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Planar motion control 1a

 

Orange object has 3 degrees of freedom in its planar motion: two linear and one angular displacements. This mechanism can deal with two linear ones. Relations between coordinates of the object center A(x,y) and coordinates of pistons ends B(t,0) and C(0,s):
x = t
y = s
x and t are measured along Ox axis. Large distance from point A to the runways is a disadvantage so ball bearing sliders should be used. Angular position of the object is unstable and needs a control device (not shown).


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