TRC Electromechanival Technology Series Mechanisms Linkages
TRC Electromechanival Technology Series Mechanisms Linkages
TRC Electromechanival Technology Series Mechanisms Linkages
MECHANISMS
2391
'
LINKAGES
12205
fpl
DELMAR PUBLISHERS
Publishing, Inc.
Division of Litton Education
Copyright
1972
Copyright
after
is
1,
1977.
all
right will
be
in
Inc.
There-
this
copy-
No
part of this
work covered by
may be reproduced
or used
in
graphic, electronic, or
recording, taping,
mechanical, including photocopying,
systems
or information storage and retrieval
without
Education Research
written permission of Technical
Centers.
79 - 170790
PRINTED
IN
Ltd.
formed
Education,
Welfare.
of the
policy
not necessarily reflect the position or
official endorsement
no
and
Education,
of
Office
U.S.
be inferred.
by the U.S. Office of Education should
Foreword
The marriage of
electronics and'technology
New
with combination
skill
technical specialists.
many
devices of
optical
skills
is
new demands
for
many
systems and
must be competent
who
in industrial
creating
Increasingly, technicians
kinds
is
is
combination
technology.
This manual
is
one of
designed
for students who want the broadest possible introduction to technical occupations. The most effective use of these manuals is as combination textbooklaboratory guides for a full-time, post-secondary school study program that
in electronics,
mechanics, physics,
in this series is
topic
is
modern
Each
industrial applica-
make
School administrators
manuals to support
programs
in
such fields
or quality assurance.
will
common
as:
be interested
first-year
in
in general
core programs.
in
the series,
is
(TERC),
quarters
in
a national
Cambridge, Massachusetts.
It
has undergone a
number of
revisions
community
and
Maurice W. Roney
//'/'
TERC
is
engaged
cal Technology.
in
The following
titles
in
Electromechani-
INTRODUCTORY
ELECTROMECHAN SMS/ MOTOR CONTROLS
I
ELECTROMECHAN ISMS/DEVICES
ELECTRONICS/AMPLIFIERS
ELECTRONICS/ELECTRICITY
MECHANISMS/DRIVES
MECHANISMS/LINKAGES
UNIFIED PHYSICS/FLUIDS
UNIFIED PHYSICS/OPTICS
ADVANCED
ELECTROMECHAN ISMS/AUTOMATIC CONTROLS
ELECTROMECHAN ISMS/ SERVOMECH AN ISMS
ELECTROMECHAN ISMS/FABRICATION
ELECTROMECHAN ISMS/TRANSDUCERS
ELECTRONICS/COMMUNICATIONS
ELECTRONICS/DIGITAL
MECHANISMS/MACHINES
MECHANISMS/MATERIALS
For further information regarding the
its
EMT
in
implementation, contact:
Technical Education Research Centers, Inc.
44
Brattle Street
iv
Preface
exploration has
nisms.
demanded a rebirth
we have thought
In the past
of interest
in
These changes
in
is
an
figurations,
for use
Mechanical
mechanical theory with those of
The topics treated include: various levers and four-bar conand some selected special topics. The materials are intended
in
or no previous exposure
Consequently, no attempt has been made to
little
perienced specialist
in mechanical linkages.
An attempt has been made to
expose the student to the practical skills of mechanical assembly and to the
The
economy
of materials.
volume were
Some
is
in
selected
instructors
may
meet
The
many
in a
1.
An INTRODUCTION which
and often includes
2.
a rationale for
A DISCUSSION
be examined
which presents the background, theory, or techniques needed to carry out the exercise.
v
A MATERIALS
3.
list
which
laboratory experiment.
identifies
all
in
the
in
the
lists.)
A PROCEDURE
4.
offers suggestions as to
in
how
the
order to draw
it.
PROBLEMS
problems may be
forcing the points covered in the exercise. The
about the
of the numerical solution type or simply questions
exercise.
perform the
Students should be encouraged to study the text material,
technical report on
experiment, work the review problems, and submit a
acquire an understanding
each topic. Following this pattern, the student can
valuable on the job.
and skill with, modern mechanisms that will be very
of,
For best
in
in a
course
of a series of
This material on Mechanical Linkages comprises one
at Oklahoma
volumes prepared for technical students by the TERC EMT staff
An
Instructor's
Data Book
is
Mr.
the inCook was responsible for testing the materials and compiling
made
staff
Other members of the TERC
structor's data book for them.
Harlan
is
sincerely
form or
hoped that
this
criticisms, corrections
volume
and suggestions.
volumes
in
supplementary materials
the series, the instructor's data books, and the other
for both
the study of technology interesting and rewarding
will
make
TO THE STUDENT
provided
Duplicate data sheets for each experiment are
in
the back of
Contents
experiment
CLASS-ONE LEVERS
experiment
COMPOUND LEVERS
experiment
CLASS-TWO LEVERS
13
experiment
CLASS-THREE LEVERS
20
experiment
experiment
COMBINED MECHANISMS
34
experiment
FOUR-BAR INTRODUCTION
40
experiment
CRANK-ROCKER MECHANISMS
50
experiment
DRAG-LINK MECHANISM
59
experiment 10
DOUBLE-ROCKER MECHANISM
66
experiment 11
FOUR-BAR SUMMARY
73
experiments
FOUR-BAR PROBLEM
80
experiment 13
85
experiments
experiment 15
TRANSLATIONAL CAMS
103
experiment 16
DISK CAMS
110
experiments
PIVOTED FOLLOWERS
119
experiment 18
130
experiment 19
HARMONIC DRIVES
140
experiment 20
145
experiment 21
150
vii
27
94
experiment 22
SLIDING-LINK MECHANISM
experiment23
experiment 24
167
experiment 25
COMPUTING MECHANISMS
171
experiment26
178
experiment 27
RATCHET MECHANISMS
187
experiment 28
FRICTION RATCHETS
194
experiment 29
TOGGLE LINKAGES
199
experiment 30
TOGGLE LATCHING
206
211
Appendix
Appendix B
154
(TRIG)
viii
II
160
Back of Book
S
expenment
CLASS-ONE LEVERS
^"
Sh
^ ^S^^^^
* *
f
e^erntT^n
elements
h elements
One of the
found in most machines is the
exam.ne the most basic of the machine
elements - the class-one
in
machines: name-
sidered
levers.
The wedge and the screw use
the principle of the inclined
plane.
By be-
lever.
In this
exDerimeri w
exper,ment
we
we
gain speed
by exerting
a greater force.
Finally,
direction of a force.
downward
about
bar
a bearing
may be
known
is
free to rotate
as the fulcrum.
They
cation.
1-1
has
The
class-one lever
the
fulcrum
shown
resistance.
A seesaw or a crowbar are good
examples of the class-one lever.
Other examples with which you may be familiar
are
rear wheels.
is to multiply
can use a system of pulleys to raise
a large weight with a
much smaller force
We
ex-
this force
over a
the weight
raised:
thus, the load moves
more slowly than the pulley chain on
which
we
pull.
in figure
located
between the
effort or force application
and the weight or
transfer
erted.
The
Levers
may
force.
w "'
lever.
is
machine
lets
FULCRUM
Fig. 1-1
Class-One Lever
EXPERIMENT
and
shears, pliers,
many problems
oars.
in
is
the
is
force about
is
the lever
is
This distance
the force.
line of action of
In this
For example,
moment.
the center of
is
moment can
The moment of force
in
be the
fulcrum point.
caused
example, 80 pounds
of a machine
pound-feet.
To have equilibrium
moments about the center
(or
balance), the
of
moment must
ics is
ratio
X8 2 =F 1
80 pounds
is
that distance
foot,
how much
balance?
S^i
Using the
feet.
MA = y2
240
qq
ratio in
3.
mechan-
ratio.
This
put distance,
distance C 2 is 1
weight would we be able to
is
(1.2)
(1.1)
our example,
in figure 1-1,
To
In
F2
is
MA =t*
F
in
balance 240
will
pounds. In this case we have a positive mechanical advantage in that our effort has been
magnified 3 times. The mechanical advantage
arm
80_X_3 =
240 bs
F2 =
moment
The moment of
class-one lever.
Solving for F
factor involved in
mechanics
This factor
of force.
MECHANISMS/LINKAGES
CLASS-ONE LEVERS
If
moment
equation
and
g-
(1.3)
Fo X
= 80
lb
X 3
In figure
ft
Fig.
1-2
about the
ful-
MECHANISMS/LINKAGES
EXPERIMENT
it
To
S2
1 sin
is
'
(1.4)
quite small,
tion
distance
it
can be neg-
levers
to the direction
Look
However,
at figure 1-3
in
all
we have
con-
the fulcrum.
pump
is.
paral-
in
in
exerted.
that
lbs.
lel
Your 50
lbs.
S-|
(force
CLASS-ONE L E VERS
handle.
To determine
F2 X S2 _ F 1 X Si
This equation
is
draw
straight
line
representing force
F.|
equal to:
is
applied and
applied.
line
is
line.
The
the length
In
lever
are
(S1/S2)
is
(F2/F1).
effort (F-j
whatever
friction
if
neglected,
the displacement
ratio
In
in
our
it
takes a
may
friction
be
in
more
overcome
little
illustrations) to
the
system.
always somewhat
displacement
=F
1.1,
it
expended by force
increased by an
is
F-|
will
be magnified or
amount equal
divided by length C
advantage
less
ratio.
From equation
F2
is
That
is,
to length
C-j
the mechanical
2
equal to the effort
arm divided
by the resistance arm. For example, a classone lever having 8 inches on one side of the
fulcrum and 2 inches on the other would
possess a mechanical advantage of 8/2 or 4.
If
you applied 50
lbs.
Fig. 1-3
Class-One Lever
EXPERIMENT
To
is
Draw
used.
line.
a perpendicular
The perpendicular
line, 8
a line in the
operating and
is
MECHANISMS/LINKAGES
CLASS-ONE L E VERS
is
how
The
moment
and the
crum.
the !ength of
the curvature of a
lengths of the
or speed
The
apply.
The
opposite directions.
Regardless of
is
direction,
will
find the
size,
distance from
lever
do work.
help
force
is
re-
move
in
magnified,
vantage
effort.
This ratio
moment
is
arm)
when
Further,
arm
be used.
(or lever
arm,
In
summary,
are
levers
machines that
ratio.
ig-
ratio
is
MATERIALS
1
Breadboard with
legs
in.)
2 Collars
with bearings
in.
2 Spring balances
Lever arm, 2
Lever arm,
in.
in.
bore hub
in.
in.
bore hub
PROCEDURE
Inspect each of your
2.
Mount
3.
Move both
1.
arm
4.
5.
is
are
shown
undamaged.
in figure 1-4.
vertical.
(F-|
and the
lever
and F 2 ).
measure and record the distances from the center of the shaft to
the point where each spring balance attaches to the lever arm (E-| and C 2 ).
Using the
dial caliper,
lever
arm
slightly
Make
vertical,
in
the upper spring balance closer to the fulcrum and repeat steps 3 and 4.
6.
Move
7.
Again move the upper spring balance closer to the fulcrum and repeat steps 3 and
8.
until the
fulcrum.
is
4.
MECHANISMS/LINKAGES
EXPERIMENT
CLASS-ONE LEVERS
SPRING BALANCES
-SPRING BALANCE
POST
3
The
Fig. 1-4
9.
Move
Now move
you
1 1
12.
13.
still
Then repeat
its
steps 3 through 8.
Setup
the lower spring balance closer to the fulcrum and return the upper one to
original position.
10.
Initial
set of data,
9.
lever
arms
and M2).
Compute
ANALYSIS GUIDE.
In
in
and
M2
force observed
when
in
M2
Were the results when the lever arms were separated the same
why you think this is reasonable.
5
Compare
Comment on
Explain
lever.
the
the ob-
vertical.
as
together?
EXPERIMENT
CLASS-ONE LEVERS
MECHANISMS/LINKAGES
%
r
Mi
Fo
2
1
Fig. 1-5
M2
So
2
M1
Si
Fig. 1-6
%
1=1
Diff.
in
M2
s2
Diff.
in
PROBLEMS
1.
crowbar
push at
F-|.
If
force
F.|
is
100
lbs,
shown?
6
is
to be lifted
lifted for
by
man's
the dimensions
MECHANISMS/LINKAGES
EXPERIMENT
CLASS-ONE L E VERS
hFig. 1-7
2.
bar
is
placed under a two-ton stone with a fulcrum 16 inches from the point of
How long will the rest of the lever be in order to raise the stone with
application.
a 150-lbpull?
3.
4.
0.1 second.
is
in.
a class-one lever.
If
The
driver
is
attached
is
1.5
cm,
The typewriter
Compute
lever arm.
experiment
INTRODUCTION.
with a rigid linkage.
one
many
practical cases
In this
experiment we
In
it
desirable to connect
is
shall
examine
levers
example of compound
a simple
class-
levers.
DISCUSSION. One
that
of the action.
it
is
is
lever
This ratio
of the characteristics of a
class-one lever
one
COMPOUND LEVERS
With a
moments-
side of
In
to be
= F fi
1 1
(2.1)
M1
other words,
MA = -^=tt-
load.
of-force acting
In
Any down-
ward motion
ward motion of the
lever.
class-
We
tion.
M 2 =F 2 2
and
in
two
class-one levers as
shown
in
figure 2-2.
respectively.
When
two moments
the
the lever
is in
That
are equal.
equilibrium,
rigid
left
is,
link.
end of the
ward,
then
If
lever
the
load
end
is
also
moved
downward.
M-|=M 2
or
2
1
= F 2 22
The force
we solve this
F i we have
If
hand
lever
when
pendicular to
F2
(f)
fi
acting
f=F
FULCRUM
EFFORT
Fig. 2-1
Class-One Lever
1^
is
per-
MECHANISMS/LINKAGES
EXPERIMENT 2
COMPOUND LEVERS
F2
LOAD
EFFORT
2-2
Fig.
we could
Or,
in
Lever
*1
= -! = -!
S2
F
2
2
1
VR
(2.4)
fi
when
= F
friction
neglected.
2*f
equation 2.3,
we
see that
VR T
<1
= (VR 1 )(VR
(2.5)
compound
lever system.
we
have
It is
the
worth mentioning at
work done
at the load
end of
a lever
is
Fo
W2 =
(2.2)
(MA^
ical
of the
advantage
F /F
2
is
1
is
(MA 2
compound
force F
the mechan-
is
system.
(MA T
If
we
As you
(MA 1 )(MA 2
will recall,
is
of a class-one lever
in
of
Consequently,
MA T =
measured
the whole
where S
2
F S
2
eff
then
(2.3)
W9
Txr
we have
F S
eff =
given by
2 2
F lSl
is
Comparing
this
we can
see that
MECHANISMS/LINKAGES
COMPOUND LEVERS
EXPERIMENT 2
we
In
most
lever
express efficiency as
it is
_MA
eff
-VR
practical
system
is
quite difficult.
(2.6)
MATERIALS
1
Breadboard with
legs
and clamps
2 Lever arms, 2
in.
in.
bore hub
2 Lever arms,
in.
in.
bore hub
is
Dial caliper (0
not available
it
long
in.
2 Spring balances
with bearings
in.
*1 Straight link, 6
Collar
in
in.)
appendix A.
PROCEDURE
1
components to be
should be at the
last
hole
in eact
2.
4.
5.
of each
Measure and record the effective length
6.
Compute
the force
7.
Compute
the
8.
9.
10.
Compute the
1 1
Compute
12.
Move
(f)
moment
total
lever
arm
(8
8 2 , C'v
and
' ).
(M
of force acting on each lever arm
(MA 1 )(MA 2
v M 2 M'v
of the
and
MA 2
M2
).
).
MA T =
F' /F-|.
down
repeat steps
to the hole nearest the fulcrum and
through 11.
10
MECHANISMS/LINKAGES
COMPOUND LEVER
EXPERIMENT 2
1"
LEVER POINTING UP
OUTPUT FORCE
COLLAR
1"
LEVER
DOWN
POINTING
3S~
LINK
\<D\
LEVER
2"
\<b\
POINTING
DOWN
INPUT FORCE
\<b\
2"
LEVER
POINTING UP-
Fig.
ANALYSIS GUIDE.
In
2-3
Vo
1.
Did
2.
3.
When would
4.
all
compound
lever be
more
11
EXPERIMENT 2
MECHANISMS/LINKAGES
COMPOUND LEVERS
Qtv
First
Second
Trial
Trial
Fl
F2
*1
*2
1
M1
M2
Mi
M'2
MA-,
MA 2
(MA-|
MMA2)
Diff.
Fig.
2-4
PROBLEMS
A compound
The
is
2.
