Carpenters’ bench-clamp
Carpenters’ bench-clamp. By pushing the clamp between the jaws they are made to turn on the screws and clamp the sides
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
- The wedge-shaped clamp (the one driven joint, a slide pushed up at 0.7 cm/s) goes between the 4 cm mouth ends of two jaws pivoted on screws 3.2 cm either side of it. Each jaw turns by real contact of its mouth pin on the wedge face (taper 0.4), so the jaws turn in mirror and their 5 cm far ends close on the work between them. No gravity (a plan). gen180.py (MODE=174).
- Measured
- Both jaws follow the clamp at 9.68, 9.47 and 9.34 rad/m in three windows (kinematic the same, r2 1.000). The clamp goes 3.35 cm, each jaw turns 18 degrees and its far end closes 1.6 cm, so the gap closes 3.1 cm. Penetration 0.
- Notes
- The jaws have no springs; the wedge only advances, so the contacts hold. The work is not drawn.
Film (MP4) · GIF · Still (PNG) · Spec (YAML) · Model (MJCF)
