Mobility, Kinematic, and Dynamic Analysis of a 4R1H Mechanism. Julia Files

This dataset contains Julia files that perform mobility, kinematic, and dynamic analysis of a 1-DOF single-loop 4R1H mechanism, which is similar to the mechanism presented in paper https://doi.org/10.1007/978-3-031-45709-8_39. The corresponding paper describing the mechanism design and applied algorithms is going to be published in the Robotica journal. Please check the list of works at https://orcid.org/0000-0002-3928-5440.

The dataset includes the following files:
1. File "main.jl" is the main file that proceeds with the mobility, kinematic, and dynamic analysis of the mechanism step by step.
2. File "init.jl" is used to define geometrical and inertial parameters of the mechanism links.
3. File "mobility.jl" computes a twist system of the output link.
4. File "kinematics.jl" computes kinematic parameters (positions, velocities, accelerations, etc.) of the links.
5. File "dynamics.jl" computes the motor torque required to realize the desired motion.
6. File "plots.jl" includes functions that visualize the results of the kinematic and dynamic analysis.

The third version of the dataset has the following changes compared to the second version:
1. Files "torque_friction.xlsx" and "torque_no_friction.xlsx" have been replaced with "torque_friction_5.xlsx," "torque_friction_10.xlsx," "torque_friction_20.xlsx," "torque_no_friction_5.xlsx," "torque_no_friction_10.xlsx," and "torque_no_friction_20.xlsx," which contain the torque data obtained with CAD simulations in the Autodesk Inventor software for the crank angular speed equal to 5, 10, and 20 rpm.
2. There is a new section in "main.jl" file titled "Visualization for three various constant speeds of 5, 10, and 20 rpm" where the CAD data is compared with the analytical solution for various crank speeds.
3. The "plots.jl" file includes new functions "plot_kinematics_3" and "plot_torques_3," which plot the results of kinematic and dynamic analysis for three different speeds of the crank.
4. Optional files "Project.toml" and "Manifest.toml," which contain the information about the used packages, have been included in this dataset.