Mechanism Synthesis and Analysis

Synthesis design a mechanism to perform a

desired function
Analysis given a mechanism, perform kinematics
and kinetics analysis
Graphical techniques
Analytical methods
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Mechanism
Machines are mechanical devices used to accomplish
work. A mechanism is a heart of a machine. It is the
mechanical portion of the machine that has the
function of transferring motion and forces from a
power source to an output.
Mechanism is a system of rigid elements (linkages)
arranged and connected to transmit motion and/or
force in a predetermined fashion.
Mechanism consists of linkages and joints.
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Four-Bar Linkage
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The Slider-Crank Mechanism
Input link,
crank
Coupler link,
connecting rod
Output link,
piston (slider)

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Example of Mechanism
Can crusher
Simple press
Rear-window wiper
1
3
2
4
5
3
4
2
1
6
4
3
2
1
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Example of Mechanisms
Moves packages from an assembly
bench to a conveyor
Six bar
5
3
4
2
1
6
Lift platform
Six bar
5
3
4
2
1
6
Microwave carrier to assist
people on wheelchair
Six bar
5
3
4
2
1
6
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Example of Mechanisms
Lift platform
Front loader
Device to close the
top flap of boxes
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Example of Mechanisms
Stair climbing mechanism
A box that
turns itself off
Airplane landing
gear mechanism
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Example of Mechanisms
Conceptual design for an
exercise machine
Rowing type exercise machine
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Example of Mechanisms
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Example of Mechanisms
Six-bar linkage prosthetic
knee mechanism
Extension position
Flexed position
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Four-Bar Linkage Categories
Case I shortest link + longest link < summation of the other two links
a) Shortest link is the driver with
either one of the adjacent links
as the ground link (fixed). The
result is two different types of
crank-rocker mechanisms, input
link rotates 360 (crank) and
output link oscillates (rocker)
fixed
fixed
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Four-Bar Linkage Categories
Case I shortest link + longest link < summation of the other two links
b) Shortest link is fixed. The
result is a double-crank
mechanism. Both, input and
output links rotate 360.
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Four-Bar Linkage Categories
c) The longest link is fixed and
either one of the intermediate
links is the driver. The result is a
double-rocker mechanism.
Both, input and output links
oscillate.
Grashof condition one link rotates 360
Case I shortest link + longest link < summation of the other two links
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Four-Bar Linkage Categories
Case I I shortest link + longest link > summation of the other two links
There are four possible
mechanisms depending on
which link is fixed. All
mechanisms are double-rockers.
Case I I I shortest link + longest link = summation of the other two links
Same mechanisms as in case I
with the addition of a
branching point (all links
become collinear).
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4-Bar mechanisms


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4-Bar mechanisms
S + l > p + q
4 double rocker
mechanisms
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The Slider-Crank Mechanism
Input link,
crank
Coupler link,
connecting rod
Output link,
piston (slider)

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Slider-Crank Mechanism
Offset slider-crank mechanism
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Slider-Crank Mechanism
In-line slider crank mechanism
The mechanism has a
stroke B
1
B
2
equal twice
the crank length r
2
.
Locations B
1
and B
2
are
called the extreme
positions (limiting) of
the slider

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The Slider-Crank Mechanism
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Slider-Crank Mechanism - I nversion
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Categories of Mechanisms
Function generation mechanisms
Output is a specified function of input
Motion generation mechanisms
Path generation mechanisms
The orientation of the object is important,
rigid body guidance
A point on a link moves on a specified path
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Mechanism Categories
Function Generation Mechanisms
A function generator is a linkage in which the relative motion
between links connected to the ground is of interest.
A four-bar hand actuated wheelchair
brake mechanism
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Mechanism Categories
Function Generation Mechanisms
A four-bar drive linkage for a lawn sprinkler
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Mechanism Categories
Function Generation Mechanisms
A four-bar function generation mechanism to
operate an artificial hand used for gripping.
A four-bar function generation
mechanism to lower an attic stairway.
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Mechanism Categories
Motion Generation Mechanisms
In motion generation, the entire motion of the coupler link
is of interest (rigid body guidance).
New Rollerblade brake system
Fixed pivot points
2
4
3
Moving joints
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Mechanism Categories
Motion Generation Mechanisms
Four-bar automobile hood linkage design
Mechanism Categories
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Lift platform
Six bar
5
3
4
2
1
6
Microwave carrier to assist
people on wheelchair
Six bar
5
3
4
2
1
6
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Mechanism Categories
Path Generation Mechanisms
In path generation, we are concerned only with the path of a
tracer point and not with the motion (rotation) of the
coupler link.
Crane straight line motion
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Mechanism Categories
Path Generation Mechanisms
with timing
A four-bar path generation mechanism as
part of an arm-actuated propulsion system
for a wheelchair
A four-bar path generation mechanism to guide a
thread in an automatic sewing machine
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Primary J oints
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Higher Order J oints
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Motion Generation Mechanisms
Rotating a monitor into a storage position
Moving a storage bin from an
accessible position to a stored position
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Motion Generation Mechanisms
Lifting a boat out of water
Moving a trash pan from the floor up over
a trash bin and into a dump position
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Straight line Mechanisms
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Straight line
Mechanisms
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Straight Line Mechanism
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Straight Line Mechanism - Application
Straight line mechanism
with dwell
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Scotch Yoke Mechanism
Example car window
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Geneva Mechanism
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Linear Geneva Mechanism
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Ratchet Mechanism
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Straight Beam Walking Mechanism
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Roller and Flat Follower Cams
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Cylindrical Cam Mechanism
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Gears Rack and Pinion
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Gears
Worm Gear Sets Bevel gears Planetary Gear set
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V-8 Engine
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Type of Motion and Mechanisms
Translation to Translation
Most power sources that are readily available today are either of the pure
rotational motion type, such as electric motor or hand crank, or of the
pure translational type, such as pneumatic or hydraulic cylinder, or linear
actuators.
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Type of Motion and Mechanisms
Rotational to Rotational
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Type of Motion and Mechanisms
Rotation to Translation
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References
Mechanism Design, Analysis and Synthesis by
Erdman and sander, fourth edition, Prentice-Hall,
Machines and Mechanisms by Uicker, Pennock
and Shigley, third edition, Oxford
Machines and Mechanisms by Myszka, Prentice-
Hall