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    Allen Strickland, Jr. Hall - Kinematics and Linkage Design-Prentice-Hall (1961)

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    khushoo pandey

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    Kinematics and Linkage Design ALLEN 8. HALL,JR. Profous of MechenizalKnginering Pree Unioeiy PRENTICEHALL, INC, Englewood Cliffs, N. J. 1961 (Here a el Samer ae PREFACE Appositly sie year gna Pade Unies. a inc nigtion ae with he ncmragene of Prfee 8 ‘Seine fo sent salting date sen, ene fre wall wp he convenient de> Ene wl of the watered Mectani oe with nme and ecg me ew, some geod bu a Sc eh eh) gan ns WWE's outgoth of he elt mcr developed fv that ues lame fet fort onsen eerie iu ceeds oe nit bet smprense rele {fog Se fanny with mo sao mechan ‘Speumel tareven tie col be ple! within he de: “hal aloe of the authors dei woul! be imple to pepe: ha to pple and ore peels Nabortalel inte text the flow were pecs sie ter Aan Dunk enh fore seme mn 2 rmanmcye copy a the tie elpingW eteh eos at "Thom th rings in on wo howe ised inthe ‘ahha ad ong wna sition, De Radel eyes Ky. Rant Hain fave bad conden alee (pamming to protien checking a ‘The manne Machine Design (Penton Fabiahing Com. se Be as en bing cnt ‘eka td mee Splits for id dcr Sn ‘ise hae tpg Don sol bes, CONTENTS Chapter 4 ltroducton. Br Mechonams 1 nema dein 1 12. Equi tr econ sd the er can Ly Wes eer 8 1A. Guide Yor eng dimond 6 19. Typewer nye, 7 {0 Taping ean, 8 1M Bespin re 10 Chapter 2 Review of Volocity and Acceleration nels in Plane Me 24 Tn tnmciden ona belong dierent bain 2 Chapter 2 Review of Velocity ad Acceleration Anolis is Plane Motion (con) $2 Quik coment aferten anal, 26 CChopler 1. Grows Motion in the Bor Mechorin » 34 Trond ating pando, 90 NG Desgnng cancer mechan fr pec and te meta 44 ving cee mrt or pce {an Bscond met 36 ‘Mo Pomme snl 3:1 ing lr oi mini age 2 a Chapter 4 Coupler Carver «a 414 ktenve een: fding oat age, 52 413 se ren fon mean 3 4 Dime pn fw epi came Th Cn wun rnc eer oer aa Chapter § Poth Curvature, Infection Giele. EulorSoray Equation « asap Pee ten ey 1b Proensdtetig the no of erate o 6.6 Problem: pendlam pei, 72 Vi elcies and nce lhe cai Folode Currtue. The Cubic of Sotonary Conetore “6 Frobten desing or teh Dr rn fie sian falling sit ne, 08 Preble dean bo the cabie of sonny re diy or mon ori om for secs Aryl Design a 480 Mechoism for Coordinated Motion ofthe Cranks m [Spin of rk yc a eaves, 118 ‘Pre dsgy oe mec fr conan nearly ta othe rhs 4 Sproat, 116 ‘able, frie design of bar mecaniay «0 ‘tplcemn 118 Probie tint aprocoation.1 ‘Sod des a5 dey 8 51M Wigs ode apyecnsntions 128 opr # Fite Diplocements ne SE tie {RS ruben fing Ayan 4 Anowing yan te poe > rnlen: Ending fy hnowing at pte imple, 18, 1b Problem: sheejeion deuge of = gelding Unkage, an pn pce 133 ho Preteen dig of gun nage, funk pve ied 15 ‘10 ving poe Iving hve pons on sight ‘1 Prien: deception dana » guiding kage Sa Te pine 2.19 ; 5 Rebs ofthe othocter af he ple wine, M0 tg -thee pons a ong ie 14 51 en dion Sg mh a 1.18 Fons having oar prions om ces, AS 4820 Cemer cue, and clint cre, 18 AL Probie: Sec oe guiding ay og oar seid pion M8 saat Ee pons 1 S355 Gontnmted rank dplsnent, Desig poem, 148 References, 155 Inder 159 KINEMATICS AND LINKAGE DESIGN Introduction. 