ME 301 THEORY OF MACHINES I FALL 2015

HOMEWORK I
Prepared by: M.Hilmi Eralp, M. Hakan Kandemir
Room: C-204 Phone: 210 5273
E-mail: ehilmi@metu.edu.tr

Date: 19.10.2015
Due: 26.10.2015, during the
beginning of first lecture

Problem 1: Identify kinematic pairs of each following systems. Categorize kinematic pairs of
mechanisms in terms of (i) form closed or force closed kinematic pair, (ii) lower kinematic pair or
higher kinematic pair. Show the kinematic pairs on the figures.

a) http://makeagif.com/kUJ-gw

b) http://educypedia.karadimov.info/library/rockeranim.gif

Problem 2: For each of the following systems, specify joint types on the sketches, fill in the following
tables and determine the degree of freedom (dof) of the system using the general DOF equation.

a)

j (specify joint types)

fi

DOF

b) Stewart Platform (Check https://www.youtube.com/watch?v=7zgKDgTIfgk)

j (specify joint types)

fi

DOF

c)

j (specify joint types)

fi

DOF

d)

j (specify joint types)

fi

DOF

For the system shown in (d), can we actuate two pistons independent of each other? Why/why not?