ME 222: Kinematics of Machines and Mechanisms

Assignment 2 (Strict deadline: March 18, 2016)

IIT-Jodhpur
Date: Jan 15, 2016
Note: Mention the assumptions clearly (if any) while solving the problem.
Q 1. A four-bar path generator (with prescribed timing) is required as part of an arm-actuated propulsion system for
the wheelchair in Figure 1. The three prescribed path points shown have been determined to be the most efficient
arm motion by a set of patients. This movement of the coupler path points (C , C , C [provides the input, while the
output is a rotation of the largest wheel with a ground pivot atA . (A clutch located at A will slip when the patient
returns from C to C along the same path.) The other ground pivot B is specified as well as the rotations of the
= 80 cw). By the graphical method, find the initial position of an acceptable
wheel-driving link A ( = 38 cw,
four-bar linkage for this task.
(8 Marks)
Note: Take appropriate assumptions
Q 2. Figure 2 shows double support phase of a planar biped.
(1) Find DOF of the biped in double support phase and identify independent and dependent coordinates.
(2) Write loop-closure equation and derive closed form expressions for all the dependent co-ordinates in terms of
independent co-ordinates.
(8 marks)

#4
4

#5

#3

5
3
Z

#2
#6

#1

Figure 1

#1

Figure 2

Q 3. A four-bar function generator is to be designed to guide an attic stairway from its stored position down to its
deployed position where half of the ladder can slide down to meet the floor below. Figure 3 shows the proposed
location of A , B , B and angles , ,
and
as well as the space constraints (roof joists). Find an acceptable
four-bar linkage by graphical method.
(Marks 7)
Q 4. Figure 4 below shows a slotted-lever quick return mechanism.
a. Graphical Position Analysis: Obtain the position of posit C, and graphically. Consider the following
values: l = 30 cm , l = 10 cm , l = 50 cm , l = 40 cm , l = 40 cm , and (t) = 30.
b. Graphical Velocity Analysis: Obtain the values of v , and graphically given the
2 rad/sec
and results of position analysis from step (a) above.
c. Graphical Acceleration Analysis: Obtain the values ofa , and graphically. Consider
"/2 rad/#$% and results of velocity analysis are available from step (b) above.
(Marks 15)

ME 222: Kinematics of Machines and Mechanisms

Assignment 2 (Strict deadline: March 18, 2016)
IIT-Jodhpur
Date: Jan 15, 2016

Figure 3

Figure 4
Q 5. Design a Hoeken straight-line linkage to give minimum error in
a) Velocity over 22% of the cycle for a 15-cm-long straight-line motion.
b) Straightness over 39% of the cycle for a 20-cm-long straight-line motion. S
Specify all linkage parameters for both above cases.

(Marks 10)