4-bar mechanisms AA nematic dein “Te nematic den of mechani noes to jor (i) The eaon ofthe mechan wo be a {3 Te Sema ae dt s& engining, Toe eager mas ty ge hs owe {geting ant expres (hn wa and th oe ‘ene tease cst pate ep) Tanng efit paca mio die of eon oP eh ne oe rod Uy sre wd er mere seal degen, sie a pero ons hi Sly jl idler stg pn The at o ngepecity dpi compat br cosurged design top scan SERS ey tel i by son he thy and ergs tl inte Mt a Tir dea wl be em oe plane monn, bt ake 12g ar mechan aed the or econ on ener nmr conpler mechan Much of the tony of machine Mineman bat ton evap fe armen pn Tae shea pm scp, "i) Tbe tr chet a wey ced 1 the pst pte lowerpied plane wach. ee 1S | Aptis of em 2 (2) Many mechani wen phys ese ot ha she thar hve unr bu eo Tt ey denoped oth bar oppertothem OTE Sian in pune pecs of ewes Ae {Sta the tone ae omer ty (4) Several important more complex mechanic have ae ‘Chom tens ary the War there tell i oe dein he tas Ingntrtenaie mim sowed ote ot ‘Aine esha, we enh en ee where 8 ' = ‘i ein mn irs 11-13 how * 12 fyplieiae of th bor macnn het bar nnn snails pine \ {farumen and some of the heaviest scunkal equipment oni ai | m4 st htc tn es Snug etry ats eee Ramionsg saneee ones “sel eet Se Spices eae scout gangrene Inte incnbnaly aunt tare be rept st Sstearimmaatatemie oe fhe wt cone te ar esi Spinks of Figs 16 te har ive fimo eee [Piller tbe cite abot a horuomal al Ga 2s ‘uted bya smal ateroperted ek, a Fn tei yan rons eget the per the ape of eae ob ‘lange by limping 4 dierent septs we ‘nut ves Tattoo te anges of ay ‘ype means oner the cam type cae walk WHER ‘Sen sje ob erred te deg Porte ar es 15 | Add hie nae 15. Adotiod hinge linkage. P17 sop Sly aia ed othe eee Ee She vies lien ain pes espa i aes in lie dean ti inkge sie hd on 1 oki oe Fg 18 the ppt Che chao ve oie etiing mad an a sg ‘eke proving oe maseaverbiy of te rack nares af vr NT Kinematic design problem would be w deternine ines ofthe hor kon ch ht plat © wou ave {Beda hoist rhe pane reed Imachine For sai, thee would be tmiatene onthe Ponte iostns apo Oy aad A Web cote 19 iin nevi ine poe of ang ‘sominsony moving vb pf mera paper, ‘Sere tc) hes Te dr of Sch at hed she ©) on exer of the comeing te or Sepa br tinge ce tevwce aS and crate thei” aso at te ‘hr During the cling ore of it sites ete rtm eocy ofthe adr mnt ery may nth he veh 1 Gade or ung clamor, Fg. 110 ‘The paiaram fm of the 4b macanim tae ‘Sars nett re he crn o's pal nr role wih wo cnarig vod ake and a ye aie theo mame Yo acy pe 219 | Tie ite sions ny maving sod it a gh {rcto dees ining wheel the aden Ob. The ais an ‘Changed cing ic leat of he md on nk 8 ‘Typewrier nko, ig 131 ‘hn caminaton ofthe ratty onthe ssi ean nek ng ‘how asta example, Depreiag te eyo town) ‘Soneol to mone they