Lec 5 Mechanical Kinematic Design

Mechatronic system design, Chapter 4: Kinematic Design
KINEMATICS FUNDAMENTALS
© 2016 Quoc Chi Nguyen, Head of Control & Automation Laboratory, nqchi@hcmut.edu.vn 0-1
DEGREES OF FREEDOM OR MOBILITY
• A mechanical system’s mobility (M) can be

classified according to the number of degree of
freedom (DOF) that it possesses.
• The system’s DOF is equal to the number of

independent parameters (measurements) that are
needed to uniquely define its position in space at
any instant of time.
• DOF is defined with respect to a selected frame of

reference.
The pencil has

three (3) DOF
x, y, and θ
• The minimum number of measurements needed to

define its position are x, y, and θ.
• This system of the pencil in plane then has three

DOF.
• The pencil in these examples represents a rigid

body or link, which for purposes of kinematic
analysis we will assume to be incapable of
deformation.
TYPES OF MOTION
• A rigid body free to move within a reference frame will,

in general case, have complex motion, which is a
combination of rotation and translation.
• Pure rotation
• The body possesses one point (center of rotation) that
has no motion with respect to the stationary frame of
reference.
• All other points on the body describe arcs about the

center.
• A reference line drawn on the body through the

center changes only its angular orientation.
TYPES OF MOTION
Pure translation
• All points on the body describe parallel (curvilinear or
rectilinear) paths.
• A reference line drawn on the body changes its line position

but does not change its angular orientation.
Complex motion:
• A simultaneous combination of rotation and translation.
• Any reference line drawn on the body will change both its
linear position and its angular orientation.
• Points on the body will travel nonparallel paths, and there will
be, at every instant, a center of rotation, which will
continuously change location.
TYPES OF MOTION
• Translation?
• Rotation?
LINKS, JOINTS AND KINEMATIC CHAINS
• Linkages are the basic building blocks of all

mechanisms. Linkages are made up of links and joints.
• A link is an (assumed) rigid body that possesses at least

two nodes that are points for attachment to other links.
• Binary link –one with two nodes.
• Ternary link –one with three nodes.
• Quaternary link -one with four nodes.

• A joint is a connection between two or more links,

which allows some motion, or potential motion,
between the connected links.
• Joints or kinematic pairs can be classified as follows:

• Type of contact
• Number of DOF
• Type of physical closure of the joint (force or form closed)
• Number of links joined
• By type of contact
• Lower pair : joints with surface contact (as
with a pin surrounded by a hole).
• Higher pair : joints with point or line

contact.
THE SIX LOWER PAIRS
• By number of DOF
• By type of physical closure of the joint
• Form closed
• Kept together or closed by its geometry
• A pin in a hole or a slider in a two-sided slot
• Force closed
• Pin in a half-bearing
• A slider on a surface
• Requires some external force (gravity, spring , external
force) to keep it together or closed
• A kinematic chain is defined as an assemblage of links

and joints, interconnected in a way to provide a
controlled output motion in response to a supplied input
motion.
• A mechanism is defined as a kinematic chain in which

at least one link has been grounded or attached, to the
frame of reference (which itself may be in motion).
• A machine is defined as a combination of resistant

bodies arranged to compel the mechanical forces of
nature to do work accompanied by determinate
motions.
• A machine is a collective of mechanism arranged to

transmit forces and do work.
• A crank is defined as a link that makes a complete

revolution and is pivoted to ground.
• A rocker is defined as a link that has oscillatory

(back and forth) rotation and is pivoted to ground.
• A coupler (or connecting rod) is defined as a link

that has complex motion and is not pivoted to
ground.
• Ground is defined as any link or links that are fixed

(nonmoving) with respect to reference frame.
DRAWING KINEMATICS DIAGRAMS
DRAWING KINEMATICS DIAGRAMS
• Ground?
• Rockers?
• Couplers?
DETERMINING DEGREE OF FREEDOM
OR MOBILITY
• Degree of freedom also called the mobility

