Another modification 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: a hand rod, pulled down at 5 s by the hand-schedule, turns a bell crank through a link; a second link from the bell crank lifts the tail of the hinged gab, clearing the notch from the rock-shaft pin. Eccentric driven at 30 rpm, no gravity. gen189.py.

Measured

Engaged: the rock-shaft arm follows the rod at -14.63 rad/m (kinematic -14.58), r2 0.9998; after the lift the gab stays up (0.18-0.21 rad) and the rock-shaft stands (0.007 rad/s) while the rod goes on; penetration 0.04 mm.

Notes

Putting it back is not modelled; the gab lift ripples a little as the rod moves under the bell crank.

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