ring rea a co Stocks and type br 2 ease A imporant tare ‘pot, jand 2 reach at he agree ‘Sites ge a the ype br apace he ng anatase wai | 6110 1.40 Topvating metas Fig 112 salty erty ba hon dip a doing the deviing of» malin, yet. sa ‘walle han for Inehatoy nina Hen ts ‘rat en bya omental ping ate spor ean The var ink 3) oe tay oe on Eo and cued to nine Gant fe comeing "a and ear eg 3 mone Har can spel i te ped asin he spo td ie eg ste apie pais ed ‘he te pant on she let gen roughly AY Acompuingtnkee Fig 1.19 ‘The tm omputing kage” ado deste apie ® 6 59 Problem: incon cc (or tor mechoim, Fig. 519 a (ink 5 of te ar tsa nig 318 (OR te pot, {2 elo dyke the inden cle re he PD locate w tbe Mo pit. The dete line soma di an meme gate (0. (0, The Salton ik is dee rong the se 540 Foto ifeton ce at parti of canoe, P30 stent eee nae fy te ElerSorary eqeton taps smc the “a Ky Pa ore i cide Bley tie | 5.11 ® JA (PAyi048 ® but » m= -10, ("The nteson cide an nw be een throgh the ae Lie Gee iaectin ek a J, According oo = (rca Ao pion a ia ae ep SA Th capita el Fg S21 "The indecion die r motion a bay X rive to ody Pinte se Sameer athe fr ata of vl {25 ft oad on te opote ne the pe ae. {i The date Ff lesion ice oa ep ely ved by he aga ely ae vg iif Hone br maton of Xela te y= Hey ering he st ge oe poe cy he Pat (2) A son angment can be ted on the Bae Sovary union Let As ay oat oni bey ‘End an far ih er of car oe a 4 92 | Gigi bs of he Ble Smeypin Hets oto ‘called the “ami cle” fr non of rela Yo X. The tin eed oh tn mig ke itis op mee the nd pot wee SA Graphs slaor of the Euler Savery eatin: he Hert cantrccsn Figs” gent des rive a “Sarma ote Pine Abe though te pf hscomponent ice tp ofthe Fer wlio he PD ne at Oy the Te he ensctn agl 0, ic sir to wale oe 0.2)04r=vny a Y= Kp e —tPDyes) ” p10." = PD) cany~ PDIP, po aban 0D ~ 0,04 PD, te ave rede 0 (Gr ofthe evar equation evil dyed) 512 Fat Bobiercnsrucen, Fi 528 “this contraion purely geome. Given ihe alse sion iyo in te ene oar te pth rin, ro gh al we The ‘Sn buehes ne at pot Ac tough © pall 0 Pain pte nao ees ee PD oO IF Smeaton gh 000s nl nee Pe roo. Ears we" 0 ofreay 2 ODIRD=o;(P any = OPH a te tin ciesEsrSiy psin34 “hie wil rae 514 Second Baier ontrtn Fg, 524 ‘he mening ay tlt ete car ad Cat the lp Dna, te a i ee de tine prev tie fe © (4) line rom prt tne PE wl eet Sac AP ae nie BP ung it Be emo nl Psi ange PH)0,8 —re0.2 Ange P28 age P=» PEOZ= PIO ce P08 = PHO i al eae to 515 | ll ig of ae «it seh Stay cg 8 PD PO,” Pi, __ sree mn in ri Sf to ming pt tne Fer sac age it Seis requed tind whe act de fron ak 3 aise ise Sheen aac seca end pe cee St eet e Doe tarmeet esse ‘pln ¥e "Ths ier ne PB at and ie ete a dine mo po as yous, SAS. Probl: dctwrmining the reds of euvetre of ‘ei a a a In seer ie can deeb a mechani eam for cert ny plane cere, we cond gs cara Brame eae ay mo ce ‘led oe wen ne The cite and satge bre re Pa cove. Ii sic, ae pion | 3.13 eae of he ling ce te aloo pl 2. Ac any point ‘Act cyl he ad eareture oan ttalt_ (rae nda nee Since sora he ey pin A, wc ie or “The adn f