M.
• Degree of freedom of system

• the number of inputs that need to be provided in
order to create a predictable output.
• The number of independents coordinates
required to define its position.
OR MOBILITY
• Kinematic chains or mechanisms may be either

open or closed.
• A closed mechanism will have no open attachment

points or nodes and may have one or more DOF.
• An open mechanism of more than one link will

always have more than one DOF.
• An open kinematic chain of two binary links and

one joint is called a dyad.
OR MOBILITY
MOBILITY
Gruebler’s Equation
DEGREE OF FREEDOM IN PLANAR MECHANISM
Gruebler’s equation:
M = 3(L –1)- 2J
Kutzbach’s modification of
Gruebler’s equation:
M = 3(L –1)- 2J1 – J2
M = degree of freedom of
mobility
L = number of links
J1 = number of 1DOF (full) joints
J2 = number of 2DOF (half) joints
L=8
J1=10
J2=0
DOF =M
=3(L-1)-2J1-J2
=3(8-1)-2(10)-0
=1
L=6
J1=7
J2=0.5
DOF =M
=3(L-1)-2J1-J2
=3(6-1)-2(7)-1
=0
MECHANISMS AND STRUCTURE
• If DOF is positive, it will be a mechanism
• If DOF is zero, it will be a structure, no motion is

possible
• If DOF is negative, it is a preloaded structure, no

motion is possible and some stresses may also be
present at the time of assembly.
MECHANISMS AND STRUCTURE
PARADOXES
ISOMERS
• The word isomer is from the Greek and means

having equal parts.
• Isomers in chemistry are compound that have the
same number and type of atoms but which are
interconnected differently and thus have different
physical properties.
ISOMERS
ISOMERS
LINKAGE TRANSFORMATION
Rule 1
Revolute joints in any loop can be replaced by prismatic joints with no
change of DOF of the mechanism, provided at least two revolute joints
remain in the loop
Rule 2
Any full joint can be replaced by a half joint, but this
will increase the DOF by one
Rule 3
Removal of a link will reduce the DOF by one
Rule 4
The combination of rules 2 and 3 will keep the original
DOF unchanged.
Rule 4
The combination of rules 2 and 3 will keep the original
DOF unchanged.
Rule 5
Any ternary or higher order link can be partially shrunk to a
lower order link by coalescing nodes. This will create multiple
joint but will not change the DOF of the mechanism
INTERMITTENT MOTION
• A sequence of motions and dwells

