Investigation of the kinematics of mechatronic device drive based on a spatial mechanism
In this paper, we consider the scheme of mechatronic device based on a spatial mechanism. The scheme is designed in such a way that the working elements are combined with the elements of the transmission mechanism - links. In the basis of design there are combined two basic modules with the discarding of the corresponding common links and the hinge, resulting in a new device. In addition, special attention is paid to values of absolute angular velocity and angular acceleration of a link for a particular point, also linear velocities and accelerations for each point of interest of a link from which the radius-vector and position of a point in space are determined. On the basis of the made calculations the scheme of an agitator with 4 links-blades, working bodies of which are combined with elements of a transfer mechanism, is proposed.