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Method A.B. Draghilev and animation spatial mechanisms
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Jean Giraud ,here it is your animation without the display on the 2D graf ![](http://s50.radikal.ru/i128/1608/b1/94ccaf898dd5.gif) 3d.sm (447kb) downloaded 54 time(s).
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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
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Originally Posted by: CBG ![Go to Quoted Post Go to Quoted Post](/forum/Themes/yafvision/icon_latest_reply.gif) 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](/forum/resource.ashx?a=14420&b=2) Rotate Breather [4 Orientations].sm (18kb) downloaded 84 time(s).
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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](/forum/resource.ashx?a=14422&b=2)
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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 ![](https://media.giphy.com/media/5Te87aXMXFifwNyCRM/giphy.gif) Puma.sm (35kb) downloaded 30 time(s).Edited by user 13 March 2022 08:20:14(UTC)
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on 24/01/2022(UTC), on 24/01/2022(UTC), on 24/01/2022(UTC), on 24/01/2022(UTC)
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Originally Posted by: Ber7 ![Go to Quoted Post Go to Quoted Post](/forum/Themes/yafvision/icon_latest_reply.gif) 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](/forum/resource.ashx?a=43220&b=2)
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Originally Posted by: grelkin2 ![Go to Quoted Post Go to Quoted Post](/forum/Themes/yafvision/icon_latest_reply.gif) In my option this system have
Hi grelkin2. Please provide your equations so that the solutions can be compared. Best regards
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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](/forum/resource.ashx?a=43224&b=2)
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Originally Posted by: Ber7 ![Go to Quoted Post Go to Quoted Post](/forum/Themes/yafvision/icon_latest_reply.gif) 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](/forum/resource.ashx?a=43244&b=2)
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The Schatz mechanism. Modernized animation.
![](https://upload.wikimedia.org/wikipedia/commons/1/16/Schatz_Linkage.gif) Schatz Linkage.sm (144kb) downloaded 32 time(s).
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on 18/03/2022(UTC), on 18/03/2022(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. ![](/forum/resource.ashx?imgprv=1663) ![](/forum/resource.ashx?imgprv=1664) ![](/forum/resource.ashx?imgprv=1665)
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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](/forum/resource.ashx?a=43285&b=2) Proverka.sm (48kb) downloaded 22 time(s).Edited by user 24 March 2022 23:17:23(UTC)
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To @Ber7, @алексей_алексей Not really understand Schatz system Please correct me if I'm wrong ![schatz1.png](/forum/resource.ashx?a=43429&b=2) 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](/forum/resource.ashx?a=43434&b=2) Pause and check perpendicularity ![schatz2.png](/forum/resource.ashx?a=43433&b=2) 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 13 time(s).
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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
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![schatz4.png](/forum/resource.ashx?a=43449&b=2) 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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Originally Posted by: grelkin2 ![Go to Quoted Post Go to Quoted Post](/forum/Themes/yafvision/icon_latest_reply.gif) Please correct me if I'm wrong Не видел здесь твоих сообщений, потому что давно сюда не заглядывал. Если ещё интересуешься этим механизмов, то здесь находятся тексты на Maple с вариантом его реализации. И там же происходит общение, похоже, со специалистом.
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Originally Posted by: алексей_алексей ![Go to Quoted Post Go to Quoted Post](/forum/Themes/yafvision/icon_latest_reply.gif) Не видел здесь твоих сообщений, потому что давно сюда не заглядывал. Если ещё интересуешься этим механизмов, то здесь находятся тексты на Maple с вариантом его реализации. И там же происходит общение, похоже, со специалистом. Я могу вспомнить систему и туда выложить. Но не будут ли завсегдатаи против, если я не буду использовать Maple, а буду выкладывать картинки, видео, формулы?
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Originally Posted by: grelkin2 ![Go to Quoted Post Go to Quoted Post](/forum/Themes/yafvision/icon_latest_reply.gif) Ðо не бÑдÑÑ Ð»Ð¸ завÑегдаÑаи пÑоÑив, еÑли Ñ Ð½Ðµ бÑÐ´Ñ Ð¸ÑполÑзоваÑÑ Maple, а бÑÐ´Ñ Ð²ÑкладÑваÑÑ ÐºÐ°ÑÑинки, видео, ÑоÑмÑлÑ? Там это не здесь. Единственное, думаю, если в понятной для всех людей форме и в доступном для буферизации виде. Потом, одна стойка должна быть входным звеном, и чтобы это было чётко видно на анимации. Другими словами, чтобы было не хуже чем там и чтобы любой пользователь Maple мог легко проверить результат. Все тамошние пользователи, у которых значок модератора, могут сделать замечание или просто удалить сообщение. Например, там автоматически ни у кого нет права писать в раздел, предназначенный для сотрудников MapleSoft, которые помечены своим значком. Хотя текст сообщения, насколько помню, разрешается набирать на любом языке, лишь бы с ним справлялся переводчик. А в плане обучения Maple считаю тот форум очень хорошим, если что. Edited by user 09 March 2024 09:21:29(UTC)
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