• Dwell is a period in which the output link remains
stationary while the input link continues to move.
INTERMITTENT MOTION
INTERMITTENT MOTION
• Source:
Youtube
1.7 MOBILITY
1.7.1 Gruebler’s Equation
M
a 4©
2
c0 6 Mechatronic system design, Chapter 4: Kinematic Design
h
1
i2
n
,e n Constrained mechanism
2
s0
a
0
n n one degree of freedom
5
d
,M
2
e
0 n Locked mechanism
c0
h
2
a
,n
n Zero or negative degrees of freedom
1
i9 n Unconstrained mechanism
s9
m
9
sP n More than one degree of freedom
:e
A
a
p
rp
slo
in
e
H
d
iK
g
ih
n
e
e
rm
E
a
d
tu
icc
a
A
tn
ia
o
ln
y,s
U
ip© 2016 Quoc Chi Nguyen, Head of Control & Automation Laboratory, nqchi@hcmut.edu.vn 0-46
Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearso n Higher Education,
© 2016David
Quoc My Chi
szka Nguyen, Head of Control & Automation17 Laboratory, nqchi@hcmut.edu.vn
Upper Saddle River, NJ 07458. • All Rights Reserved.
0-47
M
a 4©
2
h
1
i2
n
,e
2
s0
a
0
n
5
d
,M
2
e
0
c0
h
2
a
,n
1
i9
s9
m
9
sP
:e
A
a
p
rp
slo
in
e
H
d
iK
g
ih
n
e
e
rm
E
a
d
tu
icc
a
A
tn
ia
o
ln
y,s
U
M
a 4©
2
h
1
i2
n
,e
2
s0
a
0
n
5
d
,M
2
e
0
c0
h
2
a
,n
1
i9
s9
m
9
sP
:e
A
a
p
rp
slo
in
e
H
d
iK
g
ih
n
e
e
rm
E
a
d
tu
icc
a
A
tn
ia
o
ln
y,s
U
2 ©Ma 5
0 ch 0 Actuators and
1
2in n Electric motors (AC) Drivers
2 e
sa Electric motors (DC)
0
0
n
Engines
5n d
n
2 M n Servomotors
0 e
c Air or hydraulic motors
0
2h
n
a
n
n Hydraulic or pneumatic cylinders
1
9 is n Screw actuators
9
9 m n Manual
P s:
e
aA 1.7.2 Actuators and Drivers
p
sop li
n
He d
K
g
h i
en e
E m
a
d
u t
caic
A
n
o a
nly
U s
pi
M
a 5©
2
h
1
i2
n
,e
2
s0
a
0
n
5
d
,M
2
e
0
c0
h
2
a
,n
1
i9
s9
m
9
sP
:e
A
a
p
rp
slo
in
e
H
d
iK
g
ih
n
e
e
rm
E
a
d
tu
icc
a
A
tn
ia
o
ln
y,s
U
2 ©Ma 5
0 ch 2 1.8 COMMONLY USED LINKS
1
2in 1.8.1 Eccentric Crank
e
AND JOINTS
2
0 sa
0
5n d
M
2
0 e
0 c
2h a
1 n
is
1.8.2 Pin-in-a-Slot Joint
9
9
9 m
s:
P
e
aA p
sop li
n
He d
K
g
h i 1.8.3 Screw Joint
en e
E m
a
d
u t
caic
A
n
o a
nly
U s
pi
M
a 5©
2
h
1
i2
n
,e
2
s0
a
0
n
5
d
,M
2
e
0
c0
h
2
a
,n
1
i9
s9
m
9
sP
:e
A
a
p
rp
slo
in
e
H
d
iK
g
ih
n
e
e
rm
E
a
d
tu
icc
a
A
tn
ia
o
ln
y,s
U
2 ©Ma 5
0 ch 4
1
2in 1.9 SPECLAL CASES OF THE
1.9.1 Coincident Joints
2
0
e
sa MOBILITY EQUATION
0
5n d
M
2
0 e
0 c
2h a
1 n
is
9
9
9 m
s:
P
e 1.9.2
aA p
sop li
n
He d
K
g
h i
en e
E m
a
d
u t
caic • One degree of freedom actually if pivoted links are the same size
A
n
o a
nly
U s
pi
M
a 5©
2
h
1
i2
n
,e
2
s0
a
0
n
5
d
,M
2
e
0
c0
h
2
a
,n
1
i9
s9
m
9
sP
:e
A
a
p
rp
slo
in
e
H
d
iK
g
ih
n
e
e
rm
E
a
d
tu
icc
a
A
tn
ia
o
ln
y,s
U
M
a 5©
2
h
1
i2 1.10 THE FOUR-BAR MECHANISM
n
,e
2
s0
a
0
n
5
d
,M
2
e
0
c0
h
2
a
,n
1
i9
s9
m
9
sP
:e
A
a
p
rp
slo
in
e
H
d
iK
g
ih
n
e
e
rm
E
a
d
tu
icc
a
A
tn
ia
o
ln
y,s
U
M
a 5©
2
h
1
i2
n
,e
2
s0
a
0
n
5
d
,M
2
e
0
c0
h
2
a
,n
1
i9
s9
m
9
sP
:e
A
a
p
rp
slo
in
e
H
d
iK
g
ih
n
e
e
rm
E
a
d
tu
icc
a
A
tn
ia
o
ln
y,s
U
M
a 5©
2
h
1
i2
1.10.1 Degree-of-Freedom
n
,e
2
s0
a
0
n
5
d
,M
2
e
0
s : short link
l : long link
c0
h
2
a
,n
p , q : intermediate link
1
i9
s9
m
9
sP
:e
A
a
p
rp
slo
in
e
H
d
iK
g
ih
n
e
e
rm
E
a
d
tu
icc
a
A
tn
ia
o
ln
y,s
U
M
a 5©
2
h
1
i2
n
,e
2
s0
a
0
n
5
d
,M
2
e
0
c0
h
2
a
,n
1
i9
s9
m
9
sP
:e
A
a
p
rp
slo
in
e
H
d
iK
g
ih
n
e
e
rm
E
a
d
tu
icc
a
A
tn
ia
o
ln
y,s
U
2 ©Ma 6
0 ch 0 1.11 SLIDER-CRANK
1
2in
2 e MECHANISM
0 sa
0
5n d
M
2
0 e
0 c
2h a
1 n
is
9
9
9 m
s:
P
e
aA p
sop li
n
He d
K
g
h i
en e
E m
a
d
u t
caic
A
n
o a
nly
U s
pi
1.12 SPECIAL PURPOSE MECHANISMS
1.12.1 Straight-Line Mechanisms
1.12.2 Parallelogram
Mechanisms
1.12.3 Quick-Return
Mechanisms
1.12.4 Scotch Yoke
Mechanism
Machines and Mechanisms: Applied Kinematic Analysis,
4/e
Chapter 4 Displacement Analysis
4.2 POSITION
4.2.1 Position of a Point
3. DISPLACEMENT
1. Linear Displacement
4.3.2 Angular Displacement

