Methodology for calculating the kinematics of the piston rod of a translational motion engine of a lever manipulator moving in a rectilinear guide

   The article deals with the analysis of the kinematics of the upper end of the hydraulic cylinder rod (pneumatic cylinder, ball screw pair, etc.), which is part of the circuit solution of a lever manipulator, the end of the leading rod of which moves along a given rectilinear guide. Analytical dependencies of the analogs of angular velocities and angular accelerations of the mechanism rods are determined. A technique for determining the kinematic characteristics of the considered lever manipulator using a graphical method is developed. Using a dimensionless coefficient of change in angular velocities (the ratio of the areas of triangles), angular velocities and accelerations of the driven rods of the mechanism are determined based on its geometric parameters and a given linear velocity of the leading rod, which significantly reduces the time of calculating its kinematics in the technological process of operating the mechanism.

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