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Method A.B. Draghilev and animation spatial mechanisms
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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.aspxEdited by user 26 January 2014 10:13:25(UTC)
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One end of the rod moves in the spatial curve, the other along a circular arc. 
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Three-link spatial mechanism   Edited by user 14 September 2015 13:28:52(UTC)
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Spatial four-bar linkage1  Spatial four-bar linkage 2  Artobolevskij.smz (11kb) downloaded 71 time(s). Primer5.smz (47kb) downloaded 139 time(s).Edited by user 09 November 2015 11:46:02(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)
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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 
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Originally Posted by: Ber7  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)
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I can't see the last image (neither in the russian side of the forum)  |
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Ring instead of cross-piece 
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3-PRS Parallel Manipulator    Edited by user 31 August 2015 00:03:26(UTC)
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The Delta Parallel RobotKinematic 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 169 time(s). Delta.pdf (543kb) downloaded 243 time(s).Edited by user 15 November 2015 23:50:53(UTC)
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Again The Delta Parallel Robot.Winding onto a cylindrical mandrel 
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Delta3.smz (601kb) downloaded 78 time(s).Version for conical spiral  Edited by user 28 October 2015 19:05:16(UTC)
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Delta0C.smz (322kb) downloaded 112 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)
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Rank: Advanced Member Groups: Registered
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on 07/05/2016(UTC), on 09/05/2016(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  Rotate XY.sm (475kb) downloaded 49 time(s).
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