ME 322: Synthesis and Analysis of Mechanisms (2015-16 Sem II)

Mid-term exam
Assigned date: 15/2/16 Due Date: 26/2/16
Data from a healthy subject was collected to understand the sit-to-stand kinematics in the sagittal plane
(Nuzik et. al. 1986). This data is given below both in terms of relative orientation of the bodies and
positions of the marker points on the body segments.

0
1
2
3
4
5
6
7
8
9

Ankle
Knee
Hip
Trunk
(a)(deg) (k)(deg) (h)(deg) (t)(deg)
90.75
176.14
131.39
79.78
90.23
175.67
128.91
77.66
89.1
174.42
121.36
70.39
87.21
171.19
106.89
58.62
84.93
163.85
94.73
49.52
84.44
151.97
91.36
49.4
86.68
137.61
92.96
57.55
90.3
123.1
96.29
69.72
93.87
110.76
99.36
81.33
96.12
102.66
101.34
88.86

AK: Shank
KH: Thigh
HP: Pelvis
PT: Trunk

Segments
Shank (AK)
Thigh (KH)
Pelvis (HP)
Trunk (PT)

Length (cm)
40
45
10
45

A (0,0) - Origin
T

P
H

T
P
H

t
P
H
Y

k
K

K
A

Sitting (0)

Standing (9)

Steps -->

K (cm)
0
1
2
3
4
5
6
7
8
9

x
-0.52358
-0.16057
0.628293
1.947018
3.53491
3.875523
2.3165
-0.20944
-2.69972
-4.26445

y
39.99657
39.99968
39.99507
39.95259
39.8435
39.81181
39.93287
39.99945
39.90879
39.77203

H (cm)
x
-45.4215
-45.0321
-44.1585
-42.5221
-39.6892
-35.8461
-30.9193
-24.784
-18.6502
-14.1269

y
43.02592
43.39722
44.37066
46.84471
52.36038
60.95883
70.27067
77.69679
81.98709
83.67798

P (cm)
x
-52.0333
-51.3131
-49.3626
-45.4274
-40.5138
-36.0834
-31.4357
-25.8796
-20.2765
-16.0932

y
50.52818
51.17855
52.90981
56.41335
62.32633
70.95602
80.25733
87.63659
91.85395
93.48276

T (cm)
x
-44.049
-41.6961
-34.2599
-21.9954
-11.3006
-6.79855
-7.29032
-10.2823
-13.4931
-15.1979

y
94.8142
95.1389
95.29976
94.83132
96.55479
105.1232
118.231
129.847
136.3397
138.4739

The goal is to design a sit-to-stand device to help a person reach configuration 9 starting from
configuration 0. The problem is open-ended and different approaches can be used to solve the problem.
One solution approach is to guide the seat and the back rest along the motion observed from the
human.
a. Select three poses (say 0, 5 and 9) and use motion generation tools to synthesize two 4-bar
mechanisms. The couplers can be attached to the segments KH and PT, which will potentially
support the human subject during the sit to stand maneuver. Mid-points of these segments and the
orientations of the human segments can be used to synthesize the desired mechanisms that will
guide the seat and the back rest through the desired configurations.
b. Are each of your two 4-bar mechanisms crank-rocker type? Otherwise, please specify the type of
your mechanisms. Please remember that crank-rocker type mechanisms are more desirable and you
will get bonus points if your synthesis provides such a mechanism. (Hint: A Matlab program may
help you iterate and arrive at a desired solution)
c. Build and submit models of both mechanisms, you can either make cardboard model or model using
ADAMS or Cinderella. Note: If you make cardboard models, then superimpose both mechanisms on
the sit-to-stand configurations to show that you can achieve your stated goals. Similarly, if you
choose software model then submit animation and a report explaining the mechanism motion in
terms of given sit-to-stand configuration and stated goals.
d. For each of the 4-bar mechanisms, find the coupler link position and orientation for intermediate
poses. Compare these results with the intermediate human segment poses given in the table.
(Hint: All link lengths are known based on your design. Loop closure equation will provide coupler
link angle for given input angle. For intermediate poses, pick four values of between 0 and 5; and
another three values of between 5 and 9. Now calculate coupler position and angle at the ten
input angles.)
e. Do the cardboard or software models results agree with above table? This can be checked by
comparing the output and the coupler link angles for some specific input link angles.
f. Based on part d and e, please comment whether your mechanisms will be able to deliver the desired
human poses. Are there discontinuities in the solution?
g. Please comment on the shortcomings of this design. Suggest how you will improve your design
approach for the sit-to-stand application. What additional considerations will you bring in if you
have to build a prototype for subject use?