Improving Kinematic Performance of Geneva Mechanisms in Robotic and Automated Systems: A Comparative Study on Slot Count Using MATLAB Simulations

Abstract

Geneva mechanisms are widely used in robotic and automated systems to produce controlled intermittent motion. However, their dynamic behaviour—especially changes in acceleration and velocity—can significantly affect mechanical wear, vibration, and system accuracy. This study presents a comparative analysis of Geneva mechanisms with different slot counts (N = 4, 6, and 8) to understand how slot number influences motion smoothness and dynamic performance. Using MATLAB-based simulations, angular displacement, velocity, and acceleration profiles were generated while maintaining constant geometric and input parameters. Results indicate that increasing the number of slots reduces peak angular acceleration and velocity fluctuation, improving overall motion continuity. This study presents a comparative kinematic analysis of Geneva mechanisms with slot counts N = 4, 6, and 8 using MATLAB simulation. A smoothness index is proposed to quantitatively compare motion continuity and dynamic response. This contributes design-oriented insights for robotics and CNC tool changers. The present work is simulation-based and provides a foundation for future experimental validation.