Kinetics Modeling for Slider-Crank Mechanism

Abstract

This paper proposes a procedure to extract the kinetic model from the geometric model of a fixture to reduce the modeling time and effort.Since most of the fixtures in industry follow the same kinetic mechanism, the so-called a slider-crank mechanism; this is a four-axis system of three revolute and one prismatic joint.The prismatic axis of a fixture represents a pneumatic actuator involving a piston and a cylinder.It is very important to identify the prismatic axis from a given geometric model to extract the kinetic model of a fixture.The focus of this paper is to extract a common axis from contact surface between distinguishable links.To do so, we use the concept of the 'Gauss map'.