機構學

Mechanisms (機構學)
原名:
原名: 機動學,
機動學, 即機械運動學(
即機械運動學(kinematics)之簡稱
kinematics)之簡稱
Text:
K. J. Waldron and G. L. Kinzel, 2004, Kinematics,
Machinery 2nd ed., John Wiley
Dynamics, and Design of Machinery,
& Sons. (歐亞)
Reference:
1. 顏鴻森, 機構學, 東華書局.
2. G. Bögelsack, F. J. Gierse, V. Oravsky, J. M. Prentis,
and A. Rossi, 1983, Terminology for the Theory of
Machines and Mechanisms, Pergamon Press.

C. F. Chang, KUAS ME 1

Contents
 Basic Concepts: (基本觀念)
– Chapter 1 Introduction
 Linkages: (連桿組, 連桿機構)
– Chapter 2 Graphical Position, Velocity, and Acceleration Analysis
for Mechanisms with Revolute Joints of Fixed Slides
– Chapter 3 Linkages with Rolling and Sliding Contacts and Joints on
Moving Sliders
– Chapter 4 Instant Centers of Velocity
– Chapter 5 Analytical Linkage Analysis
 Cam and Gears: (凸輪和齒輪)
– Chapter 8 Profile Cam Design
– Chapter 10 Spur Gears
– Chapter 11 Helical, Bevel, and Worm Gears
– Chapter 12 Gear Trains
 We will focus on the so-called “
Planar Motion”—Motion of links
whose points describe curves located in parallel planes. [桿件上
各點之運動皆在同一平面或其平行平面上]

C. F. Chang, KUAS ME 2

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Chapter 1. Introduction
 Definition of Mechanisms
–Mechanisms are assemblages of rigid
member connected together by joints. (p.3)
– (機構係由機件與接頭所構成之可動組合)

C. F. Chang, KUAS ME 3

Mechanism Vs Machine
Links Joints


 Mechanisms
Mechanismstransfer
transfermotion
motionto
to
one or more output members
one or more output members
Constrained
Constrained 
 Machine
Machinetransfer
transfermotion
motionand
and
motion?
motion? useful
usefulwork
workto
toone
oneor
ormore
more
output
outputmembers
members
 (機器為可輸出有用之功的機構)
 (機器為可輸出有用之功的機構)
mechanism

Power Controller

Output
Output
effective
effective 
 Constrained
Constrainedmotion:
motion:
work?
work? 
 (各機件皆產生確切且可預期之運動)
(各機件皆產生確切且可預期之運動)

machine
C. F. Chang, KUAS ME 4

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機構學

Terminology For MMT

 Kinematic chain [運動鏈]
– Assemblage of links and joints.
 Mechanism [機構]
– Kinematic chain with one of its components (link
or joint) connected to the frame and with definite
motion
具有確切運動且至少有一桿固連於機架之運動鏈
– System of bodies designed to convert motions of
and forces on one or several bodies into
constrained motions of and forces on other bodies
(MMT)
一支或多支桿件之運動和受力轉換為其他桿件之拘
束運動和受力
 Machine(機器))
Machine(機器
– Device performing mechanical motion to transform
and transfer energy, material and information
是一種執行機械運動的裝置, 用來變換和傳遞能量, 材料
與資訊

C. F. Chang, KUAS ME 5

Terminology For MMT

 Link [連桿, 機件]
1. Mechanism element (component) carrying kinematic pairing
elements [機構元件, 用來帶動以運動對連接之元件]
2. Element of a linkage. [連桿組之元件]
 Joint [接頭]
– The physical embodiment of kinematic pair.[運動對之具體化身]
 Kinematic pair [運動對]
– Contacting elements of links permitting their constrained relative
motion. [桿件間之接觸部份, 它使桿件之間產生拘束的相對運動]
– Lower pair—Kinematic
pair pair which is formed by surface contact of
its elements. [經由面接觸所構成之可動連接]
– High pair—Kinematic
pair pair which is formed by point or line contact
of its elements [經由點或線接觸所構成之可動連接]
– Connectivity(Degree
Connectivity(Degree of freedom of a joint):
joint the number of
independent coordinates needed to describe the relative positions
of pairing elements [確定兩桿件之相對位置所需之獨立參數的數目]

C. F. Chang, KUAS ME 6

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機構學

Lower Pair Joints [六種常見之低對接頭]

