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Kinematic Simulation with SimMechanics

Since the kinematic analysis of a 3RRS mechanism, as used in this telescoping active suspension vehicle, had been previously done I decided to obtain the specific kinematics of my mechanism as a stepping stone towards creating a high fidelity model of the full vehicle. This was done by using Simulink’s SimMechanics toolbox since the specific link geometry can be imported directly from CAD. Actuator and sensor blocks can then be used to create a lookup table of the inverse kinematics, which are necessary for the proper control of the vehicle. The keen observer will notice that this is a somewhat simplified arm where analytically redundant links and pieces were removed. The full block diagram can be seen here:

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  1. roclafamilia said

    Helpful blog, bookmarked the website with hopes to read more!

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