Kinematic Calculation of Variable Curvature Fist Mechanism With Convex Profile

Abstract

In order to take into account more boundary conditions, a new modified equation was obtained to establish the profile of the fist by adding a constant to the equation obtained from the solution of the differential equation of curvature (i.e., k < 0 - convex profile surface as a special case). Based on this equation, the expression defining the movement of the pusher based on the rotation angle of the fist was deduced. The kinematic report of the punching mechanism was performed on the basis of a modified formula. During the kinematic calculations, it was found that there are no jumps in the displacement, velocity and acceleration diagrams of the pusher, that is, the mechanism works smoothly. In order to verify that the curvature takes a negative value along the profile, the equation of the curvature was deduced, its graph was plotted and its accuracy was confirmed.