Kinematic analysis on four-bar mechanism model using PID Controller

Abstract

A four-bar mechanism is used in most mechanical equipment to achieve the process or movement. Such mechanisms consist of linksthat move relative to one another. To identify kinematics analysis of a mechanism such as displacement and angular velocity of a four-bar mechanism in one positiongraphically. The analysis conducted throughout the four-bar rotating in 3600 will take a lot of time. For such cases, a computer-assisted analytical is the right way of settlement. The analyses were performed using the Matrix Laboratory software, and establish a four-bar mechanism as a case of study research. Controller PID (Proportional Integral Derivative) is one type of regulator that is widely used, the characteristics of each P, I, and D controllers as well as how to use it to get the desired response. The analysis was made on the variation of rotation and crank length, while the dimension of the link and follower circuit is considered permanent. Comparison of angular velocity for varying stem lengths can conclude that if there is a change in input bar length, it will affect the angular velocity. The greater the length of the input link and so that the angular velocity would be getting lower.