3.
lever
arm lengths
are:
type shown
i
1.2
ft,
in figure
4
2 =
in - 1
= 3 5
11 in - and 2
'
What
"
What
If
lever of the
is
the input
fast
in
in
problem
problem 1?
1
moves
ft/sec,
a short distance with a velocity of 1.8
4.
How fast
5.
What
is
in
problem 3?
in
12
problem 1?
how
experiment
INTRODUCTION. A
periment
we
The
resistance
is
DISCUSSION.
If
type of
is
In this ex-
lever.
the fulcrum
is
end-the force
points.
is
the center of
moment, then
shown
in figure 3-1,
the result
known
is
F2
as a
X 2 =F Xe
l
(3.1)
class-two lever.
good example of
The wheel
the wheelbarrow.
is
a class-two lever
will
be the
in
figure 3-1.
If
would
F2
'
give
[50
farther
lb
lbs
x 4/1].
If
It
should
F-|)
For
arms, H^ffy
foot,
lifting
moment
distance
50
ratio of the
ful-
force by F1
applying
is
it
a class-one
lever,
the direction of
be
up.
look at
F-j
fig-
motions are
moments, we
see that
Fig.
3-1
if
Class-
13
Two Lever
F-j
up.
MECHANISMS/LINKAGES
CLASS-TWO LEVERS
EXPERIMENTS
o
1
._ 1
"1
"
FULCRUM
Fig.
3-2
Class-
Two Lever -
What happens
in
3-2,
it
input force, F v
put, F 2 , is greater than the
by a factor equal to the lever-arm ratio, 9.^19.^,
Graphically,
4/1 or 4.
in this case,
F-j will
it
can be
force
F2
when
lbs that
input will
F2
F-,
is
4 times S 2
1/4 F 2
this equality
,
if
must be equal to
is
to be maintained.
Ft
sum
as
the
basic law of mechanics states that
of forces acting on a
if
felt in
equals
of force felt in the vertical direction
angle
the applied force times the sine of the
in
Again note that the direction of the motion
for
and
F
the class-two lever is the same for 2
weight.
be
Since
much
X S 2 = Ft X S y
then
Relative Motions
and
ously 35.35 lbs horizontally to the right
45
45
=
cos
sin
35.35 lbs vertically because
= .707.
When
acting to the
the right must equal the forces
are
Referring to figure 3-2, two forces
left.
shown
as
(F 2
Fi and
and F^.
is
acting
F2
is
downward.
lever arm.
For equilib-
14
EXPERIMENT 3
MECHANISMS/LINKAGES
(50)
F-j
SIN 0
(35.35)
COS0
(35.35)
(200)
3-3
Fig.
acted upward.
X cos
angle
0) caused
still
be an upward
pushed to the
disful-
crum point]
by
F-j
component
operating at an
system shown
would be
(if
that will
(Fi
now
[Note:
compound
in figure 3-4.
lever
in
the figure
3-4,
In
lifted
figure 3-3,
angle of 45,
at
45
lbs.
arm
is
if
is
4:1?
F-|
not 5
50
technique
distance."
is
weight of 141.4
lbs.
Another
is
Fig.
3-4
Class-
The
1/7.
7.14
This
lbs.
lever.
So,
ft).
will
lbs.
equal 1/6
X 300
lbs or
Therefore,
will
Another solution
Two Compound
15
f will
Levers
be 1/7 X 50 lbs or
is
to
first
compute
CLASS- TWO
EXPERIMENT 3
This
1/42 (1/6
an overall
gives
F-j
ratio
complishes 30
is
= 7.14
lbs 0.1
upward
in.
ac-
of work; therefore,
in. -lbs
f,
which
of
1/7).
lever
Moving 300
motion?
lever
MECHANISMS/LINKAGES
LEVERS
The lower
lbs.
arm
lever
that
motions
is,
then,
6 to
move
rather than
must,
to 6.
7 times S, or 4.2
42 to
is
F-j
Since the
in.
overall
in this
that this
ratio,
is
MATERIALS
Breadboard with
legs
and clamps
2 Lever arms, 2
in.
2 Lever arms,
in.
*1
2 Spring balances
For
bore hub
2 Collars
with bearings
in.
in.
Dial caliper (0
Straight link, 6
in.)
in.
long
appendix A.
PROCEDURE
1
2.
Mount
3.
Mount
-in.
lever
and
a 2-in. lever,
are
shown
undamaged.
in figure 3-5.
a shaft
through the
bearing plates.
4.
Similarly
5.
Install
mount two
6.
a shaft
The bearing
7.
on
the 6-in. link between the small lever on the hanger shaft and the long lever on the
levers
all
and
the link
horizontal.
Install
The other
is
is
lever
and
lever
and
a post.
a post.
8.
9.
Set the input force for about 4 oz. being sure that the spring balances are horizontal
10.
in
F-|
and F2.
16
EXPERIMENT 3
MECHANISMS/LINKAGES
OUTPUT FORCE
F2
)
8j
1"
DOWNWARD
LEVER UPWARD
6"
Tj
LINK
2"
LEVER
DOWNWARD
2"
LEVER
UPWARD
INPUT FORCE
V
1
'
Fig.
11.
is
shown
Compute
lever, 9.^,
$.'2,
Z\ and
in figure 3-5.
the force
(f)
'
12.
3-5
17
F-j,
MECHANISMS/LINKAGES
EXPERIMENT 3
13.
Compute the
14.
Compute
15.
Move
and e V
down
and f.
in
down
in
%
Qty.
F2
Fl
Diff.
First
Trial
Second
Trial
Third
Trial
Fig.
Compute
3-6
different
trials.
PROBLEMS
1
Assume
of 100 pounds
when 3
feet
from
-9%
I W= 1001b
Fig.
3-7
Diagram of Problem
18
MECHANISMS/LINKAGES
In the
2.
tion,
EXPERIMENT 3
and that
is
no place to support
CLASS-TWO LEVERS
F-j
in a vertical posi-
is
be required to support?
[Note:
You
already
know
the vertical
component from
problem one.]
3.
safety valve on a boiler (figure 3-8) has a 2-inch diameter and a steam pressure of
200
lb/in
2
.
If
is
Fig.
4.
W that
3-8
is
is
required?
Valve in Problem
In the discussion, a
a 50-lb force.
problem
In
6.
Using a class-two
3,
if
results.
5.
for example,
a
work device
if
is
the error
0.1 in.
in.,
how
far
lever,
7.
is
the value of
in
Draw
is
0.4
in.
in
Discuss the similarities and the differences between class-one and class-two levers.
19
experiment
INTRODUCTION. A
le
and the
"
on the same
is
side
expenmen
the load or output force. In th.s
of load pos.t.ons w.ll
this type lever. Also, combinations
investigate the characteristics of
he c ass-three ever
we
class-three lever
ffo t are
CLASS-THREE LEVERS
is
is
be examined.
are times
DISCUSSION. There
when you
will
output
want to speed up the motion of the
use a large
force even though you will have to
amount
of
flex
your arm.
Your biceps
one inch
muscle applies the input force about
to be
from your elbow. The output force
this.
class-three
Levers that help do this are called
of
fulcrum
the
4-1
levers. As shown in figure
,
is
at
inch,
or input force
the other end, with the effort
applied at some point between.
It
force,
is
arc.
input
easy to see that, while the
the
the short distance, S
F 1# moves
distance,
output load, F 2 moves the greater
during the
S 2 Since the whole lever moves
must
same time interval, then the speed of F 2
,
be greater than
distance in
Your arm,
a class-three lever.
It is
is
F2
that
Referring back to figure 4-1, assume
will
100 pounds. How much force
is
be required to
lift
this weight?
The
distance
or 4 ft.
from the fulcrum to F 2 is 1 ft + 3 ft
ft or 400 Ib-ft is
So, a moment of 100 lb X 4
equilibrium, F-|
created by this weight. For
F-|
must overcome this clockwise moment.
operates a distance of
Fig. 4-1
If
Class-Three Lever
20
ft
CLASS- THREE
EXPERIMENT 4
MECHANISMS/LINKAGES
LEVERS
FULCRUM
The Forearm
4-2
Fig.
-A
Class-Three Lever
so
= 1001b X 4
ft
and
ft
F-|
in
400 pounds
is
downward
if
acting upward,
the upward
and
Fi=
1
400^ft = 400lb
force of
to
It
MORE
quired than
moved one
will
be
lifted.
inch, then
F2
force input
However,
will
move 4
if
keep the
lever
is
advantage
is
It is
is
ignored.
that mechanical
tage of
400
100/400 or
However,
additional
moment
lever
ject's
moved or
so small that
is
it
can be
may
arm distance to
the fulcrum.
to be
in
applications, the
be large enough to be
in
When
the weight
the computation, an
is
is
must be considered
some
In
an important consideration.
lb,
necessary
clamp
inches.
(the
is re-
F-j
Remember
downward
in the figure is
What
Since
on the fulcrum!).
our computations.
class-three lever?
what
lbs acting
arrangement shown
ft
300
is
forces
F2
direction
21
its
will
center of gravity
weight
lifted.
You
may
remember that an
is
ob-
be considered to be concentrated.
MECHANISMS/LINKAGES
CLASS-THREE LEVERS
EXPERIMENT 4
(CG)
1
|F 2 = 1.00 LB
LB/FT
t
-7.5"
-10"
5"-
Fig.
4-3
Class-Three Lever
in
For example, the 15-in. lever shown
the
With
uniformly.
4-3 weighs 1 lb per foot
necesis
dimensions as shown, what force F-|
one-pound
the
and
sary to place the lever
figure
weight
in
then 15 inches
in.
is
Since
+ (1.00
lb
X 15
Ib-in.
+ 15
in.)
in.)
lb-in.
in.
|b
lb/12 inches,
tions.
= 1.25
lb
equal these
arm
F-,.
ratio
its
signifi-
if
moments:
in
is
the example
your answer
is
compute the
must be present
crum
if
which would
As an
two
1:3,
is
pf 3 lb
It
v must
is
neglected.
times
lever
in.
pull,
The
indicate a pull,
F-j,
in.
will equal
X 15
The
7.5
is
12
Ib-in, =
= 24.38
4j88
5 in.
lb
= (1.25
The weight
weight.
= 9.38
=1
equilibrium?
be located 7.5
in.
at the
2.63
lb
re-
ful-
See
downward.
MATERIALS
Breadboard with legs and clamps
2 Bearing plates with spacers
2 Bearing holders with bearings
2 Shaft hangers, 1-1/2 in. with bearings
2 Spring balance posts with clamps
2 Spring balances
*For
link
2 Lever arms,
2-in. long
2 Lever arms,
1-in.
2 Collars
1
Dial caliper
(0-4
in.)
22
EXPERIMENT 4
MECHANISMS/LINKAGES
OUTPUT FORCE
IE
2"
LEVER
UPWARD
Fig.
4-4
PROCEDURE
1
2.
Mount
3.
Mount
and a
are
shown
undamaged.
in figure 4-4.
2-in. lever
on
bearing plates.
4.
Similarly
mount two
levers
a shaft
23
CLASS- THREE
EXPERIMENT 4
5
MECHANISMS/LINKAGES
LEVERS
7.
is
Install
are vertical
and
the
horizontal.
the other
is
is
9.
20 oz being
and F 2
10.
11.
shown
F-|
lever
in
lever,
and
2 e1
fi
2-
in figure 4-4.)
12.
Compute the
force
13.
Compute
moment
14.
15.
Compute
16.
Compute
(MAj)
17.
Compute
(MAj)
using only
18.
the
and a post;
and a post.
lever
8.
length
all levers
(f)
1=2
Fl
M v M2
M 2 and
two values
M'-,,
,
between
F-j
Diff.
MA 2
MA T
Fig.
4-5
Mi
MAj
M2
MA 2
24
and
M'
%
MAt
M'-|
%
Mo
M2
and F 2
*2
*1
and
Diff.
Diff.
MECHANISMS/LINKAGES
EXPERIMENT 4
CLASS-THREE LEVERS
ANALYSIS GUIDE.
plied
in a practical
comments you
situation.
Add anv
believe appropriate.
PROBLEMS
1.1s the
in detail
2.
shown
lever
in figure
is it
a class-two lever?
Explain
your answer.
In figure 4-6
how much
pull
r>1
3J>
-4
CM-
-6
CM-
F, = 6
Fig.
3.
4.
4-6
1,
0Z
2 and 3
crimping tool
shown
in
is
in figure 4-7.
the link
What
X between
the
is
two
levers of the
10 LB
Fig.
4-7
Crimping Tool
25
MECHANISMS/LINKAGES
CLASS-THREE LEVERS
EXPERIMENT 4
PIVOTS
Fig.
Figure 4-8
that are
point
Is
Typewriter Mechanism
4-8
a sketch of a typewriter
marked A,
B,
and C.
mechanism,
(speed) of po.nt
Discuss the reiative mot.on
and
2.
An
7.
the pivot.
from the
Three loads
pivot.
2,
input force
is
Assume
and the 3-foot distance be Y.
the
express
In terms of X, Y, and 0,
degrees.
the .ever rotates through 0
travel.
arc distance that Ft and F 2
vertical distance and the
In fiaure 4-1
R
8
What
is
let
It
26
experiment
INTRODUCTION.
levers
parts:
DISCUSSION.
bell
common ways
crank.
to change
where
F-|
forces,
force,
a force applied.
#i
and
the
J2
tne
2
put force. This relationship
in
'
is
frequently used
the form
move
in
These two
opposite directions.
The
F 2 /F
lengths.
force
in is
arm)
ratio.
in
is
the output
is
less
and the
ratio of force
out to
equal to the
This ratio
is
For equilibrium to
move
(5.2)
mechanical advantage.
the output force on the same side of the fulcrum, but the input force is farther from the
fulcrum than
/C
1
rela-
forces depend
=
1
plane or direction
is
etc.)
linear speed of
(e.g.
must be equal.
exist, forces in
This
is,
forces pushing
pushing upward.
forces
fulcrum.
The
tion.
In
is
in
left.
two forces on
any
horizontal, vertical,
is
it is
output
machines
greater
or
is
accomplished by one
basic
machine
parts:
is
less
all
levers
is
moments must
counterclockwise moments for equilib-
equal
rium to
1.
Rocker Arms
2.
Bell
Cranks
3.
Levers
4.
Rods or Shafts
exist.
in
This relationship
is
expressed mathemati-
)2
= F X
2
of these
is
cally as:
F1 X
first
(5.1)
valve to
27
action
is
diagramed
MECHANISMS/LINKAGES
EXPERIMENT 5
ROCKER ARM
SHAFT
ROCKER ARM
PUSH ROD
VALVE
ASSEMBLY
Fig. 5-
in
figure 5-2
is
1/2
in.
a 24-lb force
class-one lever.
downward
Referring to figure 5-2, what
plied to the valve assembly
force
is
30
lb?
If
is
if
you
for the
solve
moment arm
relative
are correct.
S2 =
S-,
2 /i
tance, or 15/32
An
PUSH ROD
FORCE ON
FORCE
I THE VALVE
to
when
a see-saw (teeter-totter)
person
is
the other.
down much -
farther
in.
move
a light person
at
the
light
is
is
on
quite
move up or
much
person will be
will
moment
rocker arm? This application is shown in figure 5-3. There are two ways of analyzing the
equation 5.1
/ 2
t
= 30
lb
X 4/5 = 24
lbs
force relationships.
which
sit
What
to the line
F.,
very heavy
the
dis-
in.
a class-one lever
F2 =
in.
FULCRUM
Assume
so, to
ratio:
forces,
5-2
in a
inversely as the
Fig.
direction.
Remember
far
If
in.
lever-arms or moment-arms,
felt
is
an upward direction,
in
5/8
states that
when
a 30-lb force
is
lines
applied
28
The
first is illustrated in
in figure 5-3.
Here, the
MECHANISMS/LINKAGES
Fig.
are
5-3
EXPERIMENTS
shown by dashed lines along the force vecThe moment or torque produced by F2
We
tors.
is
shown
as
2 You can
-
distance 2
it
less
is
But,
is
shown
say
is
it
is
is
con-
acting
vertically,
torque because
If
If
plied
we
it
moment arm
Fx
horizontally,
This
in
and
used,
be broken into
To
sidered.
is
perpendicular to that
"
being produced?
#2 quite easily
is
applied
in
ap-
line
with the
NO
in figure 5-4.
Fy
acts perpendicularly
equal to F
#2-
these components?
F2
is
9,
then Fy/F2 =
= F2 sin 9. The
sin 9. Thus, F
y
generated by Fy must be counter-
moment
balanced
vertical
From
component
this,
becomes:
OR
Fig.
