KINEMATIC INVERSION Kinematic inversion is the process of fixing different links in a kinematic chain (or assuming any one of the links, other than the fixed link as fixed) 3 1 } 2 (@) Inversion # 1 (b) Inversion # 2 (©) Inversion #3 (@) Inversion # 4 slider block slider block has slider block slider block translates complex motion rotates is stationary It is a good method of generating some new mechanisms and it is very often used for the synthesis and analysis of the mechanisms to determine the relative motion between the links. ZiWe will define To Remember a crankas a link which makes a complete revolution and is pivoted to ground, a rockeras a link which has oscillatory (back and forth) rotation and is pivoted to ground, and @ coupler (or connecting rod) which has complex motion and is not pivoted to ground. Grounds defined as any link or links that are fixed (nonmoving) with respect to the reference frame LU Machinery —— ————dDr. Taha Tabara{ 4 alIn the figures below the kinematic inversions of a four-link chain with three revolute RRR and one prismatic P pairs are shown. Zs;REIAlthough the joints and the link length dimensions are the same, four different mechanisms can be results. j | In terms of kinematic structure, note that the mechanisms obtained by fixing link 1 or 4.are the same. Ks. : Sirk = the crank length before is crank length — — — now the connecting rod : length connecting ros e the connecting rod is now the rocker length LU Machinery —— ————dDr. Taha Tabara| bas + zusElliptical trammels LUI nn Machinery -—— —————Dr. Taha TabaraOldham Coupling Intermediate piece: Flange — tos) c (Link 4) Driving rane stat (Link 3) Driven shaft ‘Supporting ‘frame —™ as : Oldham Coupling: This is the practical application of the mechanism shown at the right Notice that links 1 and 3 are in the form of a cylinder. Link 4 is also a cylinder which forms two prismatic joints with the extensions on each side. The shape of the link is completely unimportant. The cylindrical shape is used for mass balancing. SE Machinery -—— —Ss———dDrr. Taha Tabara ZW.Oldham Coupling Above is the three different inversions of a four-link mechanism with 2 revolute and 2 prismatic joints and where one link contains two kinematic elements forming revolute joints only and another link whose kinematic elements forms prismatic joints (the axes of the two prismatic joints cannot be parallel) Zi!PAPER (1—3 = 1).......