ee fd tn i i tte in of weno tt te hte bea ie pony Hor’ 2104) Bag usa sentarin a0 5.16 | Pak pind S546 Problem: pendlom period tenteom ty si pipeegaen shoes es aa a ee ies tewnagect og Rg sew ease aes peal ao, whe pra wl be toy nate seca fil nine ete i ep sermiccatra i balaaee tan Satins eto ects i eamawihcmeaiee ces cna a Daan arnt es 7" PR -PO, ats yan (2), Tee emer a urate, fr the pao Mn is in te to ing ae Tate Rtiectommanes he pac coraorsrae “The paid endl wl every aay tat simple dium having length 346 Pe cts. latin cine Ear eatin | a 547 S517 Paades forthe ralave motion of th cranks no ‘Serine ‘eling cove the pode forthe wate rnin te 6 ‘ran: Poet hsp hue be edt ‘itshown ing... Theshaprel ter poeta sethantes and how shen name oe Resto) th PMbtning with opr 8 be naar pon of et _ cao aan “ ue ir — Rea oe Fg 830) ) ® 0s he pe he agent here aa teponoa fn af theca ne MAR ec cS | Palen: dg ofa er mean for dager eis 0 548 Problem: dein of «bor mechonam fr species ogi vets to acre of he cia a elgg ‘ipa vlc of ap the ep ra wel have a Edo? Sr a Be coonatei The dee ‘eoocn ert posto be Ve AF Sa you by tcting pivots 0° ad 0 ford ingot Sd sutat tune) rope, and caelte he Inns oe yo, frie rnive cant moto, (2) The styp ton espe ofthe poe anne Alege) A Ph te, fi si eS patie | 3.18 eve fe ti rb se 0 SoBe a ‘We can now ad te ple ages the aot (3) We man ne tab hd ier he a ant ems rs ne cn 2th ming Baer Savayegaton at be aa See carts ber canes ‘ope wetter th conecting ro ofthe Mir we ae dsging ‘heen thea determi! sales EN A ‘hoe, and in broken tne an aerate den Figs 332 ri of te peter ner nae hsb ote eek mchunane Wile te polos are gute ‘Bea, ty ape alge png ne 5 Ks eet pho 54 mp te rin we Asatte abe ein irs Coe ‘hd poe eo ted ‘ene Tie pl, Se rel by he owing res aan=octrnra nosey 5S Conia ton, Lt fe ate [pict wine cay mtn The eg se ptin noe) ise the ten he pe tw the ening ‘beam he ea A Dow cel it dea ean tea 3 og om dan en ou (Sissel eit ele tne 2 shew a cro i ahh fe tau " Es Phe feta ne Bde Say ron | on B88 ‘heeppste ele amar gh Pn ea ing hon par ni deme poo {Rona re yoy mie it sere ihn ess wh cc a ‘vi 6 Dw weer dwn eis he ‘ld te nae or othe tc feasts ol ‘en? Region ocd tae, 0, BAD | Pl ed Burin re iin ew a ee 6 | Pe fate 8 (Stay dpm ee sth Polode curvature. The cubic of stationary curvature 6 ober ofearcure examine if we hom the pe welcy, Ad he ore ponding pe scar nowt o “The tay Fig, wna tr wecham and = Siege mili oy he cpl Pe ple socktdoy pate hden pene bpm Hae beady dn oan Bn va alone et mee Inch gti he itv ms my made hectares OE Yacninn | mma pamengg tine [apse rt] Sesion Lo meaiom Pluk aan he tir cme | ee 62 ‘Tre rots Einsnemovenaercnt at ya "9b 162829 mp s) 10 = win aad siping Bay (8) 2) = p34 —tJo-n+ B28 -Jasn watiabntn) o exile se pin diam, & Pa Bh sete a Peay ha Bone hal he se ‘ite we ame el wer 42 Ploy: dtrming tradi fast ples tre thorns bf cooper reative to the fie nk area be deter rth ‘sedan shoon i Fig ve eka he eon fe Jo he ion ease oh syn fhe nage, P= Me The ple ‘Sngnt hors pm 0,0 (2) The inci cleaner Pr