Mid Sem
Mid Sem
Report Submission
By
PRABHAT KUMAR SAHU
Roll no: 714ME4096
Under guidance of
Dr. Haraprasad Roy
to flapping wing domain for developing analysis for link mechanism. Wang et al.
concept and tackling the knowledge required (2018) had shown the design which used the
to understand its complexity of making the wing swing and wing pitch for flapping
The simplest form of a mechanism is 4 bar RRR serial chain for the flapping wing
different inversions which are suitable for Kinematic analysis of the flapping wing
et al. (2005) designed a biological inspired al. (2000), Liu et al. (2015) and Negrello et
flapping wing mechanism employing 4 bar al. (2016). Ambekar (2009) had solved
mechanism, which opens the possibilities for many mechanism problems related to four
research in this stream. Similarly, Zbikowski bar and crank slotted lever mechanism to do
et al. (2005) had tabled a concept and kinematic analysis using analytical
approach, which is suitable for computation 2. Kinematic analysis is to be used to find
purpose also. out position, velocity, and acceleration of
In addition to mechanisms, derivation on the combined crank slotted lever four bar
design of spur gear with relevant parameters flapping wing mechanism.
given satisfying practical conditions had 3. Multi Objective Genetic Algorithm is to
been described and mentioned in Bhandari be carried out for finding the optimized
(2010). values to different parameters affecting the
Vanderplaats (2001), Ryan (2012), and Deb functionality of the mechanism.
(2012) had shown various optimization 4. Fabrication of the proposed optimized
techniques, out of which, multi objective mechanism.
genetic algorithm optimization has been
IV. METHODOLOGY
good choice to work on. Meanwhile, Van In this work, methodology is arranged
Truong (2018) mentioned about the according to the occurrence of its existence.
III. OBJECTIVES
Fig. No 9: displacement, velocity, and Separating real and imaginary parts and
acceleration diagram comparing:-
r7 r6 cos6 r4 cos4 r5 cos5 (7)
A. Position Analysis:-
& r6 sin 6 r4 sin 4 r5 sin 5 (8)
Let O2P be the crank and Q be the point Dividing (8) by (7):-
(r4 sin 4 r5 sin 5 )
fixed on OR0 with which sliding point O2PP tan(6 )
(r4 cos 4 r5 cos 5 r7 )
is momentarily in coincidence.
(r4 sin 4 r5 sin 5 )
6 tan 1
(r4 cos 4 r5 cos 5 r7 )
The loop closure equation for portion O O2P
of mechanism:- Where 6 is the output link (angle)
R1 R2 R3 4 3
So,
Which can be rewritten in complex polar
(r4 sin 3 r5 sin 5 )
form as:- 6 tan 1 (9)
(r4 cos 3 r5 cos 5 r7 )
r1e j1 r2e j2 r3e j3 (1)
Squaring and Adding the equation (7)
Separating real and imaginary parts and &equation (8):-
r62 r4 sin 3 r5 sin 5 r4 cos 3 r5 cos 5 r7
2 2
comparing:-
r1 cos1 r2 cos2 r3 cos3 (2)
r62 r42 sin 2 3 r52 sin 2 5 2r4 r5 sin 3 sin 5
& r1 sin 1 r2 sin 2 r3 sin 3 (3) r4 cos3 r5 cos 5 r7 . r4 cos 3 r5 cos 5 r7
Squaring and adding equations (2) & (3)
Differential equation (1) w r t time
(Note: r1, r2 , &1 are constant but r3,2 & 3 are (16)
variables.) Remembering that 4 ,5 & 6 represent
angular velocities w4 , w5 and w6 of the link
0 r2 j 2 ei2 r3 ( j 3 )r3 e j3 (11)
OQ1 , Q1T & TO3 .
Above equation (16) is rewritten using
Euler’s formula as
Separating real & imaginary parts &
comparing:
r6 6 j cos 6 sin 6 r4 4 j cos 4 sin 4
r2 2 sin 2 r3 cos 3 r3 3 sin 3 (12)
r5 5 j cos 5 sin 5
r2 2 cos 2 r3 sin 3 r3 3 cos 3 (13)
(13)
Comparing real and imaginary parts:-
To eliminate r 3 and multiplying equation r6 6 cos 6 r4 4 cos 4 r5 5 cos 5 (17)
(12) by sin 3 and equation (9) by cos 3 and
r6 6 sin 6 r4 4 sin 4 r5 5 sin 5 (18)
subtracting
(r2 2 ) cos(2 3 ) r3 3 (cos 2 3 sin 2 3 ) Linear algebraic equations in variables
6 & 5 to establish 6 by eliminating
r
3 2 . 2 cos( 2 3 ) (14)
(21) Substituting ( 3 ) in equation (22):-
••
Now, the crank O2P revolves uniformly r3
2 0 , • 2 •• • •
• cos
2
r
3 3 cos r sin 2 r 3 sin - r2 2 2
3 3 3 3 3 3
So (25)
cos 3
Acceleration of the slider at P along slotted
multiplying equations 27 by
cos 5 &
lever = r3
equation (28)by
sin 5 and subtracting ((27)-
For Four bar mechanism OQ1TO3 ; (28))
and 6 6
condition (specially: Rapid prototyping
all other parameters like
because of unavailability of ‘e’ {grade/error
4 ,5 ,6 both 5 & 6 can be solved Thus i.e. ep+eg}.{for PLA, ABS material }
HD planetary geared motor=438 rpm,
29.5Ncm, 12V with encoder (Base motor: Sb Beam strength of gear tooth(N)
6000 rpm, no load current =320 mA, Load b Bending stress( N / mm2 )
Torque =29.45N.cm, Load Current y Lewis form factor
( for values of z we can findout values of y from table 17.3)
=1450mA, Stall Torque =231cm & Stall
Current =9.3A, weight = 448gm=0.448kg)
The design is safe if Sb Pt
VI. CONCLUSIONS
Based on the discussions above, some
conclusions are presented here:
1. Modeling and motion simulation of the
proposed mechanism using commercial
software has been observed.
VIII. REFERENCES
Literature
Review
Development of
The Mechanism
Kinematic
Analysis
Optimization
Fabrication
And
Demonstration
Thesis
writing