5-4
29
Xg 2 =FyXfi
= X
2 sin0
1
F-,
sine
(5.3)
of
and
the force, the angles with the lever,
of the
(from trigonometry tables) the cosines
ured:
angles.
Another device used primarily to transone direcmit motion from a link traveling in
moved in a
tion to another link which is to be
different
direction
is
of this device
name
MECHANISMS/LINKAGES
EXPERIMENT 5
The
of
are
In figure 5-6,
position of
the solid lines indicate the initial
indicate
the bell crank and the dotted lines
the
bell
linkage
doorbells.
used to operate our grandparent's
The
bell
crank
mounted on
is
links are
a fixed pivot
from the
different directions
By
pivot.
points, the
properly locating the connecting
in any demove
output links can be made to
direction.
sired
shown
in
One type of
bell
crank
is
figure 5-5.
two arms
are perpen-
connecting links
dicular to each other and the
Since the forces
are perpendicular to the arms.
to the pivot
are applied on a line perpendicular
point, then the clockwise
moment,
F-|
1(
X F! =
Bell
Crank Movements
F2
It
or
sin
F 1 /F 2 = 2 /C 1
can be seen
S-i/K-i
tated to
Does
5-6
in
(! is the length
in the
enuse of the small right triangle). Also,
uatin
Ec
9 these
upper triangle, sin 0 = S 2 /%2-
two
expressions gives:
S^U-i
=S2 /2
or
S 1 /S 2 =8i/K2
The
forces
is
linear distance
other force
ratio.
5-5
multiplied
movement toward
F1
Fig.
It
considered
30
in
is
also
the above.
MECHANISMS/LINKAGES
EXPERIMENTS
MATERIALS
1
Breadboard with
legs
and clamps
2 Spring balances
Lever arm,
1-in.
Dial caliper (0
Protractor
2 Collars
PROCEDURE
components to
1.
2.
undamaged.
in figure 5-7.
OUTPUT FORCE
INPUT FORCE
OUTPUT FORCE
INPUT FORCE
Fig.
5-7
in.)
MECHANISMS/LINKAGE
EXPERIMENTS
3.
4.
(F-j)
about 6 oz.
and F 2 ).
5.
6.
7.
and
Measure and record the angle between each lever arm
8.
Compute
the
component of force
9.
Compute
the
moment
lever
and
arms
1 1
2 ).
its
10.
.
(F-j
and
1
M2
arm
(f
02
and f 2 ).
).
two moments.
8,
0,
and
2 oz.
%
=2
*1
*2
02
F,/F 2
Fig.
5-8
f
1
M2
Diff.
M<|
bell cranks.
32
EXPERIMENT 5
MECHANISMS/LINKAGES
PROBLEMS
1.
Assume that a rocker arm is 3-in. long with the pivot point 1-1/4 in. from the load
side. The input force occurs 2000 times per minute and travels 1/2 in. What is the
average angular speed in radians-per-second of the rocker arm? What is the average
speed of the input force and of the output force?
linear
2.
In
a time of
What
3.
bell
75.
is
is
30 seconds. What
the
new
felt at
is
increased linearly to
of 6 oz
is
in
3-in.
output?
2-in.
arm?
Fi 6 0Z.
Fig.
A force
is
5-9
33
What
force
experimen
INTRODUCTION. As we
be used
in
possibilities.
DISCUSSION.
many
coupled through
combination with
In
COMBINED MECHANISMS
may be compounded
a gear train as
lever
arms are
shown
in fig-
ure 6-1.
mechanism.
One way
is
where ]
and the
is
= Fi
sin
8-j,
we
will
lever
arm
centerline.
produces
T-|
-|
This perpendic-
torque of
= F
^ fi-j
sin
i
is
transmitted
Starting with
we
re-
cording to
com-
Fi acting on
ular force
We
In this exercise
and output
They may
li
To
Jl
ac-
EXPERIMENT 6
MECHANISMS/LINKAGES
or
COMBINED MECHANISMS
0 oz
= 2.5
fi
in.
n =
T^
T2 =
N = 60
36 teeth
0 =45
= 3O
02
which gives us
teeth
= 3.4
in.
F 2 = ??
T 2 =F 1 e 1 -sin0 1
we determine
First
amount of torque
arm where n and
as the
acting
lever
l\l
on the second
f
1
numbers
are the
= 10 X 0.707 = 7.07 oz
sin 0.,
T.,
t 2 = 2e2
lar
is
2 is the force component perpendicuto the lever arm. Equating these last two
where
= F
= F
2
2
sin
T2 = T 1 1T =
02
2C2
sin
'2
equation gives us
02
F^i
sin 0^
And
2 =
17 65
-
= 29 45
36
in -- z
29.45
65oz
^=34- = 8DCK
-
output force
finally the
is
or
Fo = F
2
as the
1
1
N sin0 1
2 n
sin
^2
r-
(6.1)
02
sin
to
no
8.65
0o
0.5
compare
02
0-j
and
We
much
in
This
process seems
in
through an example to
done.
illustrate
how
in
moves
is, if
the end
an arc distance
S-j,
work
Let's
somewhat lengthy
actual practice
it
of
1
is
figure
0,1 =
35
77-
radians
results in a rotation d
which
MECHANISMS/LINKAGES
COMBINED MECHANISMS
EXPERIMENTS
of the output
gear equal to
lever in the
For example, if the end of input
then the
previous example moves 1.0 in.,
(=)=
u
=L=
Then
is
related
by
0.4 radians
2.5
=
S 2 = 2 e 2 = 3.4 X 0.24 0.816
Q2
in.
lever
Since linear velocity at the end of the
is
equal to
we have
Sj^Sj
we can
The
or
less
_S
(6.2)
1
SIX,
approach to determine
output velocity
S2
if
is
known.
constant speed.
N
Similarly, ratios such as the mechanical
this
before, the practical application of
As
type of analysis
is
easier than
it
might seem.
MATERIALS
Breadboard with legs and clamps
2 Bearing plates with spacers
2 Shaft hangers, 1-1/2 in. with bearings
4 Bearing holders with bearings
2 Spring balance posts with clamps
Spur
gear, approx.
1/4
Spur
1/4
in.
bore hub
with
bore hub
36
in.
bore hubs
Protractor
*1
See appendix
OD
OD
in.
4 Collars
in.
Straight link, 6
in.)
in.
long
with
EXPERIMEN T 6
MECHANISMS/LINKAGES
PROCEDURE
1.
components to be sure
it
is
not damaged.
counts, n and N.
2.
TL
in figure 6-2.
INPUT FORCE
-2_L
I
J__
6 IN.
LINK
GEAR
OUTPUT FORCE
PINION
D
lt
F1
MECHANISMS/LINKAGES
COMBINED MECHANISMS
EXPERIMENT 6
3.
and F 2
4.
5.
6.
Measure and record the angle between each lever arm and
fi
,
c and D
its
applied force,
A B 0 C
,
and 0q.
7.
Using F v A 2 B
8.
Using F 2
link.
0A
D-
and
0B
D<
<
(f)
"'
and N com P ute and record the force acting n the 6 n
"
'
If)
Compute
9.
and
f'.
10.
11.
9.
Qty
Trial
=2
"=1
*C
*B
2
Fig.
6-3
Data Table
A
%
Qty
Trial
Diff.
Fig.
ANALYSIS GUIDE.
ods used.
What do you
in
Data Table
In analyzing
6-3
your
results
reduced?
38
How
MECHANISMS/LINKAGES
EXPERIMENT 6
COMBINED MECHANISMS
PROBLEMS
1.
Figure 6-4 represents a lever with angular forces applied to each end.
the di-
6-4
Fig.
2.
pull, P,
From
FpHoz
F
A.
2 =
91oz
If
= 4O
=2.7
in.
= 25
teeth,
what
two
are the
=1 9in
-
If
gear have?
3.
diagramed
in
is
figure 6-5.
What
is
the value of F
2
5.
What
is
has 36 teeth,
in figure
F-j
6-5?
and F 2
in figure
6-5?
V oo
03
FULCRUM
B
<S IN.
-120
,30
FULCRUM
A
V
the lefthand
2A.
4.
10OZ.
in figure 6-1
V
CLASS
.
V
BELL CRANK
LEVER
Fig.
6-5
39
to
as
experiment
FOUR-BAR INTRODUCTION
in
connected
four-bar
which four
in
able relative
links are
is
inter-
is
such a
way
In
such a
rigid
mechanism
a four-bar
it
is
mechanisms.
In
important mechanism.
links or
mechanism the
four-bar
members do move
Figure 7-2 show one
relative
to
each other.
mechanism.
when
the
and back to
starting point.
its
The
pins used
free to
to join the links must, of course, be
The members of a
move relative to
not
do
structure normally
nism,
practical
structure.
The type
(
linkage will
in this case)
other three
have a
we
rela-
tive
mechanism shown
each other.
Strictly speaking a
of
is
links.
if
This
is
in
figure
sum
usually the
of the
first test
link of
2-in.
in.
mechanism
interchangeably.
40
is
possible
a
a
a 10if
the
MECHANISMS/LINKAGES
EXPERIMENT 7
FOUR-BA R INTRODUCTION
o
UN*.
cou
\
o
FRAME LINK
F/]g>.
7-2
-4
Four-Bar Mechanism
sum
6-in.
4 +2 +3=
In this
example the
lengths
is
less
a four-bar
9<10
mechanism
three small
built.
If
you
Figure 7-3 shows a
type.
is
link rotates
enough to
to build a
a 5-in.
mechanism using
coupling
link, a 4-in.
through
we
wish
four-bar
way
output
crank-rocker mechanism.
and
41
is
called a type
this
the input
arc.
mechanism which
when
complete
mechanism of
On
5=11>6
2 + 4 +
four-bar
acts in this
mechanism or
Fig.
7-4
we can
k Mechanism
Drag-
Again,
links
a fixed
frame
in.,
in.,
link of
ble
mechanism
is
to
7-4
and
diagram
of
this
type
is
output
of
will
cannot go through
go through
In
com-
complete revolution
manner.
which does
mechanism
still
A mechanism
We
have a possi-
a drag-link
it
link can't
when we
in.
and
in.,
mechanism,
mechanism.
This time
an output link of 4
2+3+4=9>5
possible
is
in.,
2+3+4=9>4
Figure
link of 2 in.
we can change
sions to get another type of mechanism. Suppose we use an input link of 3 in., a coupling
MECHANISMS/LINKAGES
FOUR-BA R INTRODUCTION
EXPERIMENT 7
or
type
A mechanism
III,
four-bar
rocker mechanism.
mechanism.
42
move
the same
in
of this type
mechanism or
is
called
double-
EXPERIMENT 7
MECHANISMS/LINKAGES
The
we
last
as follows:
ling link is
consider
will
illustrate.
is
in.,
is
is
in.,
and
in.
bility
FOUR-BAR INTRODUCTION
we
see
that since
3 + 4 +
it is
12
7-6 shows a
Figure
sketch
Now
shown
in its
vertical force
Due
it
may
reverse
if it
its
is
we
its
can't
tell
As
upward
can
counterclock-
in
tell
type
cause
in
it
figure
it
7-7
is
dimensions we
to
or type
do
Fig.
7-6
is
mechanism.
wise motion.
Fig.
type
spring-loaded upward,
continues
this
continue
Sometimes
will do.
to gravity or
may
four-bar mechanism.
link.
become colinear
shown in figure 7-7,
downward. Or,
Such
links
link
the posi-
counterclockwise motion.
However, as the
no
First, in
7-5
Fig.
at
in figure 7-6,
is
link
let's
there
of such a
Let's
counterclockwise at a constant
rotating
rate.
tion
>6
possible.
mechanism.
is
5=
II.
7-7
43
operate
either.
Critical
Point in
Mechanism Operation
Mechanism
will
we
In
conclusion then
1.
MECHANISMS/LINKAGES
FOUR-BA R INTRODUCTION
EXPERIMENT 7
if
sum
the
4.
full
is
If
the
the
circle,
5.
mecha-
If
link
it
considered an
indefinite or type IV
mechanism.
conditions
External
full circles,
may
cause
a drag-link or
is
it
mechanism,
the mechanism
II
mecha-
III
less
a crank-rocker or type
nism.
mechanism.
3.
full
is
circle
nism
double-rocker or type
If
full
circle,
than a
link
of the three
2.
If
mechanism.
classes.
MATERIALS
Breadboard with
legs
and clamps
with bearings
in.
Lever arm 2
in.
in.
bore hub
Lever arm
in.
in.
bore hub
*1
Straight link 6
in.
long
*1
Reverse link 2
in.
long
Steel rule 6
For
3 Collars
in.
long
appendix A.
PROCEDURE
1
2.
3.
are not
7-8.
The
damaged.
shaft through the bearing plates
shorter
Adjust the spacing between the shaft hangers and bearing plates so that when the
horizontal.
is
and
right
ever arm is straight down, the longer arm points to the
l
4.
5.
6.
Make
it
now
appears.
7.
a simple
in
(Note:
satisfies
the discussion.
and 2
Carefully rotate the input link and observe the motion of 1# 2 C
,
of these motions
in
44
Describe each
MECHANISMS/LINKAGES
EXPERIMENT 7
FOUR-BAR INTRODUCTION
-Tch
is
0
1
IN.
LINK
LEVER
2 IN.
LEVER
2 IN.
LEVER
f/flf.
7-g
The
First
Experimental Mechanism
8.
Based on your observations identify the type and name of this mechanism.
9.
Loosen the bearing plate clamps and readjust the spacing between the shaft
hangers and
bearing plates so that both lever arms point straight up.
10.
1 1
.
Now
Readjust the spacing between the shaft hangers and the bearing plates
so that both lever
right and are horizontal. The coupling should not
bind on the lever
45
EXPERIMENT 7
2.
13.
Now
as
14.
FOUR-BAR INTRODUCTION
8.
turn
loosen the shaft hangers and bearing plates and
shown
in figure 7-9.
MECHANISMS/LINKAGES
8.
EXPERIMENT 7
MECHANISMS/LINKAGES
Type
of
Name
Mechanism
Dimensions of
Mechanism
FOUR-BAR INTRODUCTION
of Mechanism
=
*c
Sketch of Mechanism
Description of Motion
Test of Mechanism's
Possibility
Fig. 7-
Type
10
of
Name
Mechanism
Dimensions of
*o
Mechanism
of Mechanism
Sketch of Mechanism
=
*c
Description of Motion
Test of Mechanism's
Possibility
Fig.
7-11
47
EXPERIMENT 7
Twnp
MECHANISMS/LINKAGES
FOUR-BAR INTRODUCTION
nf
Name
of
Mechanism
Mechanism
Dimensions of
*c
*o
Mechanism
Description of Motion
Sketch of Mechanism
Test of Mechanism's
Possibility
Fig. 7-
12
Type of
Name
of
Mechanism
Mechanism
Dimensions of
*1-
*o
Mechanism
=
*c
Description of Motion
Sketch of Mechanism
Test of Mechanism's
Possibility
Fig. 7-
13
48
FOUR-BAR INTRODUCTION
EXPERIMENT 7
MECHANISMS/LINKAGES
main objective of
this
of four-bar mechanism.
In
analyzing your
results
PROBLEMS
1.
What
is
2.
What
3.
How
can you test to be sure that four given link dimensions can be connected into
a four-bar
mechanism
as
opposed to
E)
5.
Make
6.
Tell
= 4
in.,
C,
= 2
a sketch of the
how
a structure?
mechanism?
a four-bar
4.
mechanism?
in.,
9.
in.,
mechanisms
each mechanism
in
in
J2
=
2
in
49
four-bar mechanism.
clockwise.
in a
if
possible.
experiment
experiment you
DISCUSSION.
This
is
,n
form of
l.nkage.
You can
see that
if
is
changed, this
is
known
as an
Since the
movable connectors.
are quite
forces and strains felt by the frame
correct
important, it is most appropriate and
mechanism. The
th.s
as
called a
three
known
frame or foundation.
past it has
four-bar linkage, although in the
because there
been called a three-bar linkage
are
is
and charactenst.es of
The most
general linkage
links of different lengths. This
figure 8-1 and the links are lettered
links
long as they
can be of any form and shape so
do not interfere with the desired motion.
is
shown
in
such that
that
is, lie
on the same
line.
<
Fig. 8- 1
it
is
that can
called
The word
rotate
Link
is
known
continuously.
beam
,s
or a
lever)
because
it
Fig.
50
8-2
CRANK-ROCKER MECHANISMS
EXPERIMENTS
MECHANISMS/LINKAGES
0
/
8-3
Fig.
The
two
sides.
type mechanism.
