mechanism-design

# Mechanism Design Skill ## Purpose The Mechanism Design skill provides capabilities for mechanism kinematics, dynamics, and motion analysis, enabling systematic design and optimization of mechanical motion systems. ## Capabilities - Linkage synthesis and analysis - Cam profile design - Gear train design and analysis - Kinematic simulation - Dynamic force analysis - Motion optimization - ADAMS/RecurDyn integration - Mechanism specification documentation ## Usage Guidelines ### Kinematic Analysis #### Degrees of Freedom ``` Gruebler's Equation (planar): DOF = 3(n-1) - 2j1 - j2 Where: n = number of links (including ground) j1 = number of full joints (pin, slider) j2 = number of half joints (cam, gear) DOF = 1: Constrained mechanism DOF = 0: Structure DOF < 0: Over-constrained ``` #### Common Mechanisms | Mechanism | Links | Joints | DOF | Application | |-----------|-------|--------|-----|-------------| | Four-bar | 4 | 4 pins | 1 | Motion generation | | Slider-crank | 4 | 3 pins + 1 slider | 1 | Reciprocating motion | | Scotch yoke | 4 | 2 pins + 2 sliders | 1 | Exact sinusoidal | | Quick return | 4 | 3 pins + 1 slider | 1 | Unequal stroke times | | Geneva | 2 | Cam joint | Intermittent | Indexing | ### Linkage Design #### Four-Bar Linkage Types ``` Grashof criterion: s + l <= p + q Where: s = shortest link l = longest link p, q = intermediate links If satisfied: At least one link can rotate fully Types: - Crank-rocker: Shortest link is crank - Double-crank: S...