4-Bar Linkage Analysis

Deliverables:

• trace path of points on coupler (first picture)

• export coordinates of coupler midpoint as CSV (midpointPath.csv embedded)

• add gravity to study and plot motor torque (Plot 12)

• maximum value of motor torque (131N*mm, according to Plot 12)

• crank angle at which motor torque is maximum (max torque occurs at t=3s, and angular displacement is 0 degrees at t=3s according to Plot 19)

• maximum vertical force experienced by each bearing (4N for leftmost bearing, 2.9N for rightmost bearing, according to Plots 22 and 23, respectively)

• minimum motor power required to move crank at a constant 600rpm (change motor to 600rpm and create Plot 24 to observe that minimum torque is 2002N*mm)

• explain meaning of negative motor torque (negative torque means that the crank is being rotated in the direction opposite to what is currently defined as clockwise, e.g. clockwise v.s. counterclockwise; the motion of the mechanism's links still traces out the same contour as for positive torque, but the path is followed in reverse)