0 <([fic
-fi
+ 2
drawing
a scale
If
is
made
accurately.
a scale
<(e c +
-
i>
(8.1)
tells
lar
(fi
c)
re-
known,
draw-
For other
Equation 8.1
of the
>
or rewritten:
e
figures
in
of the
sum
actual
8
shown
other
limiting positions
positions
(figures 8-2
than the
shown
and
in
For example,
8-3).
in figure
plus the
and
can De solved by substituting
Q
into the following relationship:
links 2
(C-j).
<*i
*c>
2 2 o cos
nism.
where
from
will
<e 2 +0
is
is
1 +fic
is
this angle
give both
(8.2)
limits.
This equation
tells
From
how many
motion to the
right
and
Fig.
for
MECHANISMS/LINKAGES
CRANK-ROCKER MECHANISMS
EXPERIMENTS
motion to the
left.
8-4
Knowing
these facts
d = 2 arc tan
VK
Now,
let's
outlined
The
K-
in figure 8-4.
sin
M2
(8.4)
where
+ L2 L + M
L=-7T
+COS0
cos
P-|
are
xi =
y-|
S-|
cos
J?i
sin
The
(x
2
+ (y 2
2 -x-,)
-y 1
solid
dashed
lines
give the
which
lines
is
will give
in
the
figure 8-4.
figure
known
shown
as
the
:
)
will
in
now
(8.3)
is
to determine the
number
equation 8.4
sign will
The problem
finally arrive at
2*1*2
drawn with
We
sin 9
in
+ o2
cross condition.
x 2 = 2 Q + 2 cos 6
y2 = 2
K1
The minus
with
We know by
"jr^
plus sign
figure
and of point P 2
you can
terms of.
52
Fig.
You can
8-5
when crank
is
see that
we know
position
the
Thus,
we
For the
up
position of link
left
which
2 which makes
is
c -
(fi
c^
= e2
+ 0
'
" 2C
2 o
in
and ends
P'-j
at
This
P'-|.
less
is
time
from
different.
is
is
RPM. What
right.
first
to
to
P'-j
the crank
Let's
assume
is
120
This involves
which
P'-|
P'2
rotating counterclockwise at
2
2
7.5 = a2 + 4.5 - (2)(9)(4.5) cos (00'P 2 )
If
rom
the crank
we have
left
Substituting,
position
this
2
in
angles desired.
triangle OO'P^:
is
two
CRANK-ROCKER MECHANISMS
EXPERIMENTS
MECHANISMS/LINKAGES
is
You can
the difference
angular position.
in
is
equal to
an identical fashion
we can
And, angle
"
P'
from
- 15 20'
that
= 14 36'
see
= 29 56'
2 0P' 2
we determine
- 00'P =
= angle 00'P
2
2
2 0'P 2
(5615') = 7631' which is the
You can
=
- 0'0P"
2
2 0P' 2 0'0P 2
53
MECHANISMS/LINKAGES
CRANK-ROCKER MECHANISMS
EXPERIMENTS
360
degrees.
120
From
half second.
RPM
RPM
where
time
in
is
and
the revolutions per minute
minutes.
The
lution.
this,
is
is
Time
+1 4 6
= 180
motion of
for left
360
.5
distance = aIi^ath
Velocity
veiocny =
t|me
tjme
= 0.27 seconds
and
The
Time
2
It is
ities
we
for right
4 6
180
3~
6q
motion of
.5
know
will
the veloc-
shown
as
is
member
that in physics
e
which
You may
the acceleration.
is
we
You
in figure 8-6.
is
perpendicular to
that
the radius from the center of rotation and
the acceleration is toward the center.
angular as
= 0.23 seconds
often important to
= rcj
angular velocity
a given
VELOCITY
re-
define an angle as
ACCELERATION
_ arc length
radius
For the
becomes
Fig.
8-6
Rotating
Body
Velocity
and Acceleration
= 2w radians
per
rotating
per unit of time. All points on a given
have the same angular velocity. Also,
|=^=
(2tt)
measured
second.
found
body
co
is
in
in
In
a, equals
dw/dt
summary,
all
relationships
RPM
acceleration.
MATERIALS
1
Breadboard with
legs
and clamps
*1
2 Collars
1/4
in.
in.
long with
bore hub
in.
in.
2 Disk dials
Lever arm 2
Lever arm
1/4
and
Straight link 6
Steel rule
in.
in.
long
long
long with
bore hub
54
CRANK-ROCKER MECHANISMS
EXPERIMENT 8
MECHANISMS/LINKAGES
PROCEDURE
components
1.
2.
in.
figure 8-7.
undamaged.
INDEX
INDEX
<2L
XL
n
"
DIAL
i
g>
2l
DIA L
CI
ZJ
L2J
IN.
LEVER
LINK
WPT~70
l
2 IN.
2 IN.
Fig.
8-7
V
l,
LEVER
LEVER
55
jz>
"*
i
is
MECHANISMS/LINKAGES
CRANK-ROCKER MECHANISMS
EXPERIMENTS
Adjust the spacing between the shaft hangers and the bearing plates so that both lever
3.
same time.
at the
4.
its
5.
(C
6.
Rotate the
in
dial
dial reading at
own
two
and c ).
each increment.
Driver
rOHOWci
Anni
iai
iy u lar
r*M
Position
Position
Velocity (Rad/sec.)
n
u
20
tu
end
bU
80
1UU
120
140
loU
I
OU
200
oo n
ZZU
240
oan
280
300
320
340
360
dials to zero.
*2=_
F/#.
5-5
56
Trial
MECHANISMS/LINKAGES
7.
in
EXPERIMENTS
driver
were turning
each increment
at
100
RPM compute
step 6.
in
smooth curve of the follower position versus time using the conditions of step
8.
Plot a
9.
10.
CRANK-ROCKER MECHANISMS
Move the
link to the
LSIriwpr
IVCI
Fr>l
ln\A/pr
\J \ lUVVCI
A nni
lot* \/ol/^r*i+\/
Ml
ILJU d! V c IUL.I Ly
Position
(Rad/sec.)
Position
20
*tu
R0
uu
80
I
uu
190
14U
I
ou
ou
9nn
990
240
260
280
300
320
340
360
x
!
Fig.
8-9
9.
57
Trial
7.
EXPERIMENTS
MECHANISMS/LINKAGES
CRANK-ROCKER MECHANISMS
a skeleton sketch of
links
extreme positions of the rocker. Using the law of cosines, calculate the rocker swing
and compare with that observed. Explain any differences noted. Using your measured link
for a cranklengths, verify that this mechanism satisfies the conditions given in the discussion
rocker.
Do
this for
both
PROBLEMS
1.
2.
What
What must be
linear velocity
3.
is
at
60 RPM. What
in
in
radians/second/second.
What
problem 2
its
the experiment
RPM
movement
move
to the right?
If
is
starts at rest
the acceleration
in
length of
its
is
constant,
what
is
is
in
500 feet/minute?
rotation of the
this point?
Using equation 8.4, compute one set of angular positions of the crank and rocker
used during this experiment. Be sure the angles you use correspond to those of
figure 8-4.
on the differences.
58
comment
INTRODUCTION. An
link or
are able to
make complete
and features of
DRAG-LINK MECHANISM
KJ
experiment
In this
rotations.
is
the one
experiment you
will investigate
if
have a
make
known as
is
known
If
or
is
as a crank
is
links
known
type
is
is
as a double-rocker
have what
mechanism.
(B)
Fig. 9-1
and one
is
is
oscillate.
Inversions of a Four-Bar
fixed,
If
is
Mechanism
it
be
link-
if
one
the longlink
may
may
DRAG-LINK
59
will
figure 9-1.
rotate
may both
And,
in
est or
link
make
double-crank mecha-
as a drag-link or
finally,
is
is,
mechanism
As you can
linkage,
fixed, then
I
fix
nism.
and rocker.
you
known
a full ro-
indeed a crank
as a type
known
the characteristics
linkage.
as the drag
In this
DISCUSSION. As you
tation,
known
oscillate.
And
360
degrees.
Fig.
Mechanism
9-2
MECHANISMS/LINKAGES
DRAG-LINK MECHANISM
EXPERIMENT 9
Fig.
9-3
Critical Positions
If
(angular velocity
is
constant),
will transmit
it
as
they
both make
is
used
in practical
mechanism, especially
link
frame
type mechanisms.
of
full rev-
when each
of the
quick-return
in
mechanism.
rotations
full
(link
our diagram). At
in
formed
a triangle will be
as
is
this
shown
time
in fig-
ure 9-3.
links
fi
.|
will
made two
have
revolutions.
This
is
in
From
mechanism where
< +C c
(9 ' 1)
<fi 1
+R 2 -o
(9 2)
c1
<5 c + 2-
(9 3)
"
20-degree
movement
approximately
shown
of crank
20-degree
in
-|
figure 9-2,
These three
will result
movement
ments for
of
crank 8 2 Much beyond this 20-degree movement, however, finds crank C 2 remaining alstill
as crank
a drag-link
equalities link
most
inequalities,
C-j
continues to rotate.
60
and
is
is
mechanism.
link
In these in-
EXPERIMENT 9
MECHANISMS/LINKAGES
We
now
will
tions of crank
crank.
Let's
look at the
which
two
You can
in-line posi-
from
w '"
Crank 2
by inspection that
see
time
this
ment from
De
to "].
'1
left
to right position
will
move
be the driven
will
for move-
is
determine
time
to
it
there
takes crank
move
this
if
is
The problem
a difference
to
move
will
to the
left
time difference
be to
between the
(9.5)
and
what
will be.
To check
if t-j
revolution
we add equation
that
+t 2- T
*1
L^60^
= T [ 180 + 0
360
+ 180-0
+0 ]
360
L
=
+T
T 360] _ T
1
L360J
and since
tion, the
two expressions
add to equal
will
this time.
9-4
Fig.
You
that link
The
position to
will travel
its
extreme
from
left
its
in
figure 9-4
extreme
position
right
when
shown
in
im-
link
link
Since 2
travels at a constant rate, the time required
motion
is
relationships.
(1
(9.4)
6 = arc cos
2 2 ( 1
(9.6)
0)
where
t
is
1
is
'1
61
= arc cos
1+ 0
2
)
2 2 ( 1
-( 2
c
+ 0
+ 22
(9.7)
)
MECHANISMS/LINKAGES
DRAG-LINK MECHANISM
EXPERIMENT 9
MATERIALS
Breadboard with
legs
and clamps
in.
with bearings
2 Collars
arm 2
Lever
Lever arm
1/4
1/4
in.
in.
Steel rule
*1
in.
long with
bore hub
1
in.
long with
bore hub
Reverse link
in.
long
in.
long
2 Disk dials
*For
link
PROCEDURE
1
2.
be 2-3/4
in.
are not
figure 9-5.
damaged.
3.
4.
Rotate the
dial fixed to
its
own
in
way
until
you
RPM,
Assuming that the driver lever arm was turning at a constant angular velocity of 100
used in
compute and record the angular velocity of the follower in each of the increments
step 4.
6.
Plot a
conditions of step
lever arm's
5.
7.
8.
as
Repeat steps 4 through 7 using the longer lever arm as the driver and the shorter arm
the follower.
9.
link in the
62
mechanism.
MECHANISMS/LINKAGES
EXPERIMENT 9
DRAG-LINK MECHANISM
2-IN.
LEVER
1-IN.
LEVER
01
10
0
2 3/4"
2-1
LINK
n
U
5-5
63
EXPERIMENT 9
Angular Veloc-
Follower
Driver
ity (Rad/sec.)
Position
Position
Driver
Follower
Angular Veloc-
Position
Position
ity (Rad/sec.)
20
20
40
40
60
60
80
80
100
100
120
120
140
140
160
160
180
180
200
200
220
220
240
240
260
260
280
280
300
300
320
320
340
340
360
360
B
MECHANISMS/LINKAGES
DRAG-LINK MECHANISM
c
Fig.
9-6
Fig.
Trial
9-7
Trial
ANALYSIS GUIDE. Draw a sketch of your experimental setup using figure 9-3 as a guide. Indicate on your sketch the maximum and minimum points of velocity of the follower shaft. Add
additional
comments
of your
show
own
64
mechanism
satisfies
in
the
EXPERIMENT 9
MECHANISMS/LINKAGES
DRAG-LINK MECHANISM
PROBLEMS
1.
in.;
and
= 9
in.
is
fi
= 4
in.; C-j
= 10.5
in.;
a fixed link
C-]
If
crank 2
in
problem
rotates at
is
C-|
to rotate from the extended colinear position to the overlapping colinear position?
What
is
its
Assume
return?
direction.
3.
List
4.
Assume
that link
spectively,
RPM, how
and that
long will
vertical position
How
long will
it
and
link
links t'
it
and
fi
Link
in figure
7 and 8 inches.
2 are
take link 2
downward?
shown
C-|
mechanism.
If
link
-|
is
is
Compute the
ratio of these
65
600
upward to a
rotating at
re-
two
downward
times.
position back
expert men
DOUBLE-ROCKER MECHANISM
10
INTRODUCTION. Many
used
type of four-bar mechanism.
DISCUSSION. Double
rockers, like
link.
With
way
this
is
to
sum
a
We
of this
limiting
link
The
positions.
shown
principal
in figure 10-2.
*WSSMS5CTS^^^
Fig.
10-1
(b)
Cc + e 2 LIMIT
Fig.
10-2
ec + 1
CRITICAL POSITION
66
is
fixed.
positions are
(a)
In general,
other
all
its
limiting
EXPERIMENT
MECHANISMS/LINKAGES
we
If
start
(])
in
the
we
figure 10-2a,
must
Now
you
reaches
At
10-2b.
will
limit,
has reached
has not.
again,
We
its
find
in figure
if
counterclockwise
(10.1)
we can
we
if
+ 2 <fi 0 + 1
see that
rocker
fi
we
So,
DOUBLE-ROCKER MECHANISM
10
must
is
not to
scale.)
< 0 + 2
(10.2)
2 c + 2 +
Subtracting
-,
inequalities (10.1
<2e 0 +
2C
< 2 Q
Fig.
or
< o
(10.3)
If
10-3
1 - c Limiting Position
is
to occur, then
than Q
Similarly,
inequalities
we
e 2"
Adding
have
fi
<C
2-|)
< 2 + 1-c
or
" C
1
to
both
sides
renders
2 2 <2.,
In
0 + c
other words,
if
< 2 + 1
we want
lengths which
versely, this
(10.4)
67
0 + c
is
(10.5)
the mechanism to
limiting
we choose
link
Con-
greater than +
2
if
EXPERIMENT
It is
shown
case the
this
In
MECHANISMS/LINKAGES
DOUBLE-ROCKER MECHANISM
10
lengths
link
must
satisfy
the inequality
in figure 10-4.
0 -e c
<e c +
or
As
before,
this condition
!/
<o-*2>
do
0'
Fig.
10-4
- C
we
< 2 -i
(10.6)
by choosing
link lengths
which
Position
2 Critical
them
at this time.
MATERIALS
1
Breadboard with
legs
and clamps
Lever arm 2
in.
in.
bore hub
Lever arm
in.
in.
bore hub
*1
in.
in.
long
long
2 Collars
*For
2 Disk dials
Appendix A.
PROCEDURE
components to be sure they
1.
2.
3.
At
4.
Move
both
in
through
figure 10-5,
move the
longer lever
arm to
Continue
Take
in this
way
until
particular note of
in
10-degree steps.
On
in
its
clockwise
limit.
Record both
dial
a critical position.
zero
6.
figure 10-5.
undamaged.
dials to zero.
5.
in
are
move
it
back toward
10-degree steps. Again record both the input and output dial readings.
68
MECHANISMS/LINKAGES
EXPERIMENT
10
DOUBLE-ROCKER MECHANISM
0
[0
0]
3 0
2-IN.
INDEX
LINK
LEVER
INDEX
0LU0
0
in
1-IN.
DIAL
LEVER
DIAL
Fig.
10-5
69
EXPERIMENT
10
7.
linkage
Measure and record the length of each
8.
9.
the mechanism ( 0 1f
,
and K c ).
by approximately
in..
in
8.
MECHANISMS/LINKAGES
DOUBLE-ROCKER MECHANISM
he inequalities given
in
the discussion.
conditions that
discuss the limiting and critical
Clockwise
Counterclockwise
0O
01
o=-
Fig.
10-6
=-
Data Table
70
you encountered.
MECHANISMS/LINKAGES
EXPERIMENT
DOUBLE-ROCKER MECHANISM
10
Counterclockwise
Clockwise
0-
0,
0-
2-=
*c
Fig.
10-7
Data Table
II
PROBLEMS
1.
-'
in
figure
=8
c
in -
10-8
WiM
mechanism work as
double
rocker?
