Systematic and Rapid Construction of Test Beds for Planar Mechanism
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.
KeywordsDynamic performance Planar mechanisms Construction of mechanisms Robotic kit Test bed
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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