This is a heart-cam, similar to 96, except that it is grooved

Only the input is driven; every other part of this model moves by physics (MuJoCo), and its ratios are measured. Run it live, change its parameters, or switch the friction off to see the output stop.

Modelled as

As No. 96, but the heart is cut as a groove: two walls 1.06 cm apart are struck out about the same curve (centre line radius 4 cm growing 1.273 cm to the radian to 8 cm, then falling as fast; the two cusps rounded over 0.06 rad). The bar carries a 1 cm pin that works in the groove by real contact (3 hundredths clear each side), so the groove drives it out and back, and no spring is needed. The cam (10 rpm) is the only driven joint.

Measured

Bar speed against the cam: +0.0127, -0.0127 and +0.0127 m/rad (ideal +/-0.01273), r2 0.9990-1.0000; stroke 0.04..3.98 cm (ideal 4). Max penetration 0.17 mm.

Notes

The walls are 72 flat quads a side (sagitta under 0.1 mm); the bar slide (damping 1.0) is the joint.

Film (MP4) · GIF · Still (PNG) · Spec (YAML) · Model (MJCF)