Page 139 - Robotics Designing the Mechanisms for Automated Machinery

128 Kinematics and Control of Automatic Machines

Calling the follower speed V a, we obtain from the sine law

From Figure 4.19 we have

where r 0 = the constant radius of the dwelling profile arc. Obviously,

and

Substituting (4.22) into (4.21) and taking into account (4.20), we can rewrite Expres-
sion (4.21) as follows:

or

which gives

From Figure 4.19 it follows that

Thus, we obtain

Remembering that

we finally obtain, from (4.23)