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Systematic and Rapid Construction of Test Beds for Planar Mechanism

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 24))

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Abstract

In this study, a systematic approach, for constructing planar mechanisms by utilizing a robotic kit, is proposed. Various models for revolute and prismatic joints and various models to be used as links are suggested. The actual performances of the prototype mechanisms may be experimentally assessed by taking three basic measurements regarding the actuator voltage, actuator current and the rotational displacement of the input link. Slider crank, double slider and four bar mechanism prototypes are constructed as example planar mechanisms. In addition, the electrical power consumption of a slider crank mechanism is obtained experimentally. This consumption is compared with the power consumption obtained via a mathematical model of the mechanism.

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References

  1. Arakelian VH, Smith MR (2005) Shaking force and shaking moment balancing of mechanisms: a historical review with new examples. J Mech Des 127(2):334–339

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  2. Lego Mindstorm. http://www.lego.com/en-us/mindstorms. Accessed 21 Feb 2014

  3. Mencek H, Soylu R (2013) Improvement of the dynamic performances of mechanisms via a two-degree-of-freedom adjustment system. In: Proceedings of the 16th national symposium on machine theory, Erzurum, Turkey, 182–191

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  4. VEX Robotics. http://www.vexrobotics.com. Accessed 21 Feb 2014

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Acknowledgments

The authors acknowledge the financial support of The Scientific and Technological Research Council of Turkey (TUBITAK) to this study through the 112M110 research project.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Middle East Technical University, Ankara, Turkey

    H. Mencek & R. Soylu

Authors
  1. H. Mencek
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  2. R. Soylu
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Corresponding author

Correspondence to H. Mencek .

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Editors and Affiliations

  1. Mechanical Engineering Department, University of Minho, Guimaraes, Portugal

    Paulo Flores

  2. Structural and Mechanical Engineering, University of Cantabria, Santander, Spain

    Fernando Viadero

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© 2015 Springer International Publishing Switzerland

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Mencek, H., Soylu, R. (2015). Systematic and Rapid Construction of Test Beds for Planar Mechanism. In: Flores, P., Viadero, F. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-319-09411-3_30

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  • DOI: https://doi.org/10.1007/978-3-319-09411-3_30

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-09410-6

  • Online ISBN: 978-3-319-09411-3

  • eBook Packages: EngineeringEngineering (R0)

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