2.

Type Synthesis and Number Synthesis Number Synthesis

Number synthesis
Kinematic chains of M = 1

Gruebler criteria:

M  3  N  1  2J

where
N = number of links
J = number of one-dof joints

 3N  2J  4

1 2 3 4 5
N 4 6 8 10 12
J 4 7 10 13 16

1
2.Type Synthesis and Number Synthesis Number Synthesis

Number synthesis Kinematic chains of M = 1

1. N = 4, J = 4

2. N = 6, J = 7 NL2: No. of binary links

Link assortment, AL = [NL2/NL3] = [4/2]. NL3: No. of ternary links
NL2 + NL3 = 6
NL2 = 4 and NL3 = 2
2NL2 + 3NL3 = 14

Atl off (6
Atlas i l kinematic
(6, 7) simple ki ti chains:
h i

Watt Chain Stephenson Chain 2

2.Type Synthesis and Number Synthesis Number Synthesis

Number synthesis Kinematic chains of M = 1

3. N = 8, J = 10

4. N = 10, J = 13 230 simple kinematic chains

5. N = 12, J = 16 6856 simple kinematic chains 3
2.Type Synthesis and Number Synthesis Number Synthesis

Hwang, W.
Hwang W M.
M and Chen,
Chen H.H M.,
M “A A Unified Method for the Number Synthesis of
Planar Kinematic Chains,” Transactions of the Canadian Society for Mechanical
Engineering, Vol. 19, No. 1, pp. 1-12, 1995, Canada. (SCI, EI)

(1, e) (2, f )

Watt chain

(1, e) (3, f ) f 6

5
e
Stephenson
chain
b
(1, e) (b, f ) (a, e) (c, f ) 3 c
Multiple joint 2
4
a 1 d 4
2.Type Synthesis and Number Synthesis Type Synthesis

Exercise
Motorcycles are often ridden on rough terrain, requiring good rear
suspension systems with a shock absorber. Several of the popular systems
are shown in Figs.(a) through (c).
(a) What type of six-bar chain is represented by each design?
(Stephenson I-II-III,
I-II-III Watt I-II)
(b) Synthesize some new six-bar mechanisms having the same kinematic
characteristics and constraints.

(a) (b) (c)

S
Stephenson-III S
Stephenson-I Watt-II
5
2.Type Synthesis and Number Synthesis Type Synthesis

Yan, H.-S., Creative Design of Mechanical Devices,

Springer-Verlag
Springer Verlag Singapore Pte.
Pte Ltd.,
Ltd 1998.
1998

Yan, H.-S., “A methodology for creative

mechanism design,
design ” Mechanism and Machine
Theory, Vol. 27, No. 3, 1992, pp. 235-242.

6
2.Type Synthesis and Number Synthesis Type Synthesis

Motorcross rear suspension mechanisms

Stephenson-I
Stephenson-III
p

M=1
1, N = 6
6, J = 7

Shock Absorber
G
Ground
d Li
Link
k

Watt-II Tire
Swing
g Arm
7
 2.Type Synthesis and Number Synthesis Type Synthesis

Motorcross rear suspension mechanisms

Watt Chain Stephenson Chain

Watt-II Watt-I O : can be a swing arm

O
O

O
O

Stephenson-III Stephenson-I Stephenson-II

X
O

Shock absorber: O

8
2.Type Synthesis and Number Synthesis Type Synthesis

X
Passive dyad
Kawasaki

New ! New !

X Honda Suzuki 9