Modifications of 186.

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

Variant of 186/187: a handle lever is pivoted on the hinged gab end of the eccentric rod, with a foot over a rail of the frame. At 5 s the hand-schedule pulls the handle; the foot presses the rail by real contact and lifts the lever pivot and the gab, clearing the notch from the rock-shaft pin. Eccentric driven at 30 rpm, no gravity. gen188.py.

Measured

Engaged: the rock-shaft arm follows the rod at -14.47 rad/m (kinematic -14.58), r2 1.000; after the lift the gab stays up (0.19 rad) and the rock-shaft stands (0.000 rad/s) while the rod goes on; penetration 0.11 mm.

Notes

Putting it back is not modelled; the driver slows a few percent while the foot drags on the rail. The rail is drawn unsupported.

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