A simple press motion is given through the hand-crank on the…
A simple press motion is given through the hand-crank on the pinion-shaft; the pinion communicating motion to the toothed sector, which acts upon the platen, by means of the rod which connects it therewith.
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 hand-crank turns a 14-tooth pinion (module 0.8; the one driven joint, swung 1.29 rad each way). It works a toothed sector of 40-tooth pitch (radius 16 cm) pivoted at the bottom. A rod from the sector wrist (6 cm from its pivot) to the platen lifts and lowers the platen between two columns. The platen is a light carriage on a slide with a small spring that takes its weight (the plate has none), so that the rod alone moves it. gen133.py.
- Measured
- The sector turns -0.3505 rad per rad of crank (expected -0.35, r2 0.9999), 26.5 degrees each way. The platen speed per radian of the sector follows the changing lever arm of the wrist: -0.0618, -0.0616, -0.0480, -0.0492 m/rad in four windows (expected -0.0618, -0.0616, -0.0481, -0.0494; r2 0.999 or better). Platen travel -2.36..+2.76 cm. Penetration 0.10 mm, 0.02 mm after the first second.
- Notes
- Gears by tooth contact only; the rod and the platen are pinned and slide.
Film (MP4) · GIF · Still (PNG) · Spec (YAML) · Model (MJCF)
