Abstract
This paper explains a computational tool for the kinematic analysis of a complex mechanical system. This software, implemented in MATLAB, was designed to complement the teaching of undergraduate students in mechanical engineering in the field of mechanism design. The basic mechanism is an articulated system of links used in the leg of the biped robot Mimbot. The software consists of implementing a series of parametric models of the leg of the biped and allows detailed knowledge of the kinematic behaviour of the leg according to each of the model parameters to be analyzed. The program contains 5 modules, with different levels of difficulty, from the basic mechanism (Tchebyshev’s mechanism coupled to a pantograph mechanism and 1 degree of freedom) to a complex mechanism with 3 degrees of freedom and two linear actuators. With this software, the students will learn to model the equations defining motion trajectory, and identify their corresponding graphs. In addition, this software aims to show students a compact, robust, friendly way, exploring the possibilities that certain variations or adjustments in some kinematic parameters of the mechanism can provide in the setting of other kinematic variables.
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