Throw: Quick-Return: 1: Finite Jerk @ Start/End Motion-Law

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Throw: Quick-Return: 1: Finite Jerk @ Start/End Motion-Law

Throw: Quick-Return - Finite Jerk

It is continuous in Position, Velocity and Acceleration

We construct this Throw segment with two Flexible Polynomial segments.

Usually, the segments have an equal duration, but this is not necessary.

Continuity at the Mid-Point

At the mid-point, the Position is at its maximum and the Velocity is zero.

At the mid-point, Acceleration is finite and negative.

At the mid-point, Jerk is continuous and zero.

Position, Velocity, Acceleration, and Jerk are Continuous at the Mid-Point.

The Throw Motion-Law is Quick-Return because it has a negative acceleration at its maximum displacement.


See Also:

Quick Return: Zero Jerk @ Start/End/Mid-Point

Rapid Return: Finite Jerk @ Start/End/Mid-Point

Rapid Return: Smooth-Start/End


Two Segment  'Quick-Return Motion 1'

Quick-Return

Quick-Return

Start: Rise Segment 1 @ Start

Position = 0

Zero Velocity

Zero Acceleration

Unspecified Jerk -  Actual = 320mm/s/s/s

Mid-Point: Segment 1 @ End = Segment 2 @ Start

Position = 1

Zero Velocity

Match, Do not specify Acceleration, Actual = 26.666mm/s/s

Zero Jerk

End: Segment 2 @ End

Position 2 = 0

Zero Velocity

Zero Acceleration

Unspecified Jerk  - Actual = –320mm/s/s/s  


 

Rise Segment Only

MT-ACCELERATION-SINGLE-SEGMENT

Start:

Position = 0

Zero Velocity

Zero Acceleration

Unspecified Jerk - Actual = 40mm/s/s

End:

Position = 1

Zero Velocity

Unspecified Acceleration

Zero Jerk


Cv = 1.733

Ca = 4.583

Cd = –6.666

Cj max = 40

Cj min  = –22.5

Jerk at Crossover = -21.5