+ Altering linear motions

+ Altering rotary oscillations

+ Complicated motions

+ Continuous rotation into interrupted rotation

+ Continuous rotation into linear motion

+ Continuous rotation into rotary oscillation

+ Continuous rotation transmission

+ Jigs and fixtures

+ Mechanisms for drawing lines

+ Mechanisms of specific purposes

+ Reciprocating motion to continuous rotation

+ Rotary oscillation into linear motion

+ Rotation to wobbing motion

+ Simple cam mechanisms (RU)

+ Study of mechanisms

+ Sundries

Planar motion control 1b


Pink object has 3 degrees of freedom in its planar motion: two linear and one angular displacements. This pantograph 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+s.cosα)/2
y = (s+t.cosα)/2
α is angle between Ox and Oy
x and t are measured along Ox axis.
If α = 90 deg.
x = t/2
y = s/2
Angular position of the object is unstable and needs a control device (not shown). Advantage of pantograph: no prismatic joints.

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