C. F. Chang, KUAS ME 7

1. Revolute Pair (R) [旋轉對]

 Name:
1. Revolute hinge
2. turning pair
 Letter symbol:
– R
 Connectivity (DOF) :
1
Dof
Dofofofkinematic
kinematicpair
pair(connectivity)
(connectivity)
==the
thenumber
numberof ofindependent
independent
coordinates
coordinatesneeded
neededto todescribe
describethe
the
relative
relativepositions
positionsofofpairing
pairing
elements
elements
接頭之自由度
接頭之自由度==確定兩桿件之相對 確定兩桿件之相對
位置所需之獨立參數的數目
位置所需之獨立參數的數目
C. F. Chang, KUAS ME 8

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2. Prismatic Pair (P) [滑行對]

 Name:
1. Prismatic joint
2. Slider
3. Sliding pair
 Letter symbol:
P
 Connectivity (DOF):
1

C. F. Chang, KUAS ME 9

3. Helical Pair (H) [螺旋對]

 Name:
1. Screw joint
2. Helical joint
3. Helical pair
 Letter symbol:
H
 Connectivity (DOF) :
1

C. F. Chang, KUAS ME 10

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4. Cylindrical Pair (C) [圓柱對]

 Name:
1. Cylindrical Joint
2. Cylindrical pair
 Letter symbol:
C
 Connectivity (DOF) :
2

C. F. Chang, KUAS ME 11

5. Spherical Pair (S) [球面對]

 Name:
1. Spherical joint
2. Ball joint
3. Spherical pair
 Letter symbol:
S
 Connectivity (DOF) :
3

C. F. Chang, KUAS ME 12

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6. Planar Pair (R) [平面對]

 Name:
1. Planar joint
2. Planar pair
 Letter symbol:
R
 Connectivity (DOF) :
3

C. F. Chang, KUAS ME 13

Replacement of a Lower Pair Joint by a combination of Higher Pair

Pair Joints

 In order to reduce the friction in lower pair joints, a simple joint

may be replaced by a kinematically equivalent compound joint.
 For instance,

C. F. Chang, KUAS ME 14

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Antifriction Bearings

C. F. Chang, KUAS ME 15

Some Higher Pair Joints

C. F. Chang, KUAS ME 16

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機構學

1. Cylindrical Roller [圓柱形滾子, 滾動對]

 Name:
1. Cylindrical roller
2. Rolling Pair
 Connectivity (DOF) :
1

C. F. Chang, KUAS ME 17

2. Cam Pair [凸輪對]

 Name:
Cam Pair
 Connectivity (DOF) :
2

C. F. Chang, KUAS ME 18

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3. Rolling Ball
 Name:
Rolling Ball
 Connectivity (DOF) :
3

C. F. Chang, KUAS ME 19

4. Ball in Cylinder
 Name:
Ball in Cylinder
 Connectivity (DOF) :
3+1=4

C. F. Chang, KUAS ME 20

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機構學

5. Spatial Point Contact

 Name:
Spatial point contact
 Connectivity (DOF) :
3+2=5

C. F. Chang, KUAS ME 21

Replacement of a Higher Pair Joint with Lower Pair Joints

 In order to reduce the contact stress in higher pair joints, a joint

may be replaced by some kinematically equivalent lower pair
joints.
 For instance, a pin-in-a-slot joint may become a combination of
a revolute joint and a prismatic joint.

C. F. Chang, KUAS ME 22

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機構學

Some Examples of Compound Joints

C. F. Chang, KUAS ME 23

Mechanism & Linkage (p.8)

 A linkage is a closed kinematic chain with one link
selected as the frame.
 A frame or base member is a link that is fixed.
 The term mechanism is somewhat interchangeable
with linkage.
 In normal usage,
– mechanism is somewhat more generic term encompassing
systems with higher pairs, or combinations of lower and
higher pair joints, whereas
– the term linkage tends to be restricted to systems that have
only lower pair joints.