Fig.
71
10-8
Four-Bar Mechanism
EXPERIMENT
10
that
10-8 assume an E 1 - * c limiting position like
position.
so, draw a sketch of it in that
shown
like that
10-8 assume an C Q - 2 critical position
a sketch of it in that position.
shown
2.
in figure
10-3?
If
3.
in figure
10-4?
If
in figure
in figure
so,
make
in figure
4.
MECHANISMS/LINKAGES
DOUBLE-ROCKER MECHANISM
10-9
Fig.
problem 4
is
Show
6.
satisfied
Write the inequality that must be
if
figure 10-10
^5SSMSS^^
7.
Show
in
10-10
Mechanism
problem 6
is
<V
e,
Fig.
4.
discussion.
identical to inequality 10-5 in the
5.
in
is
for
to exist.
i>
Problem 6
discussion.
identical to inequality 10-6 in the
72
INTRODUCTION. The
linkage mechanism.
FOUR-BAR SUMMARY
11
experiment
four-bar mechanism
experiment we sha
In this
of the four-bar
mechanism
DISCUSSION.
is
I
examine the
link length
classes.
linkage
rocker or type
an assembly of
is
shows the
output links
mechanism.
Figure 11-2
relative
mechanism is composed of
interconnected links, one of which is fixed
Figure 11-1 shows a schematic of such a
four-bar
In this sketch 2
mechanism.
link,
is
Pi,
link.
and
is
is
the fixed
link,
all
free
is
P2 are
0,
0',
to allow relative
If
full
link
rotate
revolution, the
through
only
mechanism
is
part
of a
called a crank-
Fig.
73
11-1
Four-Bar Mechanism
EXPERIMENT
MECHANISMS/LINKAGES
FOUR-BA R SUM MA R Y
1 1
we
In
we
the
is
fi
ically this
is
lengths
link
they aren't,
If
fi
first test
sum
see that
>e 0 + e
connecting
If
mechanism
the
is
possible to build,
for figure
is,
(or
In the crank-rocker
each other.
mechanism
Notice that as
of these positions.
counterclockwise,
ear with 0 as
eventually
it
output
link
becomes
is sti
"
colin-
m vin g
its
+c c
<K 0 + e +K 2
1
down
to write
the three
for
all
critical positions,
four
we would have
Among
these
be only
Of these six
them would indicate
relationships, three of
that one link was shorter than the sum of the
This is, of course, the
other three links.
In
words,
other
<e 0 +
we were
If
When
counterclockwise.
can
are
rotates
C-]
in figure 11 -3a.
shown
T3a
and
it
which two
That
two
we
The other
critical positions
we
condition that
the
test for
of
possibility
physical
when we
a
consider
mechanism.
position.
As
clockwise,
in figure
it
continues
colinear with Q ,
Finally,
figure
In this position
11 -3c.
and
is
1-3d where
is
again
shown
in
are:
shown
moving clockwise.
counter-
rotation
its
1< e c + C 2- o
l<-c +
e2
+ o
{11 2)
-
clockwise lim-
<8c -2 + eo
(11 " 3)
iting position.
We
In
each of the
critical
positions
we can
For example,
in figure
rel-
we add
1-3a
74
1 1
and
1 1
.2
we have
MECHANISMS/LINKAGES
EXPERIMENT
1 1
FOUR-BA R SUMMA R Y
EXPERIMENT
2.,
MECHANISMS/LINKAGES
FOUR-BA R SUMMA R Y
1 1
< 2fi 2 or
2-,
<C 2
The
(11.4a)
first
than the
Similarly, adding 11.1
And
finally,
adding
2C n
sum
of
and 2
is
shorter
,ess %"\-
and 11.3
On
2-|
1.2
and
0 is longer
between c and
that
1.3
We
conditions as
(11.4c)
c-
2l
+e <C 0 <
2-
(11.5)
fi
est
rocker mechanism.
We
being
type
II
<c c + e 2 -
-*2 +
8 2 -fi c
or drag link
input link
C-j,
mean
(11.4b)
revolution,
1
(])
in figure
1-4
When
mechanism.
is
the
the output
link
also
goes
i< c o
+ *1<o
P2
Fig.
11-4
76
we
MECHANISMS/LINKAGES
link
(fi
must
and
be shortest
that
the
c-
5
ll
1 1
inequality 11.5
is
FOUR-BA R SUM MA R Y
not
satisfied,
we
then
will
inequality
EXPERIMENT
It
(11.6)
fi
rocker simply
must be
satisfied.
in
Notice that
considered so
in
get a
A type
link
some way.
we
far,
motion relationship
equal sign appears
is
in
produced whenever an
either inequality
1.5 or
link.
The type
in
figure 11-5
is
four-bar
mechanism shown
rocker mechanism.
If
we
will
hand,
if
( c )
have a double-rocker.
the input link
is
II
the shortest
On
III
in
either type
I,
depending on outside
In
is
or type
ways to
build
may operate
mechanism
type
Such
the other
classify
the
11.5
conslusion,
we
see
that
we
can
shortest
and
link
11.6.
and
testing
inequalities
EXPERIMENT
1 1
MECHANISMS/LINKAGES
FOUR-BA R SUM MA R Y
MATERIALS
Breadboard with legs and clamps
2 Bearing plates with spacers
2 Bearing holders with bearings
Lever arm 2
in.
in.
bore hub
in.
in.
bore hub
in.
Lever arm
with bearings
*1
Reverse link 2
*1
in.
long
in.
long
long
in.
4 Collars
*For
appendix A.
PROCEDURE
1.
fi
= 1.0
in.
= .75
in.
2.
3.
in
= 2.0
in.
= 2.0
in.
it is
physically possible.
Show
5.
6.
construct
Does
it
Stop
8.
Repeat steps
Repeat steps
ANALYSIS GUIDE.
link lengths
1.
7.
9.
list,
through 7 for
critical position.
linkages of:
mechanism having
.,
= 1.0
in.
fi
= 1.5
in.
fi
= 2 0in
-
= .75
fi.,
= 1.0in.
= 2.5
fi
In analyzing
your
in.
results
from
2
c
in.
of:
= 2 0in
-
= 2.0
in.
this exercise
78
of
Discuss
EXPERIMENT
1 1
FOUR-BA R SUMMA R Y
MECHANISMS/LINKAGES
PROBLEMS
1.
2.
Which of the
inequalities
inequalities in
for the
problem
critical
positions
shown
in
figure
11-3.
4.
Repeat problem
mechanism
in
problem
3.
5.
in
problem
3.
6.
Which
7.
for the
inequalities in
positions of a type
critical
6,
in a drag-link.
79
show
in
that C
II
four-bar mechanism.
link
INTRODUCTION. Mechanisms
In this
characteristics.
FOUR-BAR PROBLEM
12
experiment
are
always designed
almost
experiment we
have
to
input/output
specific
shall
is
in
oscillatory
To
the
four-bar mechanisms will accomplish this purpose and this approach is usually the simplest
solve this
problem we
the
will invert
degrees counterclockwise.
ing
lever
Let's
logical.
swings 20 degrees,
we
desire the
The problem
is
shown
in
12-1.
figure
identified as link
-|
The
driver
link
is
position
parallel to link
of
the
driven
link,
is
12-2
Fig.
8-j.
The
Pi
relationship to link 2 as
proper
if
link c 2
its
nad
From this
30 degrees clockwise.
its second
in
drawn
point 0", link ] is
rotated
position (angle
0-20 degrees).
Point
of link
12-2.
in
is
"inverted"
position
shown
in figure
labeled P"i as
The next
point ?'\.
this
You
step
is
to connect point
P-j
P-|
is
to
in
The perpendicular
Fig.
12-1
is
80
next drawn.
On
found the
EXPERIMENT
MECHANISMS/LINKAGES
two
Therefore,
the
of
positions
relative
intersection of the
point P 2
P-j.
line
and
link
gives us
The
in
its
two
de-
is
FOUR-BA R PROBL EM
12
In
would be to
12-4
Fig.
Freudenstein's Equation
If
vector,
cos
of the
zero:
+ C 2 cos
cos 6 + 0
-|
links as a
= 0
(12.1)
Fig.
Also,
12-3
the
sum
of the
components must
equal zero:
One
two
named
is
who
derived
it.
The previous
levers, this
approach
more
sin
= 0
(12.2)
fairly straightforward.
is
creasing
sin 6
1
Although you
accurate
sin
is
usually
demands
for precision
In-
cos
sin
a=
(K
a=
2
cos 0 - Q - 2 cos 0) (12.3)
sin 9 -
sin
0)
(12.4)
require that
that
we
those labeled
the figure and
The angular
posi-
= K 2
1
+C o 2 + 2 2
" 2C 1 o
cosd
0
is
and
6.
used
in
Angle a
is
- 22
labeled in
2 C-|
Freudenstein equation.
81
cos0 cos0- 2C 2 e 1
- 22
cos
2 Q
EXPERIMENT
By
this
rewriting
MECHANISMS/LINKAGES
FOUR-BA R PROBL EM
12
equation,
we
In
derive the
Freudenstein equation
we assume
K1 cos 0
K2
cos 0
K3 =
cos (0 - 0) (12.5)
where:
now
the driven
a position
called link ),
now called
link,
and
link
desired a corresponding
movement
of link 2
set of angular
Ki =
V*1
K 2 = 0/
fi
2
first set
Substituting the
2
K 3 =(e 02+ 2
fi
2+e
c
2)/(2 2 e l)
1
may be used to
mechanisms when you desire
This
linkage
equation
of angles into
solve
three
K-,
K 2 (cos
(cos 110) -
110) +
= cos(110 - 110)
= -0.34202K-,
+ 0.34202 K 2 +
in
three unknowns.
Ki,
K 2 and K 3
,
value of one
You
length
K3
Kg
And
K}
since
0.66667,
(K^
0 /#i
= 8/12), then
complete solution.
0.34202K 2 + K 3 = 1.22801
Let's
use
this
equation
to
solve
(12.6)
the
equation.
K2
(cos 90) +
K3
= (80-90)
From which we
K3
find that
Substituting equation
K2
(12.7)
= 0.86904
12.7
into
= 1.04955
110
Since
K2
fi
0 / 2
8
Fig.
12-5
82
1.04955
= 7.6223
21.6 gives
MECHANISMS/LINKAGES
EXPERIMENT
K3
You can
rather
with
those
means shown
graphical
now have
compare
determined
in figure
a technique of
may
mechanism
if
closely
This technique
= 10.358
known.
positions are
FOUR-BAR PROBLEM
12
by
You
12-3.
when
linkage
length
known
these values to a
determining quite
and
will give
will
or to an assumed
give
the
of
rest
the
mechanism dimensions.
angular
MATERIALS
Breadboard with
legs
and clamps
Lever arm
Lever arm 2
Wire
Steel rule 6
in.
in.
bore hub
in.
in.
bore hub
link (length
determined by student)
long
in.
PROCEDURE
1.
A
of
The two
in.
0 and
Record your
when they
(])
of 2
are vertical.
in.
and an output
When
link (
Turn
in
your data.
3.
fi
Construction details
may
be found
in
Appendix A.
4.
5.
vertically
dial
shafts.
Set
8.
to indicate 90
when both
lever
upward.
clockwise
in
5 steps.
them
in
step
at each
1.
when the
down.
9.
Repeat steps
ANALYSIS GUIDE.
mechanism
the
satisfies
6,
In
and
7.
your analysis of these data you should discuss the extent to which the
EXPERIMENT
MECHANISMS/LINKAGES
FOUR-BAR PROBLEM
12
=
c
Second
First Trial
Fig.
12-6
Trial
PROBLEMS
of mechanism was used in the experiment?
1.
What type
2.
3.
Show how
equation 12.5
is
in
the
through
1 1
degrees.
84
movement
is
in
experiment
INTRODUCTION. Another
and compressors
is
experiment we
DISCUSSION.
sible versions
(a) illustrates
engines and
is
SLIDER
"\
is
will
common mechanism
Fig.
One
it.
mechanism that
In
in
guide or frame
moves along
13-1
used
pumps,
engines,
in
details of this
N K M E C HA NI S M S
Figure 13-1
the
CRA
The
These alternatives
will
experiment
but
you
them used
different applications.
in
not be analyzed
will
85
is
fixed.
in this
occasionally
see
EXPERIMENT
MECHANSIMS/LINKAGES
13
TDC
BDC
SLIDING
BLOCK
Fig.
13-2
mechanism to
Figure 13-2 illustrates the
The connectbe discussed in this experiment.
is known as the
ion to the sliding block
The crank in figure 13-2 is labeled
wristpin.
and
When
its
center of rotation
the wristpin
its
center,
at
is
When
it
is
travel farthest
it is
is
labeled 0.
said to be at
The
slider
positions as well
drawing showing the extreme
dustrial
closest to the
of motion as
crank center is on the same line
from the crank
the slider, the TDC position
can
(BDC)
to
said
is
much
complicated
For example,
expressing
you have a complicated equation
crank involving
the motion of the slider
trigonometric functions, the computer
several
equation for
programmed
be
readily
to
minutes after
-i
in-
if
center equals
upon the
fairly
easier to solve.
is
TDC
made
has
scene
The
dimensions.
equations
it
intermediate
known
as
be at bottom
The difference between top
dead center.
dead center
dead center (TDC) and bottom
known as the stroke. When the
center,
crank
techniques.
it is
solve
this
of angular
In just a
few
displacements,
can give you a tabulation of
Let's look at
and accelerations.
(13.1)
velocities,
The
BDC
equals
way
slider
of analyzing the motion of the
block shown
BDC =
(13.2)
-2i
As shown, we
connecting
The
TDC
13.1
stroke
and
equals the
BDC
as
between
difference
expressed
in
in figure 13-2.
rod,
equal to k; that
will
c,
to
let
is,
equations
and 13.2
Stroke =
TDC - BDC
-(K c -i) = 2K 1
+ c )
and since
h = 1 sin
(13.3)
86
0=
sin 0
EXPERIMENT
MECHANISMS/LINKAGES
You
then
13
sin
displacement.
(13.4)
slider, d,
is
imate
solutions
is
quite small,
we
shall
and
d =
- 8
cos
0 - c cos 0
The
(1
-cos0) +
-cosfl)
<1
derivative of 13.7, or
(13.5)
- sin 2
Vp =
that
cos
\
0+ sin
2k
/~*\
'
ioj( sin
(13.8)
0.
from equation
13.4
into
gives
this
first derivative
of
cos0= v4l-^)
k2
ap = ico 2 (cos
Therefore,
substituting
equation
into
(1
cos
20
(13.9)
13.5
In
d = C1
cos)
link.
co
the angular
is
K,
and positive
+ 8c ^1_ v
/l-^)
(13.6)
is
many
it
It
13.6
is
measured from
considered positive
in
is
is
quite
placement, d,
TDC
have
an
angular
velocity
and an
angular
dis-
acceleration.
and
Keeping
in
is
these equations.
the difference
is
and point
d^!
0.
is
values of the
h
(1-cos0) +\^-
sin
P-j
V P!P
87
motion
Velocity at point
with respect to
point P2
found by
(13.7)
in
V PiO ~ V P
20
P-j
is
EXPERIMENT
MECHANISMS/LINKAGES
13
"P
Vp
1
Fig.
This relationship
shown
is
13-3
of frequent interest
is
the
just
Vp 1" Vp 2
various velocities.
in figure 13-3.
is
shown
p2
long
the
as
lengths
of
ratio
between
The following
maximum
velocity:
connecting rod.
0=
" P1 p
CO
(k
(k 2
COS
v 2
co
(k
(k
- 1)
2 - sin 2
This equation
is
sin
0)
is
slider
that
angles
are
/-|
will enable
aspects of existing
It
might be wise to
is
"y".
mech-
measured
ratio
letter
remembering
all
crank mechanisms.
situation
xco Pl p
when the
2/3
connecting rod (link c ), you can then determine the velocity of the rod at point P-\ by
= ec
1/2
4.0.
(13.11)
v Pl p 2
3)
When you
(13.10)
- sin 2 0) 1/2
(13.12)
arc cos
is
In this
indicated by the
in
in
88
the diagram.
EXPERIMENT
MECHANISMS/LINKAGES
n figure
the slider
at
BDC
is
it is
at
1
when
0
wm,e
2
13
You can
TDC
You
is
designated as
see
moves to the
right begins
is
when
arm of angle
at the lower
slider as
it
link
is
0,
we
=arcsin
arc sin
fi^Tj
j^L-
arm of the
we
0p
then
02 =
and ends
It is
of the crank
from the
less
mechanism to function.
