Inverse-Kinematics and Forward Kinematics

In this topic we explain inverse and forward kinematics when applied to cam mechanisms.

We explain why we use Inverse-Kinematics to design multi-axis, multi-link mechanisms for the packaging machine industry.

Terminology Alert

Tool-Part: the Part that interacts with the product or packaging. You might call it the end-effector.
Cam-Follower Part : the Part that is moved by the Cam. It 'carries' the Cam-Follower shape in contact with the Cam.
Motion-Part: the Part to which you give the motion - it is the Cam-Follower or the Tool-Part.
Transforming-Dyad(s): Dyad, or Dyads, that transforms the motion:
ofrom the Cam-Follower Part to the Tool-Part

- or -

ofrom the Tool-Part to the Cam-Follower Part

Forward-Kinematics and Inverse-Kinematics - a comparison.

The Motion-Part is the Tool-Part. The motion of the Cam-Follower is calculated with Inverse-Kinematics.

The Motion-Part is the Cam-Follower Part, The motion of the Tool-Part is calculated with Forward-Kinematics.

We strongly recommend Inverse-Kinematics. It is much easier to edit and find a design solution.

 

Motion-Part

Motion found by MechDesigner.

Forward-Kinematics

Follower

Tool-Part

Inverse-Kinematics

Tool-Part

Follower

Forward and Inverse Kinematics Examples

 

Forward Kineamatics

 

Forward Kinematics

The design uses Forward-Kinematics.

The Motion-Dimension FB is at the Cam-Follower [power]Part, and a Dyad transfers the motion to the Tool-Part,

 

In the video:

The Motion-Part is the Cam-Follower-Part
An RRP Dyad transforms the motion to the sliding Tool-Part

 

Inverse Kineamatics

 

Inverse-Kinematics

The design uses Inverse-Kinematics.

The Motion-Dimension FB is at the Tool-Part, and a Dyad transfers the motion to the Cam-Follower [Power]Part,

 

In the video:

The Motion-Part is the Tool-Part
An RRR Dyad transforms the motion to the Cam-Follower Part

Tutorial and Reference Help Files for MechDesigner and MotionDesigner 13.2 + © Machine, Mechanism, Motion and Cam Design Software by PSMotion Ltd