4.4 DISPLACEMENT ANALYSIS
n Locate the positions of all

links as driver link is
displaced
n Configuration
n Positions of all the links
n One degree of freedom
n Moving one link will
precisely position all
other links
4.5 DISPLACEMENT:GRAPHICAL ANALYSIS
4.5.1 Displacement of a Single Driving Link
4.5.2 Displacement of the Remaining Slave Links

4.5.2 Displacement of the Remaining Slave Links
2 ©Ma 7 4.1 Vector Analysis of Displacement
0 ch 2
1
2in Y Y1
2 e
sa
0
0 r4
5n d
r2
r3 r3
2 M
e
r5
0
0 c X1
2h a r1
1 n
is
r4
9
9 X
9 m
s:
P
e (1) r 1 +r 2 +r 3 +r 4 = 0
aA p é-r1sq1 ù ér2cq2 ù ér3cq3 ù é-5.3ù
sop li
ê +r cq ú + ê r sq ú + ê r sq ú + ê-3.2ú = 0
ë 1 1û ë 2 2 û ë 3 3 û ë û
n
He r1= 3, q1 = 30, r2= 4.9, r3= 3.3
d
K
g
h i 2 equations for 2 unknows q2 , q3
en e
(2) -r 3 +r 4 +r 5 = 0
E m é-r3cq3 ù ér4cq4 ù é x1 ù
+ +
d a
t
ê -r sq ú ê r sq ú ê0.8ú = 0
u
caic
ë 3 3û ë 4 4û ë û
r1= 10.1
A
n 2 equations for 2 unknows q4 and x1
o a
nly
U s
pi
Y
r1
r2 r4 X
r3
r 1 +r 2 +r 3 +r 4 = 0
é -1.6 ù é3cq 2 ù é r3cq3 ù é -2.3ù
ê 1.5 ú + ê3sq ú + êr sq ú + ê 0 ú = 0
ë û ë 2û ë 3 3û ë û
r3 = (3.92 +1.22 )1/ 2
solve for q2 and q3
Analysis of
Mechanism Position
r1
r2
X
r3
r 1 +r 2 +r 3 = 0
é50cq1 ù é40cq2 ù éd1 ù
+ + =0
ê50sq ú ê40sq ú ê0 ú
ë 1û ë 2û ë û
q1 = 240°, solve for q2 and d1
when rotate 15°, q1 = 255°
é50cq1 ù é40cq2 ù éd2 ù
+ + =0
ê50sq ú ê40sq ú ê0 ú
ë 1û ë 2û ë û
solve for q2 and d2
Dd = d1 -d2
4.6.1Mechatronic
Closed-Formsystem
Positiondesign,
Analysis Equations
Chapter for an In-Line
4: Kinematic Design
Slider-Crank
4.6.2 Closed-Form Position Analysis Equations for an
Offset
Slider-Crank
Y
r2
r1 r3
X
r4
r 1 +r 2 +r 3 +r 4 = 0
é12cq1 ù é 20cq 2 ù é15cq 3 ù + é-25 ù
ê12sq ú + ê20sq ú + ê15sq ú ê 0 ú = 0
ë 1û ë 2û ë 3û ë û
(1) q1 = 90°, 2 eqs. solve for q 2 and q3
(2) q1 = 60°, 2 eqs. solve for q 2 and q3
Calculate the difference of q 2 in (1) and (2).
Y
r1
r3
r2
r 1 +r 2 +r 3 = 0
é0.5cq1 ù é1.75cq2 ù é1 ù
ê0.5sq ú + ê1.75sq ú + ê ú = 0
ë 1û ë 2û ëyû
for q1 = q2 , solve for q1 and ymax
for q1 = q2 + p , solve for q1 and ymin
4.7 LIMITING POSITIONS:
Y
r1
X
r2
r 1 +r 2 +r 3 +r 4 = 0
r4
r3 for q1 = q2 , solve for q1 and q3 )max
for q1 = q2 + p , solve for q1 and q3 )min
r1
X
r4
r2
r3
r 1 +r 2 +r 3 +r 4 = 0
for q2 = q3 , solve for q1 )max and q2
for q2 = q3 + p , solve for q1 )min
4.9 TRANSMISSION ANGLE
r3 X
r1
r2
r 1 +r 2 +r 3 +r 4 = 0
é0.5cq1 ù élcq 2 ù é-2.0ù
ê0.5sq ú + êlsq ú + ê 0 ú = 0
ë 1û ë 2û ë û
given q1 solve for l and q2
r 1 +r 2 +r 3 = 0
r3
r2 r1= 30, r2 = 70, r =é xù=0
X
3 ê -30 ú
ë û
r1
given q1, solve for q2 and x
Machines and Mechanisms: Applied Kinematic Analysis,
4/e
Chapter 6 Velocity Analysis
9
1 6.2 LINEAR AND
ANGULAR VELOCITY
6.2.2 Linear Velocity of a General Point
Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 19 99 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
VA cosq = VB along AB link

