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Offline Ber7  
#1 Posted : 26 January 2014 10:10:20(UTC)
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Application of the method A.B. Draghilev to the calculation of the kinematics and animation
spatial mechanisms developed prof.A.B.Ivanov, that
develops method A.B. Draghilev to solve practical problems.
Their development, with detailed explanations,
he published on the site
http://forum.exponenta.ru/viewtopic.php?t=12842
The following examples are taken from this site and transferred from Maple in the programming environment SMath Studio.
A huge thanks to Alexei Ivanov, who gave me great help in the study the method of A.B .Draghilev.
1.Explanatory example
http://ru.smath.info/for...matsii-miekhanizmov.aspx

Edited by user 26 January 2014 10:13:25(UTC)  | Reason: Not specified

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Offline Ber7  
#2 Posted : 26 January 2014 10:18:11(UTC)
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One end of the rod moves in the spatial
curve, the other along a circular arc.

File Attachment(s):
Primer3.smz (9kb) downloaded 119 time(s).
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Offline Ber7  
#3 Posted : 26 January 2014 10:21:47(UTC)
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Three-link spatial mechanism

Edited by user 14 September 2015 13:28:52(UTC)  | Reason: Not specified

File Attachment(s):
Pr4.smz (10kb) downloaded 78 time(s).
PrUgol.smz (11kb) downloaded 70 time(s).
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Offline Ber7  
#4 Posted : 26 January 2014 10:25:04(UTC)
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Spatial four-bar linkage1



Spatial four-bar linkage 2


Artobolevskij.smz (11kb) downloaded 62 time(s). Primer5.smz (47kb) downloaded 124 time(s).

Edited by user 09 November 2015 11:46:02(UTC)  | Reason: Not specified

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Offline Ber7  
#5 Posted : 26 January 2014 10:30:32(UTC)
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Cardan Mechanism.The axes of rotation intersect at an angle of 45 degrees

Edited by user 21 May 2014 16:59:17(UTC)  | Reason: Not specified

File Attachment(s):
Kardan13542.sm (73kb) downloaded 125 time(s).
KardanHadash1.sm (90kb) downloaded 83 time(s).
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Offline Ber7  
#6 Posted : 11 April 2014 09:45:17(UTC)
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Animation curve, which is defined implicitly
Each loop equation "cam"-an implicit function F (x, y) = 0
  Examples taken from the site
 
http://forum.exponenta.ru/viewtopic.php?t=12842



Edited by user 11 April 2014 22:49:12(UTC)  | Reason: Not specified

File Attachment(s):
KulakMalben2.smz (6kb) downloaded 96 time(s).
Kulak2.smz (6kb) downloaded 76 time(s).
Kardeoida.smz (8kb) downloaded 86 time(s).
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Offline Ber7  
#7 Posted : 03 May 2014 00:06:20(UTC)
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The line of intersection of the torus and sphere(Villarceau circles)
This example is taken from an article by Дубанов А.А. :Численно-аналитическое
построение линий пересечения поверхностей методом Драгилева,2007(rus)
http://www.blagovest2002...urfInt/paper1/Paper1.htm


File Attachment(s):
Villarceau.smz (10kb) downloaded 99 time(s).
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Offline Ber7  
#8 Posted : 12 May 2014 21:02:38(UTC)
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Originally Posted by: Ber7 Go to Quoted Post
Cardan Mechanism.The axes of rotation intersect at an angle of 45 degrees




The same mechanism with spherical linkages
These linkages have the property that
every link in the system rotates about the same fixed point. Thus, trajectories of
points in each link lie on concentric spheres with this point as the center. Only the
revolute joint is compatible with this rotational movement and its axis must pass
through the fixed point.

