# Kinematics and Dynamics Simulation of the Slider-crank Mechanism Based on Matlab/Simulink

Mechanics

Nov 14, 2013 (4 years and 7 months ago)

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Kinematics and Dynamics Simulation of
the Slider
-
crank Mechanism

Based on
Matlab
/

Student :
Tz
-
Han Jung

1

Liu,
Mengsi

;

Cao, Y.

;

Zhang,
Qiuju

;

Zhou,
Hui

Computer Application

and

System Modeling (ICCASM), 2010
International Conference on

10.1109/ICCASM.2010.5622970

2010

, Page(s): V9
-
557
-

V9
-
563

2

IP

1.
DH
-
type

SCARA
-
type

2.

ModelSim

and

3.

FPGA

+
_
y
0
+
_
x
0
y
1
x
1
z
1
y
2
x
2
z
2
z
3
y
3
x
3
y
4
x
4
z
4
x
5
y
5
z
5
x
6
y
6
z
6
+
_
z
0
J1
J2
+
_
J3
+
_
J5
+
_
J4
J6
_
d
1
a
1
a
2
a
3
d
4
d
6
+

X
0
y
0
DH
-
type

-

INTRODUCTION

3

Forward:

Given: joint angles
q
1
,
q
2
,
q
3
,
q
4
,
q
5
,
q
6

Find: end location

Inverse:

Given:

end
effector

location

u
,
v
,
w

or RPY angles

Find: joint angles
q
1
,
q
2
,
q
3
,
q
4
,
q
5
,
q
6

4

R
-
P
-
Y

5

D
-
H

6

7

8

9

10

11

12

13

14

CONCLUSIONS

This paper addressed the kinematics and dynamics simulation of the Slider
-
Crank
mechanism. After proposing a mathematical model for the forward displacement of
the slider
-
crank mechanism, the mathematical models for the forward velocity and
acceleration of the slider
-
crank mechanism are constructed, respectively. According
to the theory of
statical

equilibrium, the mathematical model for the forward
dynamics of the slider
-
crank mechanism is constituted as well based on the
acceleration analysis of each component part of this mechanism under consideration.

Taking into account of mathematical models for the forward kinematics and
dynamics of the slider
-
crank mechanism, simulation models for the forward
kinematics and dynamics of the slider
-
crank mechanism are constituted in the
Matlab
/

simulation platform and the forward kinematics and dynamics
simulation of the slider
-
crank mechanism was successfully accomplished based on
the
Matlab
/