Mobility and Kinematic Analysis of a 4R1H Mechanism. MATLAB Files
This dataset presents MATLAB scripts that perform mobility and kinematic analysis of a 1-DOF 4R1H mechanism, introduced in paper doi.org/10.5545/sv-jme.2018.5965. The corresponding paper describing the applied algorithms will be presented on the 16th IFToMM World Congress (WC2023) and published in the "Mechanism and Machine Science" series. Please check the list of works at https://orcid.org/0000-0002-3928-5440. The dataset includes two scripts: 1. Script "mobility.m" finds a twist system of the output link of the considered mechanism. 2. Script "kinematics.m" calculates the output link motion (displacements, velocities, and accelerations) for the given input motion.
Steps to reproduce
The scripts have been obtained in MATLAB R2020a using standard functions, and they can be launched using a "Run" command in the "Editor" tab. Script "kinematics.m" does not need any additional toolboxes. Script "mobility.m" operates with symbolic variables and requires MATLAB Symbolic Math Toolbox: https://www.mathworks.com/products/symbolic.html.
Russian Science Foundation