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PVA, DFA, and Instantaneous Centers Analysis

Assumptions

  1. Weight is equally divided between links 8 and 7 on the walker.

    1. The mass of the entire walker is 1.23 kg​.

  2. Legs are 2-D objects, not 3-D.

  3. The chassis does not rotate and only moves horizontally.

  4. Link 1 is the ground link.

  5. Crank velocity is 100 deg/s in the simulation, but ~470 deg/s in experimental trials.

    1. Matlab could not run on speeds as great as 470 deg/s.​

  6. Ground reaction forces are applied to link 1 at nodes 1 and 2. 

PVA vs Instantaneous Centers

  • PVA takes a longer time to compute than Instantaneous Centers.​

  • Instantaneous Centers is only valid for one moment in time.

  • ICs is useful when only 2 or 3 angular velocities are of interest.

  • ICs are useful for finding input-output velocity relationships of complex mechanisms.

  • ICs can not find accelerations like PVA is able to.

Buttons to DFA, PVA, and Instantaneous Center Analysis

© 2018 by Rachel Burroughs. Proudly created with Wix.com.

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