Implementation of a slider-crank linearization motion library for industrial controllers

The mechanism on which this thesis is based on is a deviant slider-crank mechanism, its inverse kinematic was implemented defining a "logical position" in order to calculate easily the motor angle. The work of this thesis was mainly devided into two parts. In the first part a library was created. This library contains a set of function and function blocks useful for direct and inverse kinematic, transformation of quantities, mathematical functions and functions for the calculation of the mechanical range of motion. The use of this library is very versatile, a person can use it simply for kinematic calculations but also for more complex applications, like the calculation of a motion virtual cam profile. In the second part, some application examples of this library were shown. We defined a linear cam profile by sections, imposting how the linear slide of the mechanism should move with respect to a linear virtual master. After having computing it, we sample it and calculate for each sample the inverse kinematics. Finally we combine this set of points in order to create a new profile, a profile which the motor attached to the crank should follow in order to have the linear slide following the linear profile defined by sections. We implemented this procedure in Automation Studio environment in the B&R Template, implementing also the setting of the lengths of the section directely through HMI.