On turning the cam at the bottom a variable alternating…
On turning the cam at the bottom a variable alternating rectilinear motion is imparted to the rod resting on it.
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 three-lobed cam (radius 4.8 cm +/- 1.2 cm, built from 72 triangular wedges) is turned on its shaft, the one driven joint (15 turns a minute). A rod with a rounded foot slides in two guides and rests on the cam by its own weight, so it is lifted by each lobe and let fall in the notch between: gen138.py.
- Measured
- The rod follows the exact foot-on-profile geometry: stroke 0.000..2.400 cm, slope +0.0342 / -0.0344 / +0.0340 / -0.0339 m per rad of shaft on the steepest flanks in four windows (expect +-0.0344; r2 0.9995). Penetration 0.03 mm.
- Notes
- The rod falls freely off each lobe, so the windows are taken on the flanks where it stays in contact.
Film (MP4) · GIF · Still (PNG) · Spec (YAML) · Model (MJCF)
