize DH Parameters Virtual Robots Module Use it to Validate your Code Results Visualize End Effector Transformations MATLAB Interface Create Custom Robot Models E alae Trace of ne 7 oT End effector a N 3D Model 7 O a Aw ae rm a joe o DH s p Parameters m ee eee hid Create robot models of any DOF E ias E Save and Load your Robots Shows Robots 20 industrialrobots in Virtual Robots Module VRM l A Integration of VRM with MATLAB MS Excel VRM Integration with Robotics Tool Box MATLAB Developed by Prof 5 K Saha amp Team Mechatronics Lab Department of Mechanical Engineering n rr Indian Institute of Technology Delhi India ROB OTI cs ka LES Contact saha mech jitd ac in roboanalyzer gmai
9. as 9 Oc REFERENCES sina E SG O UN Saens 9 MechAnalyzer User Manual http www roboanalyzer com mechanalyzer html 1 GETTING STARTED This section helps you get started with the installation of MechAnalyzer a 3D Model Based Mechanisms Learning Software It has been developed using OpenGL and Visual CH 1 1 MINIMUM SYSTEM REQUIREMENT e Processor Atleast 1 5 GHz RAM Atleast 512 MB Operating System Windows XP Windows Vista Windows 7 Windows 8 Dependencies Microsoft Net 2 0 framework 1 2 INSTALLATION MechAnalyzer can be installed on a computer by downloading it from our website The fourth version of the software is available for free athttp www roboanalyzer com mechanalyzer html The following are the steps to install MechAnalyzer Step 1 Visit http www roboanalyzer com mechanaylzer html Step 2 Look for Downloads section on the webpage Step 3 Click on download link for MechAnalyzerV4 or latest version to download a zip file Step 4 A popup window will appear Select the folder where the file has to be saved and click on Save Step 5 After downloading is complete unzip MechAnalyzer zip to any folder on your computer Open the folder MechAnalyzer Step 6 Double click on MechAnalyzer exe to start MechAnalyzer No need to install to use 2 INTRODUCTION TO MECHANALYZER MechAnalyzer is a 3D Model Based Mechanisms Learning Software It has been developed to help the faculty to teach and students to learn the
10. nisms After selecting a mechanism its link lengths can be easily changed the same is reflected instantly in the 3D model of the mechanism One can also switch between its different inversions and select variants of the mechanisms Mechanalyzer was developed in the Mechatronics Lab Department of Mechanical Engineering at IIT Delhi India under the guidance of Prof S K Saha The following students are given due credits in its development e Shamanth Hampali 2013 Summer Intern from NITK Surathkal Version 2 comprising of kinematic and dynamic analysis of four bar slider crank and five bar mechanisms Rakshith Lokesh 2014 Summer Intern from NITK Surathkal Version 3 with forward kinematics of around 10 mechanisms e Rohit Kumar and Sachin Kumar Verma 2015 Summer Intern from NITK Surathkal Version 4 with graph plots for forward kinematics and vector diagrams for 6 mechanisms Rajeevlochana G Chittawadigi M S Research IIT Delhi Asst Professor Amrita University Bangalore Architect Framework design for Version 4 coordination and mentoring CONTENTS PRE O AG DRA RR OR PARRA RR O ARA RR RR AR RA RSRS RAR 1 1 GETIING STARTED ssa EaD aaa es Da os es ee reed SR Ga ee a ce ee a ace ee ec eae eee ad Sa 1 1 1 MINIMUM SYSTEM REQUIREMENT waissisidisscvinteiwdalsansdaruucwubicadawinladaudwwreaiwielammledesnisan du ealecas da sia dna das dn aid aat da din ai cabide iscas tab iaaai dass od inad dae 1 1 2 ETAETA N EA 1 2 INTRODUCTION TO MECHA
11. rection amp Acceleration i 4 Angular Coupler Link 4 Ydir m s Link 4 Xdir m s LI 0 2000 L5 o 1000 L2 0 0600 LS 0 1000 L3 0 1400 L4 0 1600 Figure 6 Graph Plots of Link4 5 MechAnalyzer User Manual http www roboanalyzer com mechanalyzer html More details and information on the Graph Plot options can be found in Section 3 3 GRAPH PLOT OPTIONS The analyses results for FKin can be viewed as graph plots as explained in Sections 2 5 Several options for graph plot functionalities are explained below and as shown in Figure 7 pa Select a graph plot node N Set the plot color symbol and line style W Right click on graph to show a menu Here you can use various options to zoom print etc 4 Export Data as CSV Export plot data that can be opened in a spreadsheet such as MS Excel 5 Use Mouse wheel to zoom in and out 6 Press Mouse wheel and drag the mouse to pan around the graph 7 Hover over the curve to see the coordinates of the point af MechAnalyzer Browser 3D Model Graph MechAnalyzer E Joints JP Joint1 B Joint2 T T ay Joint3 B Joint4 B Links H Ground H P Link2 H A Link3 Copy e Link4 Save Image As Export Data as CSV Page Setup Print Show Point Values Un Zoom Undo All Zoom Pan 8 4 EndPointOnLink E Linear 6 4 Position B Velocity X Direction of Y Directio H A Acceleration
12. rformance play animation for one vector diagram at once 6 REFERENCES 1 Robert Norton Design of machinery 2nd Edition Other Related Research amp Software Developed by Prof S K Saha amp Team IIT Delhi New Delhi India Intelligent Systems Control and Automation rim Z Springer springer com suril Vijaykumar Shah 5 V Shah HIT Hyderabad K Saha IIT Delhi J K Dutt IIT Delhi subir Kumar Saha Jayanta Kumar Dutt Dynamics of Tree Type Robotic Systems Dyna ne of Tree Series Intelligent Systems Control and Automation Science and Engineering Vol 62 lype Robotic Features Systems kIndispensible one stop resource Presents a framework for dynamic modeling and analysis of tree type robotic systems k Introduces concepts of kinematic module and Euler Angle Joints kIinclusion of closed loop systems killustration of model based control Comes with Recursive Dynamics Simulator ReDySim a free solver Po r T Springer e for dynamic analysis l RO boAn a lyze r RA 3 Easy Steps to L Freely Available for 1 Learn Robotics Academic Use 3D Model Based Robotics Learning Software Select a Standard Robot Model or Forward and Inverse Kinematics E Analyze and Understand with Plots Select a Skeleton Model and Vary the Forward and Inverse Dynamics Learn the Physics of Robot First Denavit Hartenberg DH Parameters 2 Animation and Trace i and then its Mathematics Learn and
