Triple-Harmonic Motion-Law

Triple-Harmonic is a Traditional Motion-Law  has Segment-Parameters that can match other Traditional Motion-Laws.


Blend-Point Editor : edit its:

Start Position
End Position

To edit the Position at the end of this Segment you must select the Next-Segment.

Segment Editor :  edit the:

First Harmonic
Second harmonic

MotionDesigner calculates the third harmonic, based on the fact that the segment always creates a D-R-D segment.


Segment Parameters.

SE-TripHarm-SegmentParameters-Example

First Harmonic
Second Harmonic
Third Harmonic

Notes:

You can only enter values of the First and Second Harmonic.

Notes:

The Start and End Velocity and Accelerations are zero.
The Start and End Jerk values are a consequence of the mathematical form of the segment.
The Segment is symmetrical about the mid-point.

MotionLaw-TripleHarmonic

This Motion-Law can approximate the Cycloidal, Modified-Trapezoidal, Modified Sine, Polynomial 3-4-5, Motion-Laws by using the harmonic settings indicated below.

To the Left, a 'Modified-Trapezoid' has been created by setting the first Harmonic to 6.025. The third harmonic recalculates itself. The second stays at zero, unless you edit it of course.

 

tog_minus        Cycloidal:

Parameter 1 (First Harmonic): 2*pi
Parameter 2 (Second Harmonic): 0.0
Parameter 3 (Third Harmonic): 0.0

tog_minus        Modified Trapezoidal:

Parameter 1 (First Harmonic): 6.04
Parameter 2 (Second Harmonic): 0.0
Parameter 3 (Third Harmonic): 0.73

tog_minus        Modified Sine:

Parameter 1 (First Harmonic): 5.1968
Parameter 2 (Second Harmonic): 1.769
Parameter 3 (Third Harmonic): 0.6057

tog_minus        Polynomial 3-4-5

Parameter 1 (First Harmonic): 5.9
Parameter 2 (Second Harmonic): 0.704
Parameter 3 (Third Harmonic): 0.9

It can also create other useful Segment Forms with these harmonic settings:

tog_minus        Zero-Jerk at Start, End and Cross-over

Parameter 1 (First Harmonic): 9*pi/4
Parameter 2 (Second Harmonic): 0.0
Parameter 3 (Third Harmonic): -3*pi/4

tog_minus        Zero-Jerk at Cross-over

Parameter 1 (First Harmonic): 4.9832
Parameter 2 (Second Harmonic): 2.6
Parameter 3 (Third Harmonic): 0.0

tog_minus        Zero-Jounce * at Start

Parameter 1 (First Harmonic): 7.79
Parameter 2 (Second Harmonic): -2.29
Parameter 3 (Third Harmonic): -1.08

*Jounce is a term used for rate-of-change of Jerk.

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