It
fi-j
y,
must
for this
bears repeating
see
that graphical
9R
= 180 +
d<i
-0 2
nisms
will
purposes.
and
lems,
0L
= 180
-d } +0 2
often
As with
the sketch
89
EXPERIMENT
13
MECHANISMS/LINKAGES
MATERIALS
1
Breadboard with
legs
and clamps
Wire loop
Steel rule 6
Spacer No.
4 Collars
2 Shaft hangers with bearings
1
Lever arm
For
link
in.
mount
in.
long
long
6X1/8
in.
long
X 1/32
in.
wall thickness
in.
Disk dial
in.
bore hub
round head
in.
appendix A.
PROCEDURE
components to be sure they
1.
2.
3.
Turn the
in
are
undamaged.
figure 13-5.
moves
freely.
It
may
be de-
Adjust the bearing plate assembly so that the lever shaft and the slider shaft are the
arm so that
it
is
pointing directly toward the slider, then set the disk dial
to read zero.
6.
Lay the
slider shaft.
7.
Tape the
Starting at zero
rule in place
on the
dial,
if
its
necessary.
record the lever angle (0) and the slider displacement (X)
lever.
arm
8.
9.
For each data point (0, X) compute and record the distance
lever
(]
and coupling
link (C
c ).
(d) that
link,
for this
mechanism.
11.
90
fi
point.
MECHANISMS/LINKAGES
Fig,
EXPERIMENT
13-5
13
EXPERIMENT
13
ANALYSIS GUIDE.
In
examining the
results
from
this
values of the
comparison of the measured and computed
Also discuss
MECHANISMS/LINKAGES
displacement
(d).
in the experiment.
at the critical positions encountered
its
Fig.
a detailed
13-6
92
shaft?
If so,
why
did
it
do
it?
EXPERIMENT
MECHANISMS/LINKAGES
13
PROBLEMS
1.
List at least
one
An
in-line slider
position
3.
in figure 13-1.
when the
slider
is
at
TDC.)
inches
a.
Slider displacement
b.
c.
d.
e.
f.
The crank
sliding block
in
angle giving
Make
in rad/sec.
maximum
mechanism has
in rad/sec.
slider velocity
a 2-inch crank
and
in
a 6-inch
connecting rod.
The
the crank.
is
length of the stroke in inches. Then, assume the crank rotates constant at 120 RPM
and determine the time in seconds for the forward and the return stroke. The crank
is
93
INTRODUCTION.
14
experiment
In various
types of machines
we
this is
one direction and the return movement. When
experiment we will
called a quick-return mechanism. In this
in
is
required
in
be employed.
You can
by the mechanism
the
two
is
a difference
BDC
difference in this
to
TDC
takes a
is
always
is
ticular
known
We
of return.
know
and
links
14-2.
mechanism
We
tively small.
as the
rela-
is
better
STROKE BDC
Fig. 14-
94
known
TDC
EXPERIMENT
MECHANISMS/LINKAGES
14
CRANK CIRCLE
Whitworth Quick-Return
14-2
Fig.
Fig.
14-3
with 2:
Mechanism
the Whitworth quick-return, the small
In
link,
is
fixed.
slider
is
Let's
angle
angle 0.
6 and
the
is
angle
is
through
equal to
Since
0.
120 degrees.
Knowing
'
we
see that
We
+ 2a
(14.1)
on the frame.
know
is
arc sin
0 /-|.
In other
words,
if
we
(J2
we can
of the crank
0 ),
Then we draw
travel in
grees
is
drawn symmetrical to
a vertical line
by the intersection of a
*V
two circumference
line
de-
thisvertical line.
circle.
line
on the
J2-|
Location
of the follower, 2 2 ,
crank
The end
the
or of the distance Q
can construct the desired mechanism. Let's
equal to
0=180
where a
'
You can
through
horizontal position.
angle 0
travels
Ratio
attached to the
is
found
between these
mech-
anism giving
The
ratio of
In the
if
95
the crank
mechanism shown
in figure 14-2,
make
EXPERIMENT
14
Fig. 14-4
at a
one complete revolution and is turning
wiM
constant speed, then the output link 2
take
two seconds to
zontal position to
And
its
rotate
from
its
its left
is
idle in
quick as possible.
hori-
We
will
is
made
as
counterclockwise direcCrank
tion with a constant angular velocity.
the
and
will make a complete revolution
crank
MECHANISMS/LINKAGES
120 degrees
will rotate in a
return t0
put crank 2 wi take one second t0
horizontal position. You can see that
its left
lower arm
You can
6 can be determined
see
and
by drawing tangents
to
point of the
the crank circle from the pivot
follower arm.
one direction
ting tool of a shaper that cuts in
Since
only and is idle in the return direction.
a line
from
tangency.
the crank pivot to these points of
96
EXPERIMENT
MECHANISMS/LINKAGES
The follower moves
left
and
move
Since the
8.
time of motion
in
two
the
The
directions
#i
+h
2-|
is
or
is
through angle
14
+ d
(h
fi.,)
a
- cosa
1
sin
relative
Thus:
again
is
0/0.
(2 1
The sketch on
(h
is
+h
+
sin a)
d)(fi
1
cosa
.,) -
The crank
nism.
arm OP
is
treme
right to
extreme
left as
Let's see
if
placement of point
we
is
a function of a.
crank ] moves
You
We
will let P
will
you can
the displacement equation. The
will
give
P.
when analyzing
a practical
d.
mid-position.
its
movement of
circle to
differentiate
is
We
positive.
as
right
circle
in
P.
position with
Q be the zero
the
to
and d
h,
Equation 14.2
stants.
To
movement
member
the right
much
will
be
P 0 P,
h.
we
Once
will call x.
#1
Take an
and draw
will
first
be dx/da.
obtain
centerline
The
obtain.
is
If we remember the
we have little difficulty
dx/dt.
relationship,
we
wish to
following
obtaining
dx/dt:
AB
OB
OC
You can
and
sin
+ CB =
(h
cosa)
_ dx _ dx da _
"
dt
da dt "
!o_
o0
w dx
da
(14.3)
OAB
VP "
OPP 0
AB
OB
in
we simply
multiply the
tion 14.2
first derivative
97
equation 14.3
P.
of equa-j
EXPERIMENT
14
employs
MECHANISMS/LINKAGES
0/0 to be
In
return
is
duce
some
as smal
as
0.
applications
mechanisms are
compound 0/0 ratio.
WMMMMMMMfflr
Fig.
14-5
Fig.
14-6
98
EXPERIMENT
MECHANISMS/LINKAGES
14
MATERIALS
1
Disk dial
Dial index
Rigid coupling
Spacer
Breadboard with
Collars
legs
and clamps
Lever
arm 2
in.
in.
#6x1/8
long x 1/32
in.
wall thickness
Steel rule 6
2 Lever arms
and mount
in.
in.
in.
long
*1
*1
in.
long
bore hubs
in.
long
1"
LEVER
bore hub
appendix A.
PROCEDURE
components to be sure they
1.
Inspect your
2.
undamaged.
are
in
figure 14-7.
DIAL
1"
LEVER
J]
2" WIRE
LINK
h-r
0j
2"
LEVER
3 1/2"
2 3/4"
Fig.
14-7
99
in.
EXPERIMENT
14
3.
14-8
Fig.
MECHANISMS/LINKAGES
plate assembly
on the breadboard
as
shown
in figure 14-8.
Also mount
4-in. shaft
if
Adjust the
operates freely.
times to insure that the mechanism
dial several
Rotate the
4.
to the 2-in.
input lever
necessary.
slider
Set the mechanism so that the
6.
Lubricate the
is
at
dial
In this position, adjust the
7.
end of the
shaft.
Tape
it
in
position
if
its
up with the
necessary.
9.
full dial
revolution
in
10.
link
Measure and record the length of each
1 1
12.
(S)
and E 2 ><
the four-bar mechanism ( v 0 8 C
^ and O
of the links
in
100
EXPERIMENT
MECHANISMS/LINKAGES
13.
Adjust the
the 2-in.
14.
1 -in.
it
is
pointing
in
lever.
*o
Clockwise
14
9.
0'
Fig.
14-9
Clockwise
Counterclockwise
X'.
X'
8'
x
Counterclockwise
0'
X'
EXPERIMENT
14
MECHANISMS/LINKAGES
ratio of
PROBLEMS
1.
2
'
Make
a sketch
is
true.
the
equation 14.2, make a scale drawing of
Using figure 14-4 as a guide and using
ocve
Then, assuming a crank angular
mechanism having the following dimensions.
velocity of point P and the accelerat.on
of 4tt radians per second, compute the
ity
of point P
when a
is
330
degrees.
Crank
3.
In
problem 2 what
is
- 1.25
d = 0.25
h = 0.75
C-]
in.
in.
in.
How much
time does
it
take for P to
move
in
each direction?
4.
5.
reached by P? What
problem 2 what is the maximum velocity
do these occur?
acceleration? Where, with respect to a,
In
of quick-return
List five practical applications
102
mechanisms.
is
the
maximum
experiment
15
TRANSLATION AL CAMS
INTRODUCTION. Changes
DISCUSSION. A cam
is
in
plate or
usually a
by means of
use
its
A cam
surface.
can be a projection on a
wheel.
It
in its
may be
on
Or,
not
move
at
all
in
some
many
individual ma-
chine parts.
All
link
into
in
moving.
As
power in the
They are most often
followers.
mechanical
transmit
modify
is
cam does
cases, the
Cams seldom
to
in
utilized
are
a revolving
They
today.
ified as plate
motion.
TRANSLATION A L CAM
FACE CAM
Fig.
15-1
Classifications
103
class-
EXPERIMENT
illustrations
these
examining
By
practical
ratio
in a definite series
must be
the
is
cam occupies
The
you
for
that
notice
should
MECHANISMS/LINKAGES
15
of positions while
a corresponding series of
to the times
of the follower corresponding
marked on the horizontal axis. n other words,
I
we
against
tically)
cam
(ver-
positions (horizontally).
we
If
call
cam
position.
positions.
is
usually
of the
done graphically because it is the path
that we
follower and the amount of its motion
common forms
are interested in. The most
are uniform,
of motion desired in the follower
deharmonic, and uniform acceleration and
In the planning of a
celeration.
initial
cam, the
of
position, length of stroke, character
motion,
and
follower
are
direction
usually
motion of the
of
inches.
that starts after the rack has moved 2
and
rate
rack
This motion is to be at 1/2 the
must stop
of 5 inches.
of the
axis with regard to the location
To
lay
itional
left
cam
like
of figure
the one
15-1.
In
shown
in
the lower
In
cam,
The
planning
particular
displacement graph
horizontal axis
is
is
translational
very useful.
usually related to
cam
axis to indicate
For a constant
mark the
shown
15-2.
in figure
Let's say
We
the figure.
Now,
the
must be a point
along the top edge of
follower
it
to move-up-
2-inch
and-down before the rack reaches the
the
mark so we make the cam flat from zero to
2-inch mark.
on
motion starting at some "zero" position
position
final
the left and proceeding to the
we will
attempt
first
In our
on the right.
arbitrarily
first
at the
cam
we
used.
to the rack.
experiment we
cam can be
start
motion.
In this
translational
The angular
known.
the
motion of the cam and the location of
cam
that
inches upward.
We mark
this
1-1/2
resents time.
104
EXPERIMENT
MECHANISMS/LINKAGES
15
77777777771
1-1/2 IN.
15-2
Fig.
Then,
tally.
in.
we
connect the 2
just
a vertical direction
and
in.
straight
Cam
is
inches,
y=
we
a flat line in
where
we
cam
divide the
x,
we
call
the
2.
Fromx
Fromx
3.
From x =
In
the
(this is also
first
= 2
= 5
= 6
region
the reference
level
we
the y-axis
is
1%
rise
run
cam displacement
(0<
which we
Mx +
y
o
height y
is
(1/2)2 + b
cam
the
2,
have
< 2)
(2<x<5)
(5<x<6)
Then, since at x =
0tox
2tox
5tox
is
To
into
at
If
displacement.
+ b
intercept.
Mx
is
this region.
We
is
not to move
from 5 to 6
sloping
line
line.
+ b
-1
constant
this region
is
equation,
y = 0
In
the second
y=-^-x-1
0<x<2
interval
that follows a
2<x<5
105
is
constant
EXPERIMENT
y=
is
reference
1-1/2
level,
but y
so
is
5<x<6
- 1/2
MECHANISMS/LINKAGES
TRANSLATIONAL CAMS
15
y =
which
Using these methods we can get equations
cam
linear
is
used to
lever
displacement
angular
= 2
sin'
(15.1)
-|p
hold the
profile
is
length
the
On
of
if
the
lever
arm.
we know 0 and
would
The sudden
profile
technique used
r
With slow-
satisfactorily;
where
cam
is
gravity
let
work
moving machinery
however, sudden changes in cam
changes
(y)
will
this will
profile displacement
We
of
(0)
y.
this
point.
the
between
(15.2)
2rsinf
with
it
is,
In
profile.
some
find
cam
the
The primary
is
profile.
MATERIALS
Breadboard with legs and clamps
2 Bearing plates with spacers
Disk dial
Dial caliper
3 Shafts
1/4X4
in.
long
8 Collars
Lever arm 2
1
Roller type
in.
cam
in.
mount
(0- 4
in.)
X 9
in.
approx. 0.05
in.
thick
1-1/2
in.
bore hub
in. C
Steel rule
in.
long
PROCEDURE
1
2.
On
3.
in
figure
5-3.
106
EXPERIMENT
MECHANISMS/LINKAGES
15
LEADING CORNER
OF THE CAM
[*-flN.~U-1
IN.
Fig.
15-3
The Experimental
Cam
COLLAR
CAM WILL
BE INSERT-
ED HERE
Fig.
15-4
MECHANISMS/LINKAGES
EXPERIMENT 1 5
5.
Mount the
6.
Insert the
so that
it
rests
7.
8.
Position the
cam
will
hold the
cam
upright.
is
10.
11.
roller follower.
cam approximately 1/4 in. Measure and record both the cam displacement
and the angle through which the cam follower dial has rotated (0).
Move
the
in
in.
until
(x)
trailing
1 3.
two more
its
cam
passes,
and
9, 10,
times.
0 for
Third Pass
Second Pass
15-5
Average Values
X
MECHANISMS/LINKAGES
EXPERIMEN T 1 5
From your
graph,
Compare your
in
cam
position as
results
in
horizontal
of a transverse
cam and
give at least
PROBLEMS
1.
If
y = 3x + 4, how
for each unit of motion of the
many
horizontal
cam?
(Hint:
Use the
vertically
first derivative
cam
is
common forms
of
cam motion
are mentioned:
If
up
in a
Draw
uniform,
a sketch of
3.
What
4.
5.
Assume that the cam you used moved from the leading corner to the trailing corner
in two seconds at a uniform velocity. What is the cam-follower's velocity vertically
when the cam has moved 2 inches? Express your answer in both mm/sec and in
meant by the expression "cam-follower pressure angle"? What is the maximum pressure angle that you would expect to be used in practical cam designs?
Was this point illustrated in this experiment? Explain and discuss.
is
ft/sec.
6.
7.
Describe
cam
in
1/4 x
1/2
1/3 x -1/2
1-1/6
0<x<2
2<x<3
3<x<5
5<x<6
profile in
109
result
from the
experiment
16
cam which
the disk
is
is
also
sometimes ca
With
led
oscillating
into reciprocating or
type of cam, rotary motion is translated
motions
will be constructed and its resulting
this experiment a basic disk cam
motion.
DISK CAMS
this
will
be
examined.
in figure 16-1
cam
Its
outer edge
is in
disk or plate
contact with a
follower.
cam
follower
the cam
has a roller which makes contact with
Further, the cam follower is limited
profile.
by the frame so
it
its
and
maximum
The follower of a
"pushed" upward by the cam; it
tial
position.
disk
is
cam
is
said to be
constrained by the cam. However, its downward motion must be furnished by gravity, a
spring, or another
in
sudden change
in
noise,
take-up of bearing-slack with consequent
approach would
wear, and vibration. A better
in
its
With
type of motion,
this
leaves
it
cam
At low speeds
opposite direction.
it.
follower
this leads
commonly
used
to the type of motion that
motion.
with disk cams - simple harmonic
is
cam
monic motion,
from zero
mum
motion
is
its
velocity
to zero.
CAM FOLLOWER
found
maximum
WZZM
is
approaches
it
When
'////////A
direction or
its
illustration of this
An
movement.
mechanism.
in a violent
This results
application of force.
Any
shafts.
often used on rapidly rotating
obtains maxi-
its
shown
in figure 16-2.
low-
that
from
is
equal to the
number
of de-
grees as measured
circle.
generate
Fig. 16-1
Disk
displacement graph
monic motion.