Peng, = H(A.) (9) The ino Se pao i 8 OF exp gid) IIH + (APHID = THER) hr in pal ~) Home i Keo eae So = (ou =O) Hew) "The ai fhe ed ple infinite and ie dependent of The ane ye tpl eer Wa) Tht aoe mong ple can nw be und from ler Svey etn, Pllc The i of ai eon | 6,639 ‘The cer othe moving pole a J." etry ice Serihe moving pole hawt tet con (0) Pio ofthe to ples tase Beam plated in Tg mace on he she oa 43 elem: degoing 0 bor meshanian fer speci fale rot of cate ac __ Decne tm in 4b cid ft gHied age fonts ppd wpa FiGotakenes paar ted eames oe Seohdet nang nat homing» a eta nih he ving einer ‘hor ta dg anh to Sele and mag ode sec 63 | Pi dei rion or ie le af ava (0) The infleion ie am be dein! or the ake Say eatin 21-360 (a) Tae ple create ton mus bei —tfa-n ratilnty) 0 Setar Ao, the Ear Sovry ution mat be ti eam, (PA Po cory) “ 08 = 55 PO 3 = PB Mean) . espera agrees ep east Sree nentoon Hrs Fiance oct ooo etnwasascine nent eye tt ehh es Te elon coe chet elie orsemeretar ree wabg er atetieema nt sane Tae yoo sm dg. (3) A i and een Bets, sision town nF Dyn Bdig. y= 80g Pe. Ted etn wedi ater 6 | Pb fore ain main te cnn a ar mice (64 alte fr the lative eto f the ernt no ar mechonem (ere) o ® o rire = guar lyr, alee ange frank om the design pson 4 ange btwn he aed ik adhe ple nora crbenten pei bdo nthe plage Diauiian aeset ur ajeine nw i xe th rao care ete She oie enn ok ings vey SS Gast ect ee ya Pa te, Tei of tiny aa | 63 beaut epdeuticinnEa h ilovig (es anys = Re na we deren Ba, with eect # weave ae-pamblay oo] tet 0 an (erie ete ye (ie 1)— Rela aeenaeniie Tr we i tc egw seins ‘BetgestcarEy sma 65 Prblem:devging bor mechani replace c- tar ger foo linthd range of ron au i ete dad op ‘gal “Sand oar ones Soe sof aio ie Staten Theodora held 1% vere al anew don, Sosy‘ s poste aol goed rou bs eet eon ey af wih ones crank pion, ‘ite ter. Ather y e065 | Pk: iain er mani placa ge iaacticet yaa ara ne Pastas eatin tee ee cate her et i oe 528 ratio a of ek Ot crak O°4 onor=» 0 oF =e) 2 orate) 6 Inherit TalerSoary equation ho wm, @ Due Joe damever ofthe inlecon cee long the pole ‘aie PSs ty (te sro PO aD on. and (9) a ting Pr Pe P= sie) @ “The equation fr rain of curate ofthe pode sorbed wi ci 74th fot Hk hn the rd ive unr cnet, +2 —yJor © Pet Th i otra canoe | 30.68 o ange fom ple sara ie F0 eo ein pte, yan tom pe armas wi be rie ~ on . : camels pf) 0 Be ag tA Oh we ea | thecmereteurne ot path heoiog Bene mare, ° = Piya Pocy = ~sdeoyte—1) om Ea (3) Heer) bes PAUPAia A 1) =leoye—¢ om) mination of 44 etc E010) en a on Setting hi a, (10) ye 8 a1) a) ‘gua (1) al (19) die he cai And fo anywho hers pl on he Sgn ee ‘nena eine 0 we ele cham ae. er eg he proper te ethan wl ee one oii Fu) ws be way ain ‘tan ere made age fava cg bf te slot menos noi fe te 8 125.05 | Satin ate of ot pate Iino pou Beata of rte cave how shoul te be ‘Egencia. Pon at eer tol be ech yeas, Toe ‘ale emer or bf 8 deg and 1? deg eee os canet O48 apa ON apace ome “Thepushota moving prey “sonar cate aia gf tpn he cage oa “Tne the pur, he contin ir stadoaryearentare