C. F. Chang, KUAS ME 24

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機構學

Planar Linkages
 A planar linkage is one in which the velocities of all
points in all members are directed parallel to a plane,
called the plane of motion.
 機構上各點之速度若皆與運動平面平行, 則稱其為平面
機構

C. F. Chang, KUAS ME 25

Representation of Links and frame

 links(二接頭桿)
Binary links( 二接頭桿)
– those that have two joints mounted on them

 Ternary links (三接頭桿)

三接頭桿)
– those that have three joints mounted on them

Slider-crank linkage

 Quaternary links (四接頭桿)

四接頭桿)
– those that have four joints mounted on them

C. F. Chang, KUAS ME 26

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機構學

Symbolic Designation of Single-

Single-Loop Linkages

 RRRR Linkage (4R)  RPRP Linkage (2R-2P)

 RRRP Linkage (3R-P)

C. F. Chang, KUAS ME 27

Visualization of the Motion of Linkages

 Modelling with woods, paper cards, …

 Modelling with computer graphics systems

C. F. Chang, KUAS ME 28

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機構學

Constraint Analysis of Planar Linkages(pp. 11-

11-18)

 Mobility (Degrees of freedom of a linkage)

– The minimum number of coordinates needed to specify the
positions of all members of the mechanism
– 確定機構各桿件之相對位置所需之獨立參數的數目
 If the mobility is zero or negative, the assemblage is a structure. structure.
– If the mobility is zero, the structure is statically determinate (靜定結
構)
– If the mobility is negative, the structure is statically indeterminate
(靜不定結構)
 The mobility of planar linkages: (constraint criterion equation)
– n: the number of links
M 桿件之自由度 接頭所造成之拘束度
– j: the number of joints j
3(n 1) (3 f i )
– fi : the connectivity of joint i (dof of joint i) i1

– the dof a link with planar motion = 3

j
M 3(n j 1) f i
i 1

C. F. Chang, KUAS ME 29

Degree of Freedom of a Body (Link)

 The dof of a body is the number of independent
coordinates needed to specify its position
– A body moving freely in a plane has three degrees of
freedom. 2 translation + 1 rotation
– A body moving freely in space has six degrees of freedom. 3
translation + 3 rotation (pitch-yaw-roll)

C. F. Chang, KUAS ME 30

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機構學

j
Examples M 3(n j 1) f i
i 1

 Mobility analysis of a planar four-bar linkage

 Mobility analysis of a planar four-bar linkage

C. F. Chang, KUAS ME 31

j
Examples(cont.)
Examples(cont.) pp. 14-
14-15 M 3(n j 1) f i
i 1

 when more than two members come together at a single point

location (multiple joint 複接頭)

n=6, j=7, fi=7

M=3(6-7-1)+7=1

n=11, j=14, fi=15

M=3(11-14-1)+15=3

C. F. Chang, KUAS ME 32

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Remark on those linkages j

M 3(n j 1) f i
with all joints having connectivity one i 1

 Since all joints having connectivity one (fi=1), we have

–fi=j=number of joints
 Moreover, if the mobility of planar linkages is set to
one, the constraint criterion equation leads to
–1=3(n-j-1)+j
–3n=2j+4
–n must be a even number, say n=2, 4, 6, …


C. F. Chang, KUAS ME 33

Constraint Analysis of Spatial Linkages(pp. 18-

18-22)

 The dof of a link with spatial motion = 6

M 桿件之自由度 接頭所造成之拘束度
j
6(n 1) (6 f i )
i
1
j
6(n j 1) f i
i 1

 Where
– M = Mobility of spatial linkages
– n: the number of links
– j: the number of joints
– fi : the connectivity of joint i (dof of joint i)
 This equation is known as the Kutzbach criterion

C. F. Chang, KUAS ME 34

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機構學

Example 1 j
M 6(n j 1) f i
i
1

n = 4 (桿數)
 j = 4 (接頭數)
 fi = 3+3+1+2 = 9 (接頭之總自由度)
 M = 6(4-4-1)+9 = -6+9=3

C. F. Chang, KUAS ME 35

Example 2

 n=7
1
 j=6
 Five revolute joints: 1, 2, 4, 5, 6
 One prismatic joint: 3
link
joint

 fi = 51+11 = 6 (接頭之總自由度)

 M = 6(7-6-1)+6 = 6

C. F. Chang, KUAS ME 36

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機構學

Example 3
 n=4
 j = 4 (RSSR)
 Two revolute joints (fi = 1)
 Two spherical joint (fi = 3)
 fi = 21+2 3 = 8 (接頭之總自由
度)
 M = 6(4-4-1)+8 = -6+8 = 2

 The result seems to conflict with our practical experience since there is a
unique value of for any given value of . i.e., the orientation of link 4 can be
determined when the orientation of link 2 is specified.
 Examining the mechanism carefully will reveal that we need an extra
parameter to identify the orientation of link 3. Because this parameter doesn't
affect the input-output relationship of the linkage, so we call it an idle degree
of freedom.
freedom
C. F. Chang, KUAS ME 37

(Redundant DOF 多餘自由度)

Idle Degrees of Freedom (Redundant 多餘自由度)

 An idle dof is one that does not affect the input-output

relationship of the linkage.

