3D optimization of graham’s escapement mechanism

Abstract

The project presents a 3D computer model of a wall clock with a pendulum and an impact mechanism for its 60 minute period. The model also includes a Graham’s escapement mechanism, an adequate anker, a gearing system, a driving mechanism accompanied with weights, a winding mechanism and a one-second period temperature compensating pendulum. The main goal of this project is improving present and acquiring new abilities and skills of solving a mechanical systems computer modeling problems. In addition, the project aims to present the importance of the strong co-relation between classical mechanical engineering and up to date modern methods of optimization and modeling using computer graphics which play a key role in the project. We are considering a n d.o.f. parallel robot that has to move within a given workspace and whose geometry is defined by a set of parameters. The motions of active joints of the manipulator are measured with sensors with a known accuracy . These errors together with bounded manufacturing errors on the parameters describing the geometry of the robot induce positioning errors of the platform.