wAB = VA sinq /(link length)
X
r1
r2
r4
r3
r 1 +r 2 +r 3 +r 4 = 0
w 2´r 2 +w 3´r 3 +w 4´r 4 = 0
2 eqs for 2 unknowns w3 and w4
6
.
6.6.1 Points on Links Limited to Pure Rotation or Rectilinear Translation
6
G
R
A
P
H
6.6.2 General Points on a Floating Link
I
C
A
L
V
E
L
O
Y
X
r4
r1
r3
r2
r 1 +r 2 +r 3 = 0
é0ù
w 1 ´r 1 +w 2´r 2 + ê ú =0
ë û 5
2 eqs for w1 and w2
r = r 1 +r 4
r = w 1´r 1 +w 2´r 4
r1
r2
X
r3
r 1 +r 2 +r 3 = 0
solve for q1 and q2
w 1´r 1 +w 2´r 2 +r2 = 0
évcq2 ù
w1 = 5 rad min , r 2 =
êvsq ú
ë 2û
2 eqs for 2 unknowns w2 and v
X
r1
r2
r3
r 1 +r 2 +r 3 = 0
w 1´r 1 +w 2´r 2 +r2 = 0
= é0 ù
r2 ê ú
ë50 û
r2
r1
Y
r3
r 1 +r 2 +r 3 = 0
r = 6, q = 340° , r = é-1ù
2 2 3 ê-3 ú
ë û
2 eqs for 2 unknowns r1and q1
w 1´r 1 +w 2´r 2 +r 2 = 0
é8cq2 ù
r 2= ê ú
ë8sq 2 û
6.9 ALGEBRAIC SOLUTIONS
6.9.1 Slider-Crank Mechanism

6.9.2 Four-Bar Mechanism
6.10 INSTANTANEOUS CENTER OF ROTATION
6.11 LOCATING INSTANT CENTERS
6.11.1 Primary Centers
6.12 GRAPHICAL VELOCITY ANALYSIS:
INSTANT CENTER METHOD
r1
r4 r2
r3
r 1 +r 2 +r 3 +r 4 = 0
w 1´r 1 +w 2´r 2 +w 3´r 3 = 0
given w3 , solve for w1 and w2
r 1 +r 2 +r 3 +r 4 = 0
w 2´r 2 +w 3´r 3 +w 4´r 4 = 0
w2 = 60rpm. solve for w3 and w4
r 4 +r 5 +r 6 = 0
w 4 ´r 4 +w 5´r 5 + êé úù =0
0
ëv û
2 eqs for 2 unknowns w5 and v
r2 r1
r3
X
r4
r 1 +r 2 +r 3 +r 4 = 0
w 1´r 1 +w 2´r 2 +w 3´r 3 = 0
given w1 find w2 and w3
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
Chapter 7 Acceleration Analysis
7.2 LINEAR ACCELERATION
7.2.1 Linear Acceleration of RectilinearPoints
r1
r2
r4
r3
r 1 +r 2 +r 3 +r 4 = 0
w 1´r 1 +w 2´r 2 +w 3´r 3 = 0
given w1 find w2 and w3
w 1´ (w 1´ r 1 )+ w 2 +w 2 ´ (w 2 ´ r 2 )+ w 3 +w 3´ (w 3´ r 3 ) = 0
solve for w2 and w3
r5
rp
rp = r 1 +r 2 +r 3 +r 5 = 0
rp = w 1´r 1 +w 2 ´r 2 +w 3 ´ (r 3 +r 5 )
rp =
r1 X
r2 r3
r 1 +r 2 +r 3 = 0
é 0ù
w 1´r +1 w ´r + 2 ê =0ú
ëv û
2
solve for w2 and v
w 1 +w 1´(w 1 ´ r1 ) + w2 +w2 ´(w2´ r 2 )+ éê ùú = 0