ne AA ce inca matin cp hi parc ot sy gt tate rated on pn pnd by marin with the Baer Sry gunn Sor Fuh crstore, deren ad tng the at oa Ernie nore cree fo icntne wi ropet ‘Sane lng te ote ant irons te datos «sling the ph Thi erable ane 00 ee, excep fo he pa aie ce ots —0. a | Stina pat Poe aca Te bi of tay rie | 98 6.2 47 Grphce! canst Apical contracting i othe i ot a ie ig ph cp, ce tin gles iar ge aie “ ors, a (Weald) a ey) (68° Degnerae forms ef he abi of ater carvtie “Th equation of he exc my be ten 0,68 | Dara fr of te of iy ae For he speci eae the quntion boson “eo eee rt tpciome Moy te ee nn coe. “hie equation ge a he pote tne ad a ‘i dancer; target othe poe nema hemi the copie ear mecha he ca sen oc eo ea 12) Heep lon acl gett the ple tinge athe pe He mig i wo cine net te se (cp Oecranp onde pole toe {8 Sen i nt heater Pade ct Teaco tiny cre | a8: 69 69 Peed corti "spe nem Dan s-x) Sait (4) ji (9) ad erage Bans -(2 npc oa fe—Z)sins—n) as) te ie 04 ap 0) (25.610 | Pot ee sein mat fraeeling oie ra (Us th ae Svary equation fre hie) Sieh anon (1) intl) comer re ‘Sungeent of rms (0) ml beeen, 630. Probl cic of tata canatar foro ere alg on ihe ne carve i pla longa eke ‘i dete nn ly a he ne tive ameter the ling ce inal bu DPE mt R= Pd ewe 7 Pll aan, Th kif ina ie | 8061 “The ape f the lest cle deat change wih the xe ‘Tere the euch te desert a contin he Grins Sbserp ad bes ian aay eo 11 Problem: del Boel on the abi of savory ane ih 2, og tay nt Eee wl tel ey ma he cle te BB nd ‘Thecomtrarsn af he machine suc tat wf pots a oi by aca psd a Ge rod wae Saki hh ad ih on pone “Ourada wil be lt a prc sont tt te dete 9 ne ies av ie WAV le ces nko lee. Fe he de fst we tal che he enon eda Sl grrr tay te dese pon oc {Bl there oaage af carvatre of hep Bw pect 1 dance alent path wl be ee Tot eet he ‘ctl at of il aprons te died ine How fly low he ce ae sy fom he deg Poston trecan detec bypeting tm path srs eae ‘sig oe )Detmine te ple angen, pole surma and tec ec me et a eh je Then deermine the otitis Mapa ine ‘ton the ene tna cat iy svg the ining anon 51 | Pll diene ai of tiny eine (8) Having eaitind Mand. pl potion ote ‘aici he ly iB a) Box someon pet othe abi fe the invent ink Tren hk Sh Any Co he fp a harmon oie 9 wg he seca) lpm ston ae Pr he po 6) ete acl path we i degrine ty the ‘Sibir, ty oer lon for Od © Pt in. Tei of satay aie | 8 612 612 Problem: sin ofc bor mechani for eudicted ronk prs tur mechan ried sch tha te angel phat tc wil hy the fing a Bo 02064804 het 8 he dps pt crm (elle Tint um the digs non sod fidget of ts pec ik ki eH ent Bbacrpablewiin oe ngeot tbewsen 20d +20, ‘The tennant ob ed ene se “Our dag prcnare wil be deen the abies aay attr rhe deed re maton Sn ein Wf 40 Pan (0) dt 57205 ¢—1 MIO, ill mag St eyt yehanng au a tne een Sina pt a lca pl fo eee ca ‘non ahi eample wal Coe 0-110 See ei or rid vce ep cos 2 as Demin ale etme i ine 0} and the pt ara tang = — Laie, ey ‘A he pl aac and ple aml the yet {3 tor moto o erent # rate w 2, non ‘ice re tbe PO ine ay te 10 151-535 26.62 | Pk: do rin