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 fourth version of the dataset has the following changes compared to the third version: 1. There is a new section in "main.jl" file titled "Motion with transient modes" which considers crank motion with acceleration and deceleration. 2. Files "torque_no_friction_5_transient.xlsx" and "torque_friction_5_transient.xlsx" complement this analysis and contain the corresponding CAD data. Other xlsx files have also been revised. 3. The "kinematics.jl" file includes new functions "crank_trap" and "crank_angle," which are necessary to realize the transient modes. 4. The "plots.jl" file includes several new functions, which plot the results of the kinematic and dynamic analysis with transient modes. In addition, a video file "4R1H mechanism.mp4" has been added, which illustrates the operation of the physical prototype for one revolution of its crank.本数据集包含用于对1自由度（1-DOF）单闭环4R1H机构开展运动性、运动学与动力学分析的Julia语言脚本文件，该机构与https://doi.org/10.1007/978-3-031-45709-8_39 论文中刊载的机构结构相似。介绍该机构设计与所应用算法的相关学术论文即将发表于《Robotica》期刊。请访问https://orcid.org/0000-0002-3928-5440 查阅相关作品列表。 本数据集包含以下文件： 1. "main.jl"：主脚本文件，将逐步完成该机构的运动性、运动学与动力学分析。 2. "init.jl"：用于定义机构各杆件的几何参数与惯性参数。 3. "mobility.jl"：用于计算输出构件的旋量系统（twist system）。 4. "kinematics.jl"：用于计算各杆件的运动学参数（位置、速度、加速度等）。 5. "dynamics.jl"：用于计算实现预期运动所需的电机转矩。 6. "plots.jl"：包含用于可视化运动学与动力学分析结果的函数。 本数据集第4版相较于第3版的新增及修订内容如下： 1. 在"main.jl"文件中新增标题为"带瞬态模态的运动"的章节，该章节涵盖了带加减速过程的曲柄运动场景。 2. 新增"torque_no_friction_5_transient.xlsx"与"torque_friction_5_transient.xlsx"两份文件以补充该分析内容，其中包含对应CAD数据；其余XLSX文件也已完成修订。 3. "kinematics.jl"文件新增了"crank_trap"与"crank_angle"两个函数，用于实现瞬态模态运动。 4. "plots.jl"文件新增多个函数，用于可视化带瞬态模态的运动学与动力学分析结果。 此外，本数据集还新增了视频文件"4R1H mechanism.mp4"，该视频演示了物理原型完成一次曲柄旋转的完整运行过程。