13. s graphically which are preloaded in it It does the analysis of mechanism by drawing vector diagrams for velocity and acceleration and then shows the animation stepwise drawing of vector diagrams 5 1 OVERVIEW OF USER INTERFACE The VAD module has been presented to the user in such a way that the user can easily get started with it To access this click on the button named VAD Module refer Figure 8 3D Model Graph FOURBAR MECHANISM invention IGRASHOF o iam lt gt 4 350 C Other Branch Miror T ooo MEIR MEE Figure 8 Interface of MechAnalyzer Highlighting VAD Module Button After clicking the button VAD Module window appears The user interface as shown in Figure 9 can be divided into the following sections 1 Navigation Panel Here user can select desired mechanism play animation for vector diagram and can also control the speed of animation 2 Input Parameter and Draw Panel Here user can give input for length of links crank angle crank velocity and acceleration A draw button is provided here to draw vector diagrams for updated values 3 Result Panel it displays the output parameters associated with the mechanism like orientation angular and linear velocity and acceleration for links other than crank link 4 Message Window Displays the name of mechanism or error message if any MechAnalyzer User Manual http www roboanalyzer com mechanalyzer html 5 Diagram Window
14. ths must be inputted in mm only e In position vector diagram all links are drawn in different colors to follow color code e In velocity vector diagram the vector of a color same as link color in position diagram will show its velocity that is normal to the vector in position diagram the blue color vector in velocity diagram shows the velocity vector for link corresponding to blue color in position diagram e Inthe acceleration vector diagram two types of line are shown solid and dashed e The solid line represents resultant acceleration for the link which is of same color in position diagram e The dashed lines represent angular and tangential acceleration for the link which is of same color as in position diagram 5 4 LOADING AND ANIAMTING VECTOR DIAGRAMS A desired mechanism can be loaded and seen its animation very easily The procedure is described below 2 Input parameters 1 Choose mechanism Figure 10 Guidelines for VAD Module Control e Select the desired mechanism from dropdown menu in Navigation panel and input parameters can be changed in Input Parameter panel refer Figure 10 e Now on clicking Draw button mechanism will be updated for corresponding inputs e For playing animation for velocity or acceleration vector diagram click on the corresponding buttons in Navigation panel refer Figure 10 e Speed of animation can be controlled with the help of track bar provided in Navigation panel Note For better pe
15. tion box after which the animation can be observed using the animation controls MechAnalyzer User Manual http www roboanalyzer com mechanalyzer htm l 2 4 3D MODEL VIEW OPTIONS MechAnalyzer lets the user to zoom rotate and pan the 3D model to have better visualization These can be used as explained below and shown in Figure 3 e Zoom Use the zoom in and zoom out buttons to enlarge or diminish respectively e Rotate Click on Rotate button to make it active Place the mouse cursor anywhere on the 3D Model View and rotate the model by clicking on left mouse button and dragging the mouse Pan Click on Pan button to make it active Place the mouse cursor anywhere on the 3D Model View and translate the model by clicking on left mouse button and dragging the mouse e Model Views The dropdown can be used to quickly move to a different view front view side view isometric view etc e Curve Trace Click on curve trace button to draw trace and click on it again to disable trace Orbit Model Views Browser 3D Model J mons bar a amp amp HE ws ws LN Zoom Out Pan Curve Trace Figure 3 The 3D model view toolbar 2 5 GRAPH PLOTS OF FKIN To view the graph plots of a forward kinematics animation analysis the following are the steps as shown in Figures 4 5 and 6 1 Click on Graph tab 2 Click on next to the joint of which the plots are to be viewed
16. ule a MechAnalyzer 5 x 3D Model Graph 9 Viewing Toolbar 10 Graphic Window 1 Mechanism Choice 2 Mechanism 3 Input 4 Output 5 Mechanism 6 Message i Description Parameters Parameters Options Window Mechanism input Joint Options gt L5 0 10004 Mirim Value Inversion GRASHOF La seus Firs O Other Branch Minor Number of 11 VAD EEE es xstors Module Figure 1 User Interface of MechAnalyzer V4 2 2 FEATURES OF MECHANALYZER MechAnalyzer can be used to perform kinematic analyses of linkage mechanisms The following are the main features of MechAnalyzer e Mechanism Animation e Curve Trace for coupler point e Inversions for Fourbar and Slider Crank Note Graph Plot Inverse Dynamics and Forward Dynamics haven t been incorporated yet They will be reported in the future versions of the software Mechanalyzer comes with the following ten preloaded mechanisms and the mentioned special variants of the respective mechanism e Fourbar Mechanism its inversions and the following straight line mechanisms derived from Fourbar Robert s Mechanism Watt s Mechanism Evan s Linkage Tchebyshev s Mechanism and Hoeken s Linkage e Slider Crank Mechanism its inversions and a straight line mechanism derived from slider crank Scott Russel Mechanism e Double Slider Mechanism variations of double slider Elliptical Trammel
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