Cam
110
having har-
MECHANISMS/LINKAGES
EXPERIMENT
16
DISK CAMS
assume that you want a cam folmove with harmonic motion from its
Let's
lower to
initial
Further, to be practical,
let's
in.
motion
will
going up,
it
is
as in
2tt
down
be followed going
will
be for one-half of
Fig.
cam
16-2
rotation.
Displacement Graph
The
first
step
in
laying out a
cam
is
to
if
The
The
1-1/4
the
The
in.
selected.
maximum
displacement desired
is
drawn with
maximum
diameter of 1-1/4
is
marked.
For example,
vertical distance
ameter
is
is
from 0 to
in
1
on the
the 60 position.
in
is
is
marked with
90
of
as
rotation.
The
final step
series
30 degrees
is to draw a
ra-
(fig.
16-3).
30
Fig.
cam
dis-
And,
displacement graph
in.
circle di-
a diam-
displacement:
is
As shown in
drawn to full
Next, a circle
this case, a
is
is
located.
diameter.
cam-follower
horizon-
the cam.
line
tical
is
1&3
90
180
270
360
EXPERIMENT
16
MECHANISMS/LINKAGES
DISK CAMS
FOLLOWER
!CAM
Fig.
Now
the question
is
how
16-4
'CENTER^
line
Then, at
a distance
are
is
shown
As shown
is
in figure 16-5,
the radial
lines
The
cam
by the mark on the cam
center as indicated
follower
30 degrees of
each
for
drawn on the
arcs
follower
You can
circles.
Draw the
think
profile
this
ro-
follower
a
is
of
and
still
around it.
The cam
smooth curve drawn tangent to
the
tating
rotation.
method
Another
use the
16-5,
to figure
referring
Still
circle
Cam Layout
First Steps in
roller
illus-
to
of
determining
the
radial
circle
would be
line)
radial.
"0"
Next, using the roller center as the
position,
in figure
we
16-3 along
cam
rotation
is
to be
in
there
if
In
profile.
For conven-
lowers
the roller
The
follower
the clock-
many
is
a rapid
change
roller fol-
in
the
line
of the
in
by the
marked in
112
fol-
roller
is
felt
cam
lower.
Assum-
is
sur-
MECHANISMS/LINKAGES
EXPERIMENT
16
DISK CAMS
180
210
BASE CIRCLE
PRIME CIRCLE
CAM PROFILE
Fig.
face.
Cam
16-5
component of
force along the center line of the camfollower. The rest of the normal force is felt
this
perpendicular to the
as
PRESSURE ANGLE
line
shown.
The term
pressure angle
is
illustrated in
figure 16-6.
It is the angle between the follower center line and the normal force line.
The importance of
to the lateral force
force
becomes too
Looking
lateral
Thus, the
large,
component
lateral
is its
component.
at figure 16-6,
force
f (x)
size
this angle
= F
relationship
If
NORMAL
FORCE
FORCE COMPONENT
ALONG FOLLOWER
CENTER LINE
LATERAL FORCE
COMPONENT
CAM PROFILE
POINT OF
this lateral
CONTACT
sin 6
We
Fig.
16-6
Cam
Roller Forces
EXPERIMENT
MECHANISMS/LINKAGES
DISK CAMS
16
Or,
centers.
the
size of the
practical
considerations
must be reached.
In
In
most of today's
lateral
In
as one-half the
the
cam
= F
n
cam follower is
arm that is
shown in figure 16-7.
applications the
of the lever
arm
(0)
is
0 = 2sin-i()
much
roller, (f (x)
pro-
follower
appli-
force could be as
some
by
is
compromise
and
in-
However, the
and
file
it
roller
positions,
this
pressure angle as small as possible, but
means making the roller large in diameter to
or
sin 6).
y = 2r sin"2
you can
same point
lying
on
cam
radius
line.
From
this
basis
for using the center of the roller as the
to
draw
a line
cam
profile.
If
you were
roller
where
r is
\follower path
\
\
FOLLOWER
ARM^
CAM
FOLLOWER
SHAFT
ROTATION
Fig.
16-7
Pivoted
114
Cam Follower
EXPERIMENT
MECHANISMS/LINKAGES
DISK CAMS
16
CONTACTS
MICROSWITCH
FOLLOWER
CAM
16-8
Fig.
Cam-Operated Microswitch
MATERIALS
2 Bearing plates with spacers
and clamps
Breadboard with
Dial caliper (0 -
Cam
Protractor
legs
0.05
in.
1/4
in.)
OD
in.
in.
long with
bore hub
X 4" X approx.
in.
in.
in.
OD
bore hub
in.
OD
bore hub
2 Disk dials
thick
Flat file
Hand
Universal pin
drill
and twist
hub (1/4
in.
bore)
1/4
3 Collars
in.
1-1/2
in.
long with
bore hub
in.
long
PROCEDURE
1.
of teeth on the
2.
3.
two
components to
X 4"
sheet metal.
maximum
gear wheels.
in
roller (d).
displacement.
115
cam on a piece
from minimum
EXPERIMENT
4.
16
MECHANISMS/LINKAGES
DISK CAMS
cam and
file
in
the
cam
5.
Mount
the
cam on
6.
7.
Mount the
8.
Rotate the
cam
hole
in
center.
Fig.
16-9
is
at its
in figure 16-9.
minimum displacement
116
location.
EXPERIMENT
MECHANISMS/LINKAGES
Cam
Profile
0;
Ng
Gear
Fig.
&
16-10
Follower Data
117
0,
16
DISK CAMS
EXPERIMENT
MECHANISMS/LINKAGES
DISK CAMS
16
Adjust the tension arm and spring on the output shaft so that
9.
it
the cam.
10.
11.
dial to
12.
Repeat step
for
1 1
cam
dial positions
cam
dial to
& 0O
).
of 60, 90, 120, 150, 180, 210, 240, 270, 300, 330,
3.
14.
For each data point, compute the vertical displacement (y) of the follower.
15.
16.
Remove
cam and
the
trace
its
cam displacement
(0j).
ANALYSIS GUIDE.
In
angle as a function of
cam
displacement.
If
ments you
feel to
why and
an increase
feel
in
you
If
felt
estimate
more
maximum
Add any
other
com
PROBLEMS
1.
both as y =
2.
6) and y =
f (sin
cam whose
1800 RPM, what
If
the
is
4.
in this
pressure angle
is
when the
(cos 0).
follower motion
is
maximum.
Compute
is
three pounds
roller.
it is
cam
using a
minimum
is
30
degrees.
Is
It is
the
de-
new
Draw the displacement graph for a medium speed cam whose follower must rise one
inch during the first 90 degrees of camshaft rotation, dwell for the next 30 degrees,
return to the
1
90
initial
point during the next 50 degrees and dwell for the remaining
degrees.
118
experiment
INTRODUCTION.
cam
with
It
PIVOTED FOLLOWERS
is
we
in
conjunction
DISCUSSION. Cam
a straight
motion.
are
line;
followers often
that
in
is,
However, you
will find
This
move
will investigate
that levers
cam
erties of
Two
change.
force
representative
in
to harmonic motion
ways of
figure 17-1.
with
is
A cam
will
it
in
figure
arm
17-1.
contact
straight line.
first half
of
its
The equation
times.
its
motion
giving displacement as a
of acceleration
position increments)
is
s=1/2at 2
(17.1)
by the
function
ful-
move along
as indicated
cam layout,
translational cam and then
affects
in
circular
similar
will
"constrained" by the
letter
roller in
in a
it is
when
in
followers.
is
where
and
cam.
s
is
is
the distance, a
time.
is
the acceleration,
is
conrise,
is
Sometimes
this
even smoother
is
called para-
motion
Fig. 17-1
is
stant.
called
EXPERIMENT
17
Fig. 17-2
val as
it
differences in travel,
is
"1", are
first;
the
if
1, 3, 5, 7,
deceleration
stant
MECHANISMS/LINKAGES
PIVOTED FOLLOWERS
first
time
example,
9, 7, 5, 3, 1.
is
of line
The
represents time or
and the
To
shown
OY
construct
in figure
the
a distance equal to
is
in
Along
unit.
this
is
shown. You
more
which
OY
OY.
This procedure
will
In
one-third the
1'-2'.
you
position indicated
on the horizontal
displacement graph
the desired cam.
the
axis.
shown.
compare
rise
it
is
It
may
be
in-
From
this
possible to construct
of the follower
is
graphed.
de-
divisions, use 1, 3, 5, 9, 9, 5, 3,
In fact,
of interest to you to
Then draw
drawn at
line, mark
If
OY
cam
The
is
line
is
so forth as
AY
to line
(the actual
displacement graph
AO
a line connect-
OY
increments
figure 17-2.
17-2, a line
distance
horizontal axis
position
as the distance
draw
back to
is
displacement.
shown
cam
OA
divide line
for
appropriate:
to
is
OA
lines parallel to
is
step
the end of
a con-
acceleration)
(negative
ing
interval
Then when
The next
Now
let's
see
what difference
any
lines
will
120
drawn
in
follow an arc.
a pivoted
Let's
cam
follower
MECHANISMS/LINKAGES
EXPERIMENT
17-3
Fig.
type of motion
cam
Displacement Graph
is
we have
Cam
mum
is
located
maximum
and
first six
a pivoted
midway between
cam
Follower Type
Pivoted Roller
Roller Diameter
mini-
Follwer
of the follower.
travel
PIVOTED FOLLOWERS
17
Arm
3/16 inch
2 inches long
ment graph
straight
is
lines;
this causes in
our displace-
they are
arcs.
mum Travel
Motion Desired
C2
The
etc.
various
Line
grees,
OA
segments.
17-3
If
the
downward
travel
is
parabolic
120 degrees.
has been
parabolic,
inch
to
rise
120 defall
for
Follower
through 45 de-
also
would be used.
How
can
we
motion
First,
let's
an entire
these characteristics.
17-4.
121
EXPERIMENT
Fig.
17
Displacement Graph
17-4
Cam
Disk
movements
and labeled
OA
is
follow
clockwise.
The prime
6'.
desired over a
will
is
through
cam
then each movement
grees of cam motion.
is
arm
The
The arc OY is drawn
The parabolic motion
fall will
described on line
are
drawn
MECHANISMS/LINKAGES
PIVOTED FOLLOWERS
will
circle
is
segments.
ter
circle.
In a
The
first
cam
center,
its
cam
mini-
mum
initial
The next
this arc.
step
is
figure 17-5.
Notice
through
arm
shown
As the cam
in figure 17-5.
It
cam
roller
profile as
is
maximum
position from
be
these posi-
in
6' in
will
drawn
to
A smooth
is
122
EXPERIMENT
MECHANISMS/LINKAGES
Fig.
17-5
Disk
Cam
a technician
17
PIVOTED FOLLOWERS
must
Frequently,
we do not have
a basic
equation
cient for
you know,
if
As
suffi-
most purposes.
Remember
that acceleration
The
moving 200
ft/sec
is
velocity
You can be
velocity.
in
EXPERIMENT
17
MECHANISMS/LINKAGES
PIVOTED FOLLOWERS
>
H
CJ
O
_J
ill
>
z
o
I
DC
UJ
_J
UJ
77-6
Figure 17-6
tion
is
Remember
of parabolic motion.
when
is
first half
tive
of
change
in this figure is
accel-
in
velocity
(dv/dt), so at
with
any point
respect
in
half.
representa-
Acceleration
acceleration.
Between
of follower
the acceleration
that
the
is
to
0 and
t-j
finite value.
The
slope of
At
t-j,
time
begins to
ond.
At
high at
t-|
and
tilt
this
2
placement
line.
is
curve
slope).
Since acceleration
is
Between
constant from tg to
U,
if
velocity
curve.
must be changing 2
This
t-|
is
and
124
left
to lower right.
MECHANISMS/LINKAGES
EXPERIMENT
17
ZERO
POSITIVE
PIVOTED FOLLOWERS
NEGATIVE
LINEAR
INCREASING
INCREASING
DECREASING
DECREASING
17-7
Fig.
From
able to
you should be
zontal
If
any point on
graph between tg to
moves upward to
(as in
t-|
at
positive slope
line.
t-j.
in
negative (velocity
from
negative (displacement
may
tg).
linearly
to t^); increasingly
t-|
from t 3 to
curve
the velocity
4 ); or de-
from
shown
in figure 17-7.
MATERIALS
2
Breadboard with
Dial caliper (0
Cam
Protractor
legs
0.05
1
Flat file
Hand
in.
drill
and clamps
1/4-in.
in.)
in.
OD
1/4-in.
1/4-in.
in.
long with
bore hub
in.
OD
with
OD
with
bore hub
in.
bore hub
thick
and twist
1/4-in.
3 Collars
2 Disk dials
1-1/2
125
t.4
to
in.
long with
bore hub
in.
long
EXPERIMENT
MECHANISMS/LINKAGES
PIVOTED FOLLOWERS
17
PROCEDURE
1
2.
cam
roller.
profile for a
cam and
cam follower
having
Cam
Rotation: Counterclockwise
Minimum Cam
Left to discretion
Radius:
On same
line
from
motion
in.
initial
cam
maximum
point to
maximum
displacement
rotation.
cam
3.
Transfer your
4.
File
5.
6.
7.
Mount the
8.
9.
Adjust the tension arm and spring on the output shaft so that
the
irregularities in the
smooth any
in
the
cam
it
profile.
it
on
in figure 17-8.
is
at
its
minimum displacement
it
location.
cam
10.
1 1
dial
Repeat step
for
cam
12.
out.
1 1
& 60
cam
dial to
13.
14.
15.
16.
Remove
the
cam and
trace
its
(y)
of the follower.
cam displacement
(0j).
126
).
MECHANISMS/LINKAGES
EXPERIMENT
OUTPUT SHAFT
17
PIVOTED FOLLOWERS
CAMSHAFT
mmmm^v///////////////////////////////////////////.
COLLAR
GEAR
SPRING-
FOLLOWER
ARM
|Q1
rah
COLLAR
rer
CAM
m
0
OUTPUT DIAL
FOLLOWER SHAFT
INPUT DIAL
F/<7.
77-5
77?e
ANALYSIS GUIDE.
Plot a graph of the data obtained during this experiment. Compare the
measured displacement values with those computed during the layout of the cam. Explain any
differences noted.
cam
follower.
127
in
comparison
EXPERIMENT
Cam
17
PIVOTED FOLLOWERS
MECHANISMS/LINKAGES
Profile
0:
Gear
&
Fig. 17-9
Follower Data
MECHANISMS/LINKAGES
EXPERIMENT
PIVOTED FOLLOWERS
17
PROBLEMS
1.
If
is
a second-degree equation,
what degree
3.
Is
lower
rise a
Draw
a sketch
a long lever
4.
in detail,
why
or
of the
fol-
not.
speed of 600
list
the
RPM.
maximum and
in this
cam
first half
why
arm. What effect does the lever arm length have on the pressure angle?
minimum
5.
rotated at
129
experiment.
If
the
experiment
INTRODUCTION. Cams
relationships.
In this
establish
experiment we
DISCUSSION. Cams
to
18
definite
shall
examine
two cams
is
is
we
If
B.
As the
18-2.
somewhat
is
one-to-one.
determined
is
"on"
its
is
ON CAM
"off"
Coupled Cams
ON CAM
FOLLOWER aj
OFF CAM
ON CAM
FOLLOWER
OFF CAM
OFF CAM
Fig.
18-2
130
Moreover
when one
FOLLOWER
Fig. 18-1
like figure
larly,
cam
timing.
profile of
cam
by the
its
follower
cam.
EXPERIMENT
MECHANISMS/LINKAGES
18
FOLLOWER
ROLLERS
COUPLED
CAMS
ON CAM
FOLLOWER
ON CAM
OFF CAM
ON CAM
ON CAM
OFF CAM
OFF CAM
>-
FOLLOWER
Fig.
18-3
Overlapping
Cam
Action
b
FOLLOWER
ROLLERS
'
COUPLED
CAMS
ON CAM
ON CAM
FOLLOWER
OFF CAM
ON CAM
I
FOLLOWER
OFF CAM
Fig.
in
18-3.
rotating
figure
cam
The colored
So
areas represent
simultaneously.
far
we
In this illustration
is,
of course, not at
all
necessary.
Many
dwell times.
By
other,
18-4
OFF CAM
rangement.
overlap.
131
Also shown
is
a small
ar-
amount of
EXPERIMENT
18
MECHANISMS/LINKAGES
Figure
ratios.
coupled by
18-5
illustrates
two cams
approximately 2:1.
a ratio of
cams together.
all
Up
until
now we
have con-
sidered only
cams coupled by
ratio.
