Planar motion control 1b

Pink object has 3 degrees of freedom in its planar motion: two linear and one angular displacements. This pantograph can deal with two linear ones. Relations between coordinates of the object center A(X,Y) and coordinates of pistons ends B(t,0) and C(0,s): x = (t+s.cosα)/2 y = (s+t.cosα)/2 α is angle between Ox and Oy x and t are measured along Ox axis. If α = 90 deg. x = t/2 y = s/2 Angular position of the object is unstable and needs a control device (not shown). Advantage of pan

• #تحصیلات_و_یادگیری
• #control
• #planar_motion
• #mechanism