⚙️ Coupler Mechanism Design – Final Project for Kinematic Design

This repository summarizes the team project conducted for the "Kinematic Design" course at Dankook University (2nd section, Team 3).
Our objective was to design a 4-bar linkage coupler that satisfies given positional and dynamic constraints while avoiding obstacles.

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📌 Project Overview

• Course: Kinematic Design

• Professor: Prof. Taejeong Kim

• Team Members:

  • Joonmo Han (Team Lead)
  • Dongwan Ko
  • Juhwan Park
  • Gunho Lee
  • Hoyoung Jeon

• Topic: Coupler design for a 4-bar mechanism

• Submitted: June 10, 2024

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🎯 Project Goals

• The coupler must pass through two designated positions.
• It must avoid obstacles shown in the design field.
• The inclination of the coupler must not exceed 10 degrees during motion.
• All fixed joints must remain within allowed regions.
• The relation dz/dθ = z'/θ' should be constant.
• All links must be at least 2 grid units in length.

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🛠 Tools Used

• AutoCAD for geometric modeling
• Adams View for dynamic simulation and motion analysis
• MATLAB for analytical modeling and graph plotting (e.g. angular vs displacement plots)

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🧪 Methods

• Geometric Construction:
  Used perpendicular bisectors and 2D sketching to set up feasible linkage geometries

• Simulation:
  Simulated all three configurations using Adams to observe motion and verify obstacle avoidance

• Mathematical Analysis:
  Used principles of virtual work and energy conservation to derive the constraint condition dz/dθ = z'/θ'

• MATLAB Modeling:
  Plotted the motion profile and rate of change of center of mass to evaluate smoothness and consistency

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🏁 Result

• Among the three models, the third configuration (with both driving and rotating joints placed lower) yielded:
  • The most stable motion
  • Least variation in dz/dθ over time
  • Obstacle-free and constraint-satisfying motion
• This model was finalized as the optimal design.