Edited by user 07 November 2015 19:15:45(UTC)  | Reason: Not specified

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Offline Davide Carpi  
#9 Posted : 16 May 2014 14:03:17(UTC)
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I can't see the last image (neither in the russian side of the forum) Confusion
If you like my plugins please consider a donation to SMath Studio; for personal contributions to me: paypal.me/dcprojects
Offline Ber7  
#10 Posted : 16 May 2014 18:01:47(UTC)
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Link to the file and image:
http://smath.info/wiki/GetFile.aspx?File=Guk.gif
File Attachment(s):
KardanHadash.smz (12kb) downloaded 61 time(s).
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Offline Ber7  
#11 Posted : 02 June 2014 18:36:46(UTC)
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Ring instead of cross-piece
File Attachment(s):
KardanHadash3.smz (14kb) downloaded 74 time(s).
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Offline Ber7  
#12 Posted : 18 July 2015 16:45:48(UTC)
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3-PRS Parallel Manipulator


Edited by user 31 August 2015 00:03:26(UTC)  | Reason: Not specified

File Attachment(s):
Tripod2s.pdf (254kb) downloaded 91 time(s).
Tripod1s.smz (15kb) downloaded 62 time(s).
Tripod2s.smz (16kb) downloaded 60 time(s).
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Offline Ber7  
#13 Posted : 30 August 2015 23:51:05(UTC)
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The Delta Parallel Robot
Kinematic scheme and dimensions are taken from the book
R.L. Williams II, “The Delta Parallel Robot: Kinematics Solutions”, Internet Publication,
April 2015.


Delta.smz (506kb) downloaded 160 time(s). Delta.pdf (543kb) downloaded 231 time(s).

Edited by user 15 November 2015 23:50:53(UTC)  | Reason: Not specified

File Attachment(s):
Delta.smz (506kb) downloaded 160 time(s).
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Offline Ber7  
#14 Posted : 14 September 2015 11:37:56(UTC)
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RSCRmod.sm (107kb) downloaded 33 time(s).The RSCR spatial mechanism.
The calculation is borrowed from the publication of Alexey Ivanov

http://www.mapleprimes.c...0-RSCR-Spatial-Mechanism
A case where the axis of rotation are perpendicular

Edited by user 11 February 2016 13:01:02(UTC)  | Reason: Not specified

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Offline Ber7  
#15 Posted : 23 October 2015 23:19:26(UTC)
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Again The Delta Parallel Robot.Winding onto a cylindrical mandrel

File Attachment(s):
Delta2.smz (602kb) downloaded 103 time(s).
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Offline Ber7  
#16 Posted : 27 October 2015 18:26:45(UTC)
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Delta3.smz (601kb) downloaded 69 time(s).Version for conical spiral

Edited by user 28 October 2015 19:05:16(UTC)  | Reason: Not specified

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Offline Ber7  
#17 Posted : 21 November 2015 14:37:36(UTC)
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Delta0C.smz (322kb) downloaded 104 time(s).In the above animation three links that support the lower platform is a simplified and
presented in the form of red rods. Actually used parallelograms (pantographs), where top and
bottom mounted universal (cardan) joints. Each universal joint implemented using Three
revolute joints . The axis of the middle joints lies in the plane of the parallelogram, and
axis external joints perpendicular to this plane. Animation of this design is shown below.

Edited by user 21 November 2015 14:39:55(UTC)  | Reason: Not specified

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Offline Ber7  
#18 Posted : 07 May 2016 13:55:01(UTC)
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Graf.smz (145kb) downloaded 42 time(s).Spatial (spherical) Cam
The idea is taken from here
http://www.mapleprimes.c...-MapleSim-#comment225311



Edited by user 17 September 2016 20:42:00(UTC)  | Reason: Not specified

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Offline Ber7  
#19 Posted : 30 July 2016 13:23:41(UTC)
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A mechanisms similar to slider crank mechanism
These mechanisms are shown Alexey B. Ivanov on the website
https://vk.com/away.php?...F204684-Lever-Mechanisms



1.sm (37kb) downloaded 50 time(s). 2.sm (48kb) downloaded 44 time(s).
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Online Jean Giraud  
#20 Posted : 02 August 2016 21:22:02(UTC)
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Thanks Ber7 for your repost/new animations. Some don't work in Smath 5346,
so what. Animation is a very nice feature from Smath.

Jean

Breather AnimRot.gif

Rotate XY.sm (475kb) downloaded 36 time(s).
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