Rectilinear motion of horizontal bar, by means of vibrating…
Rectilinear motion of horizontal bar, by means of vibrating slotted bar hung from the top.
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
- A disk (20 rpm, the only driven joint) carries a 3 cm crank-pin that works by real contact in the slot of a bar hung from a pivot 12 cm above the disk centre, swinging it 14.5 deg each way. A horizontal bar 20 cm below the pivot carries a pin working in the same slot, so it is drawn to and fro in its guides: its place is 20 times the tangent of the slotted bar angle, 10.3 cm in all. A weak spring on the bar (5 N/m) keeps the slot loaded on one wall.
- Measured
- Bar speed against the disk at 0, 140, 180 and 220 deg: +0.0663, -0.0349, -0.0399 and -0.0364 m/rad against the ideal +0.06624, -0.03566, -0.03992 and -0.03566; throw -5.22..+5.11 cm (ideal +/-5.16); max penetration 0.24 mm (0.01 mm after 1 s).
- Notes
- The checks sit away from the ends of the throw, where the speed passes through zero and a 0.2 mm clearance would swamp a 3% slope.
Film (MP4) · GIF · Still (PNG) · Spec (YAML) · Model (MJCF)
