Triple-Harmonic Motion-Law

Triple-Harmonic is a Traditional Motion-Law

You can use the Segment-Parameters to so that is becomes approximately equal to 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 result from the mathematical form of the segment.
The Segment is symmetrical about the mid-point.

MotionLaw-TripleHarmonic

The Triple-Harmonic 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.

 

Triple Harmonic to Equal these Motion-Laws

tog_minusCycloidal:

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

tog_minusModified Trapezoidal:

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

tog_minusModified Sine:

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

tog_minusPolynomial 3-4-5

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

Triple Harmonic and other Motion-Laws

tog_minusZero-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_minusZero-Jerk at Cross-over

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

tog_minusZero-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