본 프로젝트 보고서는 체비셰프 4절 기구의 운동에 대한 특정 포인트의 운동 궤적을 관심대상으로 하여 이를 계산하기 위해 필요한 분석 방법으로 삼각함수를 이용한 계산 방법과 수치해석적인 방법을 혼합하여 이용하였으며, 이를 실행하기 위한 준비 단계로 알고리즘 및 플로우 차트를 그렸으며, Matlab으로 프로그램 코딩을 하여 시뮬레이션하고 그 결과를 나타내었다.
또한 부록으로 프로그램 소스 코드가 포함되어 있다.
1. Introduction ········································································ 1
2. Model Description ······························································· 1
2.1 Kinematic Diagram ··········································································· 1
2.2 Vector ····························································································· 1
2.3 Dimension ······················································································· 1
2.4 Driver ······························································································ 2
2.5 D.O.F ······························································································ 2
2.6 Point of interest ··············································································· 2
3. Formulation ········································································ 2
3.1 Position Analysis ·············································································· 2
3.1.1 Analytical Method for Position Analysis ········································ 2
3.1.2 Numerical Method ······································································· 3
3.1.3 Jacobian Matrix Method ······························································ 5
3.2 Velocity Analysis ··············································································· 6<font color=aaaaff>..</font>
본 보고서는 CHEBYSHEV FOUR-BAR APPROXIMATE STRAIGHT-LINK MECHANISM을 분석하여 Point A의 회전에 따라 회전하는 각 링크의 포지션, 각 Point의 속도, 각속도 등을 분석하며, Point E의 궤적을 분석하고, 이를 바탕으로 하여 각 링크들의 움직임을 Animation으로 표현하는데 목적을 둔다.
6.1 What we have observed
링크 b의 반시계방향으로 회전하는 운동에 따라 각 링크들의 궤적이 어떻게 되는지 알 수가 있었다. 또한 Interest Point인 Point E의 움직임이 어떤지에 대해 알 수가 있었다. Point E의 단순히 궤적뿐만 아니라 속도와 가속도를 구할 수가 있었는데, E점의 궤적을 나타내는 그래프를 보게되면 점이 촘촘히 찍혀있는 부분은 속도가 낮고 멀리 찍혀있는 부분은 속도가 높다는 것을 알 수가 있으며, 이 속도 변화에 따른 가속도의 크기 또한 알 수가 있다.