Mobility, Kinematic, and Dynamic Analysis of a 4R1H Mechanism. Julia Files

Description

This dataset contains Julia files that perform mobility, kinematic, and dynamic analysis of a 1-DOF single-loop 4R1H mechanism, which is similar to the mechanism presented in paper https://doi.org/10.1007/978-3-031-45709-8_39. The corresponding paper describing the mechanism design and applied algorithms is going to be published in the Robotica journal. Please check the list of works at https://orcid.org/0000-0002-3928-5440. The dataset includes the following files: 1. File "main.jl" is the main file that proceeds with the mobility, kinematic, and dynamic analysis of the mechanism step by step. 2. File "init.jl" is used to define geometrical and inertial parameters of the mechanism links. 3. File "mobility.jl" computes a twist system of the output link. 4. File "kinematics.jl" computes kinematic parameters (positions, velocities, accelerations, etc.) of the links. 5. File "dynamics.jl" computes the motor torque required to realize the desired motion. 6. File "plots.jl" includes functions that visualize the results of the kinematic and dynamic analysis. The fourth version of the dataset has the following changes compared to the third version: 1. There is a new section in "main.jl" file titled "Motion with transient modes" which considers crank motion with acceleration and deceleration. 2. Files "torque_no_friction_5_transient.xlsx" and "torque_friction_5_transient.xlsx" complement this analysis and contain the corresponding CAD data. Other xlsx files have also been revised. 3. The "kinematics.jl" file includes new functions "crank_trap" and "crank_angle," which are necessary to realize the transient modes. 4. The "plots.jl" file includes several new functions, which plot the results of the kinematic and dynamic analysis with transient modes. In addition, a video file "4R1H mechanism.mp4" has been added, which illustrates the operation of the physical prototype for one revolution of its crank.

Steps to reproduce

The files have been written in Julia v1.10.3 using VS Code v1.92.2 with Julia extension v1.120.2. The files need a Symbolics package (v5.14.0) for symbolic mobility analysis, CairoMakie package (v0.11.4) for visualization, and XLSX package (v0.10.1) for importing CAD data from the xlsx files. After installing these packages, one can use VS Code and follow the "main.jl" file according to the comments therein.

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