ME 301 THEORY OF MACHINES I FALL 2015

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

Date: 9.11.2015
Due: 18.11.2015, during the
beginning of first lecture

Problem 1: For the mechanisms given below:

a) Determine the DOF and find the number of independent loops.
b) Select the joint(s) to be virtually disconnected and write down the loop closure equations as
, ,
)
point-to-point vectors (
c) Assign appropriate joint variables to be used in writing loop closure equation in complex
numbers on the figure clearly.
d) Write down the loop closure equations obtained in part (b) using complex numbers.
e) Make a list of fixed parameters and the joint variables that you have used and show that
() = # 2( # )

Hint: You may consider the wheels fixed to the ground for simplicity.
Important Note: For second mechanism, you are expected to disconnect the joint at point B while
writing the loop closure equations. Otherwise, your solution will not be graded.