AME 352 Online, HW-2

2-1 For this six-bar mechanism we have defined several vectors that can be used in formulating the kinematic
equations.
(a) Define angles θ1 ... θ 7 for the vectors according to our convention (the x-axis is horizontal, positive to the
right). Show these angles on the diagram.
(b) Measure the angles with a protractor in degrees.
(c) When the mechanism is in motion, which of the angles remain unchanged and which angles become
variables?
(d) When the mechanism is in motion, which of the vectors keep constant magnitudes and which vectors
will have variable magnitude?
(e) Two of the variable angles can be expressed as a function of one another through a simple relationship.
Which angles are those and what is the relationship?
(f) Two of the variable lengths can be expressed as a function of one another through a simple relationship.
Which vector lengths are those and what is the relationship? (All constant lengths and distances are
known quantities.)
(g) Use the mobility formula to determine the number of degrees-of-freedom for the system.
(h) Construct the vector-loop equation(s) for the system.

Write/mark the answers to (b), (c) and (d) in the table below.

Angle Magnitude Constant Variable Vector Constant Variable

(degrees)

magnitude


θ1 R1
θ2 R2
θ3 R3
θ4 R4
θ5 R5
θ6 R6
θ7 R7

R1
R2
Q

R7
O
R5 R6
C

R4 R3
B
AME 352 Online, HW-2

2-2 For the shown mechanism define the necessary vectors and construct the associated vector-loop
equation(s).

2-3 For this six-bar mechanism we need to construct vector loop equations for kinematic analysis.
(a) Define and show on the figure the necessary vectors and their angles according to our convention. Make
sure not to define any unnecessarily extra angles.
(b) Construct the corresponding vector loop equation(s).

O2
O4
o
70

B C

O6