fod at ein 7 ‘The ameter of te infection ce b, {0 Teen ocx oe pale td 0 com Sete = pesca 2 Sah FAI to lye Coasr0 =a asr6 = OD ELESGRan aetna Sat Sin monn pin ent ‘osteo ine sol the pal een 3) The ra of crate fhe moving pala (or noone crank nine) ca no be ed pos P0, Po east Hi 026150 “The cotati the anon fr te ie of stant cera ron fae to? ea pow be Planer ef try aie | se. Natu es = 10.0) UCL 18.09) 0477 (7) ein telnet oi of airy cate YP = Y(t) 1) 5 Yer 1399) 1015.9) fom wich 32803 “The oun of the eae oon can ir Mtoe) — 123235im7) “Tins cureC plod in. 618 ii tetra ee ect in onan er no bis are related by the EulerSavary ations sehen Eacthnoe mete ert agit (9) Posten ur design poe ae cad ty malin afi afeospnting piso he at ‘tun nnd One nologies sla wise wi ef eion eee Ane my ek lb a ie desu on cg fr— [Te ee neuer {hd Dignan ch hatin eg i te seep ret ‘ie pts eta in putes of epee 6 Aron bt eth ‘Sat oe at ith te cs 0 eos AY Dinar sso at he dn pada np iy eon and a Se ml, mtn rane Pde ase Ti of tiny amas | cB | Analytical design of 4-bar mechanism for coordinated motions of the cranks ca TA Freemason = : au A et ape a te See Ri The wo be compen mat beasp— res tb eomd ma o 112 ya ein of rms fr ure ai of ens | 6.22 ‘Teena fhe Fempoentms bem. bang ain 6 sind 0 Regen. aa mn he a bg Heat (cong dame » iat ind asin) 0 visa Hae Le ba thems taco peal dain gsiad—2éemd (8) hich may be een Roca Ryond + Bye 4 hate © “This te Frei (9) non the br mechani, bh on wl een poo eng 72. Sample design polenta cde crank posto ange willbe connate wf hie ow (1) Witte Feweten equation french ese rechann pnt rope Acad — Ayo 80 R= (80) ew30-— Bea yc —20) MeO Rca B04 ea —20) (2) Sabie hee of putes yy ad Ry 0.13 | Codie f ak tie oon ns (3) Choe ane tink th apd save for the ther fn deere ean Ryo 84) ie (camp we che 100" and cewated a L423, POU iu a80 wate The sling mectnon oie itd Mayme en eet 73. Goxtnaion feo veces and dea: Runt Reart + Renca-A) Sencenie iiennon wih ep 8 fie nsesnes non masinlt—) facut) srhere = 123 te rt eon hid deren. The fee ffi Ain ld ad yen forego ayy an wee er SLE Sat hm aS seats | da ans nese n= 4 te) Tora oetherd approsinaton a dard nto renjon etwas fap) aed (0) tbe ed 1)and 3 we cat Rand Ay om Ey 1) 129 he i Due 42a o 114 aati sin mie or on ain of eas | 80.74 1 | Pll: inf hr mci oral nae at us Bao-mann — 00 Ro(vanm 40 —ean Dano +a mate (y= 0+ M0707) 28 | dnoam+o 506 nim0-2000) tale | =n 0 nan Bo B00 wee (8) Cau, = 048, ~BeDs—D) «9 2 BNO F-70714) ih P) DB, RD FOB RD) p= 07013656 1a salaoer = ons it. F) Fis. B) an 4 aaayonr on aainb thet (9 | Ae tomn-sess+ sat 4 tatqazy—omn Dim econg + dsing ty oe Rodent —ssnd wy | 64 tao) previ ie stem suns 1A ble ino @ ar mechan fr cant « id= retract oof rte tee ‘een at A Sar mechanism i roquired sch that the crank S seine in el ym ree |g gf) Tating =H, wn wi (and re el Sty et me ayy ie oat 4) — Rt me aid Soa pa! Bn 4) + GOI ~ 2) +80) toca 48-4 R077 =n) 4-9 {hea hte an B47) + 840307 — + 0-09 ree arat . On -0707R 1 A= | storrasarme.