Wunderlich Directory Reference IntroductionIntroduction(taken from Karl Wohlhart) In 1954 Walter Wunderlich published a paper [Wunderlich, 1954] in which he describes a planar twelve-bar mechanism with six parallelogram or antiparallelogram loops which can be arranged in four different closure modes, all of them movable with either one or two degrees of freedom. What makes this mechanism especially remarkable is the fact that by passing a singularity position the mechanism might change its movability. In that case the singularity position is, therefore, not a bifurcation position, but a sort of mobility turning position. The figure above shows Wunderlich's mechanism in two different positions. In the position in which it has two parallelogram and four antiparallelogram loops, the mechanism is movable with mobility 1 because the two angles and are related by the equation:
wherein
are the system parameters. In the position, however, in which Wunderlich's mechanism has four parallelogram and two antiparallelogram loops, its mobility is 2, as and can be chosen arbitrarily. The passage from one position to the other goes smoothly through a singularity position ( ). The Wunderlich Mechanism, therefore, belongs to the category of kinematotropic linkages. GeometryThe Wunderlich we formulate has
ProcessThis example is treated following these steps (from the main CuikSuite folder):
StatisticsCharacteristics of the problem:
Here you have the statistics about the execution (on an Intel Core i7 at 2.9 Ghz).
ResultsThis is a snapshot of the projection that is obtained with the procedure described above: This is a couple of the computed configurations (out of 82483 :) References
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