0
ëa û
solve for w2 and a
7.8 ALGEBRAIC SOLUTIONS
7.8.1 Slider-Crank Mechanism

7.8.2 Four-Bar Mechanism
r3
r2 X
r1
7.10 ACCELERATION IMAGE ( Useless! )
7.11 CORIOLIS
ACCELERATION
r2 r3
r1
r 1 +r 2 +r 3 = 0
solve for q1 and q2
w 1´r 1 +r 2 +w 2´r 2 = 0
évcq ù
w1 = 400, r 2 = ê 2ú , solve for w2 and v
ëvsq 2 û
é acq2 ù
w 1´ (w 1´ r 1 ) + w 2 +w 2´ (w 2´ r 2 ) + ê ú =0
as
ë 2ûq
solve for w2 and a
7.12 EQUIVALENT LINKAGES
Chapter 9 Cams
9.1 INTRODUCTION
Plate cam
Cylindrical cam
Linear cam
9.2 TYPES OF
CAMS
Follower motion
Follower
position
9.3 TYPES OF FOLLOWERS
9.11 THE 4-STATION GENEVAMECHANISM
Constant rotation producing index motion
Chapter 13 STATIC FORCE ANALYSIS
13.3 MOMENTS AND TORQUES
128
13.5 FREE-BODY
13.5.1 Drawing a Free-Body Diagram
DIAGRAMS
13.5.2 Characterizing Contact Forces
129
13.6 STATIC EQUILIBRIUM
© 2016 Quoc Chi Nguyen, Head of Control & Automation130

Laboratory, nqchi@hcmut.edu.vn 0-130
13.7 ANALYSIS OF A TWO-
FORCE MEMBER
131

Chapter 14 DYNAMIC FORCE ANALYSIS



Lec 5 Mechanical Kinematic Design

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Lec 5 Mechanical Kinematic Design

Uploaded by

Copyright:

Available Formats

Mechatronic system design, Chapter 4: Kinematic Design

• A mechanical system’s mobility (M) can be

• The system’s DOF is equal to the number of

• DOF is defined with respect to a selected frame of

The pencil has

• The minimum number of measurements needed to

• This system of the pencil in plane then has three

• The pencil in these examples represents a rigid

• A rigid body free to move within a reference frame will,

• All other points on the body describe arcs about the

• A reference line drawn on the body through the

• A reference line drawn on the body changes its line position

• Linkages are the basic building blocks of all

• A link is an (assumed) rigid body that possesses at least

• Binary link –one with two nodes.

• Ternary link –one with three nodes.

• Quaternary link -one with four nodes.

• A joint is a connection between two or more links,

• Joints or kinematic pairs can be classified as follows:

• Higher pair : joints with point or line

• By type of physical closure of the joint

• A kinematic chain is defined as an assemblage of links

• A mechanism is defined as a kinematic chain in which

• A machine is defined as a combination of resistant

• A machine is a collective of mechanism arranged to

• A crank is defined as a link that makes a complete

• A rocker is defined as a link that has oscillatory

• A coupler (or connecting rod) is defined as a link

• Ground is defined as any link or links that are fixed

• Degree of freedom also called the mobility

• Degree of freedom of system

• Kinematic chains or mechanisms may be either

• A closed mechanism will have no open attachment

• An open mechanism of more than one link will

• An open kinematic chain of two binary links and

M = 3(L –1)- 2J1 – J2

• If DOF is positive, it will be a mechanism

• If DOF is zero, it will be a structure, no motion is

• If DOF is negative, it is a preloaded structure, no

• The word isomer is from the Greek and means

• A sequence of motions and dwells

4.3.2 Angular Displacement

n Locate the positions of all

4.5.2 Displacement of the Remaining Slave Links

6.2.2 Linear Velocity of a General Point

VA cosq = VB along AB link

6.9.1 Slider-Crank Mechanism

solve for w2 and v

w 1 +w 1´(w 1 ´ r1 ) + w2 +w2 ´(w2´ r 2 )+ éê ùú = 0

7.8.1 Slider-Crank Mechanism

13.5.2 Characterizing Contact Forces

13.6 STATIC EQUILIBRIUM

© 2016 Quoc Chi Nguyen, Head of Control & Automation130

© 2016 Quoc Chi Nguyen, Head of Control & Automation132

© 2016 Quoc Chi Nguyen, Head of Control & Automation134

© 2016 Quoc Chi Nguyen, Head of Control & Automation135

You might also like