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Offline Ber7  
#21 Posted : 03 August 2016 00:36:54(UTC)
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Jean Giraud ,here it is your animation without the display on the 2D graf

3d.sm (447kb) downloaded 38 time(s).
Offline CBG  
#22 Posted : 03 August 2016 02:53:06(UTC)
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Hello Jean ,
It would be better to put the animation in a 3/4 view . Would that be possible?

Best Regard

Carlos
Offline Jean Giraud  
#23 Posted : 04 August 2016 01:40:10(UTC)
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Originally Posted by: CBG Go to Quoted Post
Hello Jean ,
It would be better to put the animation in a 3/4 view . Would that be possible?

Best Regard

Carlos


Hello Carlos,
"3/4 view" : like setting TV screen 3/4 or other style.
You could scale the vertical vector, it would end being
hugly. The x, y ranges in the CreateMesh have these limits
under the hood. These limits are what make the Breather
so pleasant like the Eiffel shape.
Attached the 4 fixed orientations.

Jean

Breather Orientations.gif

Rotate Breather [4 Orientations].sm (18kb) downloaded 39 time(s).

Offline CBG  
#24 Posted : 04 August 2016 19:19:20(UTC)
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Hello Jean.

Excellent !!!

But the file does not work for me, it indicates that M is not defined.
Besides, I can not update the Maple plugin .
On the other hand , Is it possible to see a 3/4 view from the Z axis?, I think it will better.

Thank you.

Carlos

Rotate.png
Offline Ber7  
#25 Posted : 25 July 2017 12:47:08(UTC)
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Spherical four-bar mechanism
Axis joints intersect at the center of the sphere


3d1.smz (98kb) downloaded 40 time(s).
Offline Ber7  
#26 Posted : 23 January 2022 22:25:21(UTC)
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Puma manipulator
The working body of the manipulator moves along a given trajectory.
To solve the problem, 5 equations with six unknowns were used.
-Two link length equations
-Equations of the condition that the links are in the same plane
-Two space curve equations

Puma.sm (35kb) downloaded 18 time(s).

Edited by user 13 March 2022 08:20:14(UTC)  | Reason: Not specified

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Offline Ber7  
#27 Posted : 31 January 2022 00:57:50(UTC)
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The Schatz mechanism

https://espace.curtin.edu.au/bit...JMES_author_draft_02.pdf

The Schatz mechanism provides a perfect dynamic balance
оf both centripetal and centrifugal forces as patented in 1971
as the only widely-used overconstrained linkages in industry,
mainly used as spatial mixing-machines.


Shatz 2cikla.sm (129kb) downloaded 5 time(s).

Edited by user 13 March 2022 08:37:09(UTC)  | Reason: Not specified

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Offline grelkin2  
#28 Posted : 09 March 2022 23:10:10(UTC)
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Originally Posted by: Ber7 Go to Quoted Post
Puma manipulator
The working body of the manipulator moves along a given trajectory.
To solve the problem, 5 equations with six unknowns were used.
-Two link length equations
-Equations of the condition that the links are in the same plane
-Two space curve equations

In my option this system have

  • Rigid link between 2 points
  • 2 equations about belonging 2 points to the same sphere
  • x2*y1-y2*x1
  • some sin curve
    Don't quite understand about x2*y1-y2*x1. Some spherical meaning? The difference between azimuth angles is not perfect equal. Replace with atan(y1/x1)-atan(y2/x2) to make perfect equal.
    az1.png


Offline Ber7  
#29 Posted : 10 March 2022 08:23:43(UTC)
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Originally Posted by: grelkin2 Go to Quoted Post

In my option this system have

Hi grelkin2. Please provide your equations so that the solutions can be compared.
Best regards

Offline grelkin2  
#30 Posted : 10 March 2022 22:07:49(UTC)
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Hmm, atan is expensive function, may be switching to spherical coordinate reduces number of steps
initial vector
1.5355 0.8065 0.9959 1.9127 0.5761 0.0989
precision 1e-3
sphere(1,0,0,0)
sphere(2,0,0,0)
line(1,2)
atan(x[1]/x[0])-atan(x[4]/x[3])
.5*sin(8*x[3]+9*x[4])-x[5]
az2.png
Offline grelkin2  
#31 Posted : 15 March 2022 07:33:50(UTC)
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Originally Posted by: Ber7 Go to Quoted Post
The Schatz mechanism
The Schatz mechanism provides a perfect dynamic balance
оf both centripetal and centrifugal forces as patented in 1971
as the only widely-used overconstrained linkages in industry,
mainly used as spatial mixing-machines.

It has equation four points are coplanar
Maxima gives me this equation is exactly is zero with any coordinate
cop1.png
Offline Ber7  
#32 Posted : 17 March 2022 21:50:15(UTC)
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The Schatz mechanism. Modernized animation.


Schatz Linkage.sm (144kb) downloaded 18 time(s).
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Offline алексей_алексей  
#33 Posted : 24 March 2022 20:32:51(UTC)
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In the Schatz mechanism, the length of the middle link does not change, and the axes
of the middle link are constantly perpendicular to each other.
In this case, one vertical rack (input link) rotates uniformly.
This is for those who are interested.
And Draghilev's method does not directly work in this case.


Offline Ber7  
#34 Posted : 24 March 2022 23:12:58(UTC)
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The error of changing the length of the middle link is ε = 10^{-7}
You can also check the perpendicularity of the hinges
Proverka.png
Proverka.sm (48kb) downloaded 13 time(s).

Edited by user 24 March 2022 23:17:23(UTC)  | Reason: Not specified

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Offline grelkin2  
#35 Posted : 12 April 2022 02:33:46(UTC)
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To @Ber7, @алексей_алексей
Not really understand Schatz system
Please correct me if I'm wrong
schatz1.png
AO=const, BO'=const, AB=const
С extra point, AC=CB
Still two equation, one as I understand Z1*Z2=const?
and the last one is
Normals to planes ABO and ABO' must be perpendicular?
Magenta lines are normal vectors to ABO and ABO'
schatz3.png
Pause and check perpendicularity
schatz2.png
Rotate the view to get best observation
Make animation in mov format for the best quality, If not working, message me
Animation schatz.mov (286kb) downloaded 5 time(s).
Offline Ber7  
#36 Posted : 13 April 2022 17:37:22(UTC)
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Please, read the article at the link post # 27.The length of each link is equal to one, and the distance between the vertical axes is equal to the root of 3.Equation x3*x6 = 1/2 derived from Equation (6) of this paper.
"Normals to planes ABO and ABO' must be perpendicular?" Yes.
Regards
Offline grelkin2  
#37 Posted : 13 April 2022 20:39:49(UTC)
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schatz4.png
sinθ_2*sinθ_5=const
θ_2, θ_5 rotating angles around the ZA2, ZB2 rotating axis, difficult equation
You cann't use any intial values for coordinates because ABO and ABO' must be perpendicular, if you fixed all coordinates but one, you've got Quadratic equation. If you have no real roots change others coordinates and try again. Also you can change equation to be cos(α)=const, α≠90, α is angle between normals
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