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Computational Kinematics Assignment 2021

The document provides instructions for a programming assignment to analyze the kinematics of a four-bar knee prosthesis mechanism using MATLAB or Octave. Students are asked to write code to calculate various kinematic properties of the mechanism over time based on given geometry parameters and angular velocity inputs, and produce plots of the results. The required outputs and submission instructions are specified.

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36 views2 pages

Computational Kinematics Assignment 2021

The document provides instructions for a programming assignment to analyze the kinematics of a four-bar knee prosthesis mechanism using MATLAB or Octave. Students are asked to write code to calculate various kinematic properties of the mechanism over time based on given geometry parameters and angular velocity inputs, and produce plots of the results. The required outputs and submission instructions are specified.

Uploaded by

Simple Future
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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PROGRAMMING ASSIGNMENT

MS2111 KINEMATICS AND DYNAMICS OF MACHINERY


Semester 1, 2021/2022

Figure 1 shows a knee prosthetics developed by Biomechanics Laboratory, Faculty of Mechanical and
Aerospace Engineering ITB to increase amputees’ quality of life. The knee prosthetics use a four-bar
mechanism to emulate the motion of a knee, especially its rotation angle, so the amputee could walk as
normally as possible. The configuration of the thigh, four-bar mechanism of the knee prosthetic, shank and
foot is presented in Figure 2. The kinematics diagram of the knee prosthetics could be simplified by Figure 3.
The lengths of links 2, 3, and 4 are L2, L3, and L4, respectively. Link 2 of the mechanism is assumed to rotate
with a constant angular velocity 𝜔2 . Please conduct the kinematics analysis of the four-bar mechanism below.
You must write down all the matrix needed in the kinematics analysis in A4 papers and write the program in
MATLAB or Octave.

Thigh

Knee
prosthetics

Shank

Figure 1 Knee prosthetic developed by FMAE ITB

Foot

Figure 2 Model of human lower limb

Figure 3 Kinematics diagram of the knee prosthetics


The input for the program are the geometry or dimension of the mechanism and the angular velocity of link
2, as follows:
22.5 cm, if 𝑋𝑌𝑍 mod 3 = 0
𝑑 = {25.0 cm, if 𝑋𝑌𝑍 mod 3 = 1
27.5 cm, if 𝑋𝑌𝑍 mod 3 = 2

𝐿2 = 30 + 𝑍 [cm]

𝐿3 = 36 + 𝑋 [cm]
𝐿3
𝐴𝐵 = 𝐵𝐶 =
2
𝑌
𝐿4 = 37 + [cm]
2
𝑟𝑎𝑑
2 if 𝑋𝑌𝑍 is odd number
𝜔2 = { 𝑠
𝑟𝑎𝑑
4 if 𝑋𝑌𝑍 is even number
𝑠

where:
L2 : length of link 2
3
L : length of link 3
L4 : length of link 4
d : distance between O2 and O4
ω 2
: angular velocity of link 2
𝜃𝑜2 : initial angle of link 2
XYZ : last three digits of your NIM, i.e. 13120XYZ

The expected output are the plot of:


2 2
1. Trajectory of point C in the graph of 𝑟𝐴,𝑥 vs. 𝑟𝐴,𝑦
2. Angular velocity of link 3 vs. time, (𝜔3 − 𝑡)
3. Angular velocity of link 4 vs. time, (𝜔4 − 𝑡)
4. Angular acceleration of link 3 vs. time, (𝛼 3 − 𝑡)
5. Angular acceleration of link 4 vs. time, (𝛼 4 − 𝑡)

You may determine the initial angle of link 2 (𝜃𝑜2 ) and simulation time (t) by yourself as long as all the possible
movement or configuration of the mechanism are included in the above output.

Submission and due date:


You should submit following documents or files:
1. All the matrices required in the kinematics analysis (e.g. constraint matrix, Jacobian matrix, etc.) in
pdf file
2. The meta-file of your program (with extension .m)
3. All the expected plots in .jpg or .png file.

Please submit all the documents or files in .rar or .zip extension to e-learning page (Edunex) or MSTeam
channel of your each class before Wednesday, 13 November 2021.

Note: please learn how to program in MATLAB or Octave by yourself.

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