=0 ots comment te | pan enema | mente | (6) lnk ets a ford 1, 0307) = 3585 Apia! eign of ar mci eed ai of ens | 85.78 ‘hg ne a a ae 70 Fg Taf} shons te morim wip pice rng 8 sy 30 ie th wy ohio Sm esi orn tin na 1S sera fr of es fo fourterder epproximetion Ie an abe upd a see of a fhe atoning rh wl Be re comes uses eno 42) a8) where ahhh Avand tank a Meas) a) ilsAitbee— ba 8) ib.) en a0 76 | Pon: ia of or mahi anal aie tle a —aleyal 44) N4a—4) ea) pemdleya) ald) +B a) Mesh tee thy tek (8) Penal A Bara Hb, —B) News) ea) loge) abt) es) freee —cleema)tndmed, 08) females) ~ales—a) os Note: Divo by wan ile in deriving (6), ie 8 Sa eg) ba a Fo co Sen fe crs te find sera tn Eg (88 wil Sow tf fe Pi ‘frare st Hene (1) rede De rh peptide andre tants 0 en ey ow a av 1 Problem: fourtnordr decgn of bor mechanism 12 evert og fin funtion ih igh poco in the wy ofr 5.5. Se et be 1k rank ated th ou ete 0 eo Pe andor tin eon ak o = 8-000 sp “2 10 Ana og of a man fr rei ft co | 8.28 ii depending spon ter we dig i the eR, (At, Kove (9) Celt an eat yy 5 0 aE mee | sane | ame (9) Coe 4 and f= e001 (0) Sects tal vale and cake he coficete in Bg, Ford 23d. Fe eantg 0088157 ang ota (0) Ba em een Ssis7 ent O0sI4ene + c.2nGs4t 0 Som which tn S145. 21607 = 7287-5. de. 90,22 | pi aan, ead ak pane a9 (8) Sutesiating = 25 dy and = 7257 deg 1. and) an ing, ween (8) we ene d= 10m hen 10) The enchanion dgned shown in Fig. 2.4 slong Sth fe eer cave Pere 30 og" a ce {antiga ut Ine lowe afte ne el be ssi ein 117 poi pronation cordnated crank displacements fo dnign a har mechani in genre dvd func wth Snr prin, pany we might waite toe Faudein ution aac 90 a0 Aid ia ee min fad ain of th nt | 0.79 Rcats Racy Rem enlty—Hs) (2) Ricoh, Bees Real —4) 3) Reedy Maco Reeth hl 8) Rook Recah + Raenl— 6) 5) Ive lt Bate babe nek fete RO noe te heh nee qatin ()-my be writen Bye as) Byes B04 mame) Myo, 9) Bye 4 By cated) Recs ra) Racal 8 + Ry memes) a) Mose 0) — Ries 48) Ry tnd) ‘te: Onna eg f= y= . Thse smb el ‘Seen B.(3) By ak of yen vrai He G0) we sna Ry Ry ast sant F240 oo, Am keemanpebatentgy tpaantgy E128) (AD aero) @ I= UaPs AP) + (CE, C8) os) Lema 4) , (Dah) + Cab, Ca) + 1G 6H8)8) (aE ALE) (la Alb Ua Ba) GPa O) (Clix Cl) + Dab Dai) (8) sma Us AP (Os AA) + (BB, BAB) (CG, C16) 4 D4, DeB) HD fl,—Dtd 8) a BAB (Bly BI (A, AY) (Oa, Fy) +Diby—DSg Clty (9) 801 | Ai pit, ak ime Ally APL) Fs BAF) (Bl BE 0) hoi DIO} wy (8.84) ~ (Dy Baty a =a, — 2) ao 4, 6 D, fF nd he algae tm of sx prt ie eto 6 Sy oe fem Eeancnh, (im BLAM (om) Wi) =(G.1).0.2) 02.0 9) —02},2,00r0) seats OSs rts. i Avoid cman ete Seance -eominhe— econo) (48) oy cw) | o Bin? cafenn oo = et8siny, ) 2 aapoory, wo t=? sian, e 2g Trib ie Sime a soci aus a hence hn vals 9) The (Sidi ea he lw etn (0) Talat eae of Band (2) alent a 4, (8) Cleat atm (4) Ase wa val fr fy and cleat And age of he mei condi te cant | 138 (9) Soe B40) (Sse Fy 99,97, 3B Ck (2) Desi a gh fy i 28 2B. (0) ined ving by cm he Hence 90 ge rT dog. be etl pare Pert yc ca en. 1 Prblem: Apo cpproxiaton ech Mr cae eid nt he fen) inshemage 9

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