 Procedures for Locating the Idle dof are as following:

–Identify the input link and output link.
–Check to determine if a single link or a combination of
connected links can move without altering the relative
position of the input and output links. If the answer is
positive, there are some idle dof’ s.

C. F. Chang, KUAS ME 38

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機構學

Idle Degrees of Freedom & Stewart Platform

 For a Stewart platform, we have

 n = 14
 (26 limbs+1 base link+1 output link )
 j = 18
– Six prismatic joints (fi = 1)
– Twelve spherical joint (fi = 3)
 fi = 61+12 3 = 42 (接頭之總自由度)
 M = 6(14-18-1)+42 = -30+42 = 12

 Indeed, this mechanism has six idle dof.

 This is because each limb is free to spin about the line joining
the centers of its spherical joints.
C. F. Chang, KUAS ME 39

Planar Mechanism with an Idle Degrees of Freedom

 For the planar mechanism as shown in

the figure, we have

 M = 1 if the kinematic pair at C is a rolling

pair (fi=1)

 M = 2 if the kinematic pair at C is a cam

pair (fi=2)
 However, the extra degree of
freedom does not affect the the input-
output (link6 vs. link 2) relationship of
the linkage. So, the extra dof is an idle
dof.

C. F. Chang, KUAS ME 40

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機構學

Paradoxical Mechanism (矛盾機構)

矛盾機構)
ref pp. 25-
25-29 over-
over-constrained linkage
 A spatial 4R linkage is, in general, immovable because M=-2.
 However, it may have mobility one if special geometry are met.
 There are two well-know paradoxical mechanisms:
– Spherical four-bar mechanism (The axes of revolute joints all
pass through a single point)
– Bennett mechanism

a sin= b sin
C. F. Chang, KUAS ME 41

Kinematic Inversion
 Kinematic Inversion is the transformation of one mechanism to
another by choosing a different member to be the frame
 For example,

Toothbrush
mechanism

Walking
mechanism

Water
pump

C. F. Chang, KUAS ME 42

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機構學

An Practical Application—Water Pump

C. F. Chang, KUAS ME 43

Classification of 4-bar Mechanisms &

Grashof’ s rule (pp. 32-37)
 s: link length of the shortest link
 l: link length of the longest link
 p, q: link lengths of the other two links

Type condition Shortest link mechanism

Side link Crank-rocker
Grashof s+l<p+q Coupler Double-rocker
Base, frame Double-crank

Change-
s+l=p+q Any link Change-point
Point

Non-Grashof s+l>p+q Any link Triple-rocker

Paper csme2001 csmmt2001 C. F. Chang, KUAS ME 44

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機構學

Example
 AB=1.14 in, BC=2.26 in, AD=1.74 in
 AF=2.00 in, DE=2.68 in, c=1.09 in
 Determine the region for joint E that will allow full rotation of link
6, i.e., EF=?
Sol:
Link AB in loop ABC can make a full rotation
(BC-AB>c)
1.74
Link AF is not the shortest one (AF<DE) 2.68
Four-bar FEDA must be a crank-rocker
2.0
 s=EF  l=DE
E
s+l<p+q
EF+DE<AF+AD
EF+2.68<2.00+1.74
EF<1.06 in ANS
C. F. Chang, KUAS ME 45

Analysis of four-bar linkages-Centrodes

C. F. Chang, KUAS ME 46

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機構學

Limit positions ( of Driven Link )

C. F. Chang, KUAS ME 47

Analysis of four-
four-bar linkages-
linkages-Limit Positions
ref: csme2001.pdf
csme2001.pdf

C. F. Chang, KUAS ME 48

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機構學

Classification of Spherical 4-
4-bar Mechanisms
Ref: csmmt2001

C. F. Chang, KUAS ME 49

Interference
ref: csmeconf1995,1996,CSMMTconf2000
csmeconf1995,1996,CSMMTconf2000.pdf
.pdf

C. F. Chang, KUAS ME 50

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機構學

Actuators

C. F. Chang, KUAS ME 51

Stable & Unstable Operation

load > driving torque

 angular velocity is decreased until state A is reached

 End of Chapter 1
C. F. Chang, KUAS ME 52

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