It
is
vir-
a 1:1 velocity
cam on
as the
one on the
cam
pinion
fast
same
possibilities
for
cam
follower.
overlap
still
and
The
unsym-
possible.
FOLLOWER
ROLLER
FOLLOWER
ROLLER (O
CAM
CAM
ON CAM
ON CAM
1
_J
'
OFF CAM
OFF CAM
FOLLOWER
a
1
ON
ON
ON
FOLLOWER
OFF
OFF
ON
OFF
b
I
Fig.
18-5
Two-to-One
132
Cam
Coupling
EXPERIMENT
MECHANISMS/LINKAGES
18
FOLLOWER
ROLLERS
Fig.
18-6
Multilobe
Cam
Timing Device
FOLLOWER
ROLLERS
CAM
ON CAM
ON CAM
OFF CAM
FOLLOWER a
OFF CAM
FOLLOWER
OFF CAM
ON CAM
OFF CAM
ON CAM
*2
Fig.
the
use
18-7
Cam
with
*3
Two
Followers
In
many
possible to
cases
In
such instances
both followers
In all these
cam
may
it is
multiple followers.
an arrangement.
lower motions
in
this
often
Figure
case
lower
133
is
is
If
fol-
EXPERIMENT
18
MECHANISMS/LINKAGES
ON CAM
'r
FOLLOWER
FOLLOWER
then
is
OFF CAM
|
Fig.
alternate
CAM
output action.
18-8
This arrangement
shown
same
as those of figure
18-3.
in figure
When
18-1.
using
multiple followers
in
this
By
follower
figure 18-8.
it is
size.
In
necessary to use a
cam
that
size,
100%
order to get
is
thick enough
motions
MATERIALS
1
Breadboard with
legs
and clamps
1/4-in.
2 Index mounts
6 Collars
Worm
Worm
hub
in.
OD
bore hub
connecting leads
wheel
134
in.
and
overlap
OD
with
EXPERIMENT
MECHANISMS/LINKAGES
18
PROCEDURE
1.
2.
components to
worm
drive assembly
shown
Construct the
in
undamaged.
figure 18-9.
The dimensions
indicated are
only approximate.
3.
The dimensions
indicated
and lamp
in figure
18-10.
Mount the
worm
in figure
18-11.
5.
Adjust the various shaft spacings for smooth operation of the entire mechanism.
6.
as
shown
in figure
18-12.
Carefully arrange the wires so that they will not foul the mechanism.
7.
rotate.
If all
the switch mountings to insure that the cams are operating the switches.
don't blink, check your wiring and the lamps themselves.
8.
light in
cam
revolution,
then lamp
finally
Fig.
18-9
The
Worm
135
Drive Assembly
If
the lamps
still
Fig.
18-10
136
EXPERIMENT
MECHANISMS/LINKAGES
18
r&
CAM
3a
0|
St
5
0
0
CAM
MOTOR
^OTO^
^^^
^^^j
F/g. 75-
1 1
EXPERIMENT
18
MECHANISMS/LINKAGES
LAMP
ASSEMBLY
NO
"I
I
o-
COM
RED
NC
L__.
AMBER
n lN0
COM
GREEN
NC
I
COM
Fig.
9.
Draw
18-12
The
Electrical Circuit
is
in a
sequence that
step 8.
1 1
in
step
0.
13
those
in
the discussion.
on.
is
in
EXPERIMENT
MECHANISMS/LINKAGES
18
ANALYSIS GUIDE.
for
each setup.
list
and discuss at
18-13
11
of multiple
cam
timing.
PROBLEMS
1.
Make
a sketch
results
Repeat problem
3.
If
is
cam
is
followers.
rotating at 35
RPM, how
4.
5.
How
6.
The cam
80.
time?
long
If
is
in
result
if
in
problem 4
is
problem 3 were
10?
cam?
cam with
a dwell angle of
the lobes are displaced from each other by 45, what would be the overlap
its
its
lobe.)
139
follower
come on
experiment
INTRODUCTION.
In
is
drive transmis-
Ratios of
wave generator
shape
the
distorts
when
the
rotated
The
basic
(19.1)
of three parts:
flexspline,
illustrates
and circular
the parts.
where n
wave generator,
spline.
spline
Figure 19-1
spline.
The
of
is
consists
In this
HARMONIC DRIVES
19
and the
ratio will
it
be a negative quantity,
is
may
be used
harmonic
drives.
in
the
manufacturing
of
WAVE GENERATOR
FLEXSPLINE
CIRCULAR SPLINE
(N)
Fig. 19-1
in-
(n)
EXPERIMENT
MECHANISMS/LINKAGES
19
WAVE
GENERATOR
(INPUT)
Fig.
Stainless
steel
is
common
material
for
load applications.
Harmonic
WAVE GENERATORS
Hydraulic or
Pneumatic Operation
Friction
Type
Fig.
19-3
Harmonic Drive
19-2
also
come
in a
utilizing the
in
variety of configurations,
same mechanical
drives
principles.
some of the
CIRCULAR SPLINES
A Hermatically
Sealed Unit
Built Into a
Contoured Cup
Toothed Ring
Variations of
141
Harmonic Drives
Fig-
possibilities.
FLEXSPLINES
Housing
all
EXPERIMENT
MECHANISMS/LINKAGES
19
MATERIALS
Harmonic
drive with
mount
Breadboard with
Adjustable
legs
cam with
and clamps
1/4-in.
OD
Stroboscope
DC motor
Universal joint
Lamp and
2 Collars
Power supply
with
mount
holder
bore hub
PROCEDURE
1
2.
Examine
components to
damaged.
number of
4.
of the
3.
all
teeth on each.
Calculate the speed ratio from the motor to the output shaft
HARMONIC
DRIVE
LAMP
Fig. 19-4
Experimental Setup
142
the
EXPERIMENT
MECHANISMS/LINKAGES
5.
it
will
19
HA RMONIC DRIVES
in figure
19-4.
the cam.
6.
Hand
7.
8.
rotate
Using the stroboscope measure the angular velocity of the motor shaft
universal joint (oj
9.
DC power
light flashes.
by 3 to
OD)
in.
(2
(to
in.OD
N1
n
(3/4
(3/4
N2
in.
OD)
(2
in.
OD)
N1
N2
n1
Spur Gears
and the
(coj)
).
N3
-N 3
Ratio
no
nrr
n -N
3
3
Harmonic Drive
wo
Calculated
Measured
Fig.
19-5
143
w
i
+
ratio
EXPERIMENT
19
ANALYSIS GUIDE.
is
is,
accomplished.
explain
why
In the analysis of
MECHANISMS/LINKAGES
your
results
a velocity reduction
Explain the relation of the harmonic drive to the cams you have studied. (That
a harmonic drive could be considered a special cam application.) Give some ap-
PROBLEMS
the harmonic drive positive or does some slippage exist?
1.
Is
2.
Explain
3.
The input
how
is
output
4.
The
circular spline
is
circular spline.
What
is
is
Is
harmonic drive
speed
re-
ducer or increaser?
5.
6.
Determine
If
for
some
80%
is
will give a
delivering a torque of
overall efficiency?
144
reduction of 200:
50
in.-oz,
what would
NTRODUCTION TO THE
GENEVA MECHANISM
20:
experiment
INTRODUCTION. A mechanism
is
sometimes needed
in
mode
of operation.
they
may
in
three
number of
be external,
leaves
ber
is
The
180 degrees.
of the star
of
of the driven
it.
roller
of the geneva
As the
is
the
wheel
slots.
Because
geneva
slots
internal, or spherical.
number of
inter-
driving
member
member
(star
The distance turned depends on the numof slots in the star wheel. The dwell time
is
not engaged
in
velocity.
mechanism
is
the slots)
mount because
cannot be a through shaft. The
more
difficult to
DRIVER
(A)
(B)
Fig.
20-
(C)
EXPERIMENT 20
INTRODUCTION/GENEVA MECHANISM
MECHANISMS/LINKAGES
Because of the
shaft.
-|
cos
and
drive
is
An
b = Q -
SI]
cos
a.
would turn
360 degrees
a total 1/8 of
for each
4-slot
rela-
Since the
wheel
in general,
maximum
line
is
value of
180%,
a measured
then
is
(20.2)
(20.1)
where n
is
the
number of
which
slots.
is
Fig.
in
figure 20-2
20-2
is
146
the
-|
is
the length of
number of
slots.
MECHANISMS/LINKAGES
EXPERIMENT 20
INTRODUCTION/GENEVA MECHANISM
MATERIALS
Breadboard with legs and clamps 2 Bearing plates with spacers
1
Geneva wheel mechanism
2 Shaf ts 4" x 1 /4"
4 Collars
2 360 disk dials
4 Bearing mounts with bearings 1 Dial caliper. (0 - 4 in.)
2 Dial indices with mounts
1
PROCEDURE
1
2.
Inspect each
insure that
it is
undamaged.
Identify the geneva wheel and place the parts together with the roller not engaged in a
slot of the star wheel.
3.
4.
Measure the length of the crank arm of the driving mechanism and the distance between
the shafts. Record them in the data table.
Calculate the distance between the shafts using equation 20.2.
Distance between
shafts,
Measured
Calculated
Input Angle
Output Angle
Input Angle
Output Angle
(degrees)
(degrees)
(degrees)
(degrees)
65
70
10
75
15
80
25
85
29
90
30
100
35
150
40
200
45
250
50
300
55
350
60
360
Fig.
20-3
EXPERIMENT 20
INTRODUCTION/GENEVA MECHANISM
Fig.
20-4
MECHANISMS/LINKAGES
5.
6.
7.
8.
Read and record output angular displacement for each value of input given
set
in
figure 20-4.
is
dials to zero.
in
the data
table.
9.
Plot a graph of the angular displacement of the driving crank (input) versus the angular
148
MECHANISMS/LINKAGES
ANALYSIS GUIDE.
In
INTRODUCTION/GENEVA MECHANISM
EXPERIMENT 20
experiment include
output motion discussion. Explain how the velocity of the output changes as the
illustrate your explanation.
scription of the
PROBLEMS
1.
Calculate the distance between the shafts of an 8-slot geneva wheel that has a driving
crank length of
2.
How
inch.
does the ratio of input and output velocity vary with the number of slots of
What
some of the
are
in
driving geneva
The
external geneva wheel has a greater dwell than drive time and the opposite
lationship
is
re-
How many
driven
6.
What
7.
What
a de-
degrees does a 10-slot star wheel turn during each revolution of the
member?
is
is
geneva mechanism?
149
INTRODUCTION.
mechanical devices.
In
DISCUSSION. The
the driving
driven
is
member
is
member
part A.
the operation of
of
will
the
in
this experiment we
though there
geneva mechanism
21
experiment
As the
a-j
driver
a-\
cos a
effective
and
roller
b2 = q
is
9-2
= #1
m2
2m
cos
" ^1 cos
01
shafts, q,
is
where
m=
b
180'
and
n = No. of Slots
sin
The input
Fig.
21-1
150
force
is
member and
C E.
the driving
the
diameter,
The
fixed.
is
lever
delivered as a force
arm length
remains
-j
E.
to
its
m2
~W
m=
sin
2m
cos
J
sin
45"0
is
As the
force.
C and
roller
from C to D, the
lever
is
a
1
acting to
grees.
mechanical
component
maximum
providing the
longest,
EXPERIMENT 21
MECHANISMS/LINKAGES
414
C and
is
D.
The
is
force
whereas 2 at 45 (points C to E)
If
the
lever
is
member
decreases
in
at
points
C and E
is
at its
roller
arc
from C to
MATERIALS
1
Breadboard with
360 disk
legs
and clamps
dial
mount
4 Collars
2 Spring balances
2 Spring balance posts with clamps
2 Lever arms 2
Fig.
21-2
1/4-in.
151
in.
bore hubs
long with
E.
EXPERIMENT 21
MECHANISMS/LINKAGES
PROCEDURE
1
2.
Examine
all
in figure 21-3.
balances loose.
3.
is
wheel from
the bottom.
4.
5.
set
arms are
lever
the
dial
vertical
are
first
angle listed
in
8.
when
9.
10.
in this
remain
in
released.
ratio.
Set up the next angle listed on the data table and repeat steps 7 through 10.
until all of the data has
been recorded.
I
I
fi
l-[
P^
[-
"
LEVVER ARM
POINT ING UP
OUTPUT FORCE
INPUT FORCE
CALIBRATED DIAL
Fig.
21-3
Experimental Setup
152
Proceed
EXPERIMENT 21
MECHANISMS/LINKAGES
Angle
F
Ft (oz)
(degrees)
2 (oz)
Ratio
oU
JO
/in
45
RD
RR
oo
ou
DO
70
75
Fig.
ANALYSIS GUIDE.
to the input angle.
sented
in
27-4
makes with
Explain
why
respect
the results turned out as they did by extending the ideas pre-
PROBLEMS
1.
90 degrees
for a four-slot
geneva wheel.
2.
at 22.5
and 45 for a
six-slot
geneva
wheel.
3.
What
is
eight-slot geneva
4.
If
row of holes
first
engage
in
the slot of an
wheel mechanism?
is
how
machine
If
a four-slot geneva
mechanism
is
RPM
related?
153
How
are the
experiment
INTRODUCTION. A
sliding link.
In this
of mechanism.
DISCUSSION. A
couple
parallel shafts
output motion.
be used to
and produce predictable
sliding-link
mechanism.
From
these
we can
sketches
observe
several
must be
illustrates that
the
shortest link.
As the input
link
C
1
rotates counter-
*2-0-1
while the
maximum
Notice from the figure that the limiting positions occur when the angle between
and
*2
90
is
degrees.
At
this point
we
length
2 must be
see that
S =
J2
J2
2 t0 %2>
2 must be
2 -fi 2
or
0
where
link
is
moves
= 2 sin" -J1
(22.1)
S=( 0 +
1>-<V
fi
1>
Notice
is
variable.
link,
o-
Fig.
154
22-
Basic Sliding-Link
Mechanism
MECHANISMS/LINKAGES
Fig.
22-2
Pf
TT7
(A)
SLIDER
J
,
_e 2"
(B)
Fig.
22-3
Link Lengths
so
MECHANISMS/LINKAGES
we have
S = 2C,
as the
(22.2)
mechanism
can
the
link
link.
output.
we change
ure 22-4.
that
is
when
in a
physically
output follows
it
limited.
"bottom"
If
SL^
is,
it
applica-
must not
the slider
be
will
manner
mal operation.
That
is,
tion, the
if
around.
the limits
In
some double-rocker
appli-
lie
stroke range.
//
/
,'/
Fig.
22-4
<
MATERIALS
1
Breadboard with
legs
and clamps
Slotted lever 2
Flat head
in.
2 Disk dials
Steel rule 6
Lever arm
in.
hub
156
in.
long
in.
in.
OD
in.
MECHANISMS/LINKAGES
PROCEDURE
components to
1.
Inspect your
2.
3.
in
figure 22-5.
undamaged.
Be sure the
slider
in line vertically.
^2- anc
^ for
'
tnis
is
de-
arms pointing
4.
With both
5.
lever
Continue for at
6.
least
shaft as
board
in
upward,
10-degree steps and record both input angle and output angle.
rotation.
figure 22-6.
The output
on the input
dial
lever
slots.
7.
Repeat steps
8.
Compute
9.
From your
10.
dial
straight
3, 4,
and
5.
Record
OUTPUT
DIAL
INPUT DIAL
Fig.
22-5
The
First
Experimental Mechanism
157
EXPERIMENT 22
SLIDING-LINK MECHANISM
MECHANISMS/LINKAGES
SLOTTED LEVER
Fig.
ANALYSIS GUIDE.
22-6
In analyzing
in
Then
results
each case.
How well
0"
Consider also
how
well your
agree?
PROBLEMS
1.
2.
certain sliding-link
If
in
mechanism.
link that
is
14
in,
long.
How
long
is
SL-
problem 2 were 18
in.
long,
result?
4.
5.
in
link in
problem 2 were 12
in.
problem 3 swing?
long,
result?
6.
7.
in
link in
problem 5 swing?
158
EXPERIMENT 22
MECHANISMS/LINKAGES
First
*0
SLI DING-LINK
MECHANISM
Second Setup
Setup
0"
=
=
S'
0' =
C9 =
2
S
S'
0" =
=
=
Output
Input 0j
0O
Input 0j
First
Second Setup
Setup
Fig.
22-7
159
0O
(degrees)
(degrees)
(degrees)
(degrees)
Output
experiment
-i
produce
linear
in practical applications.
example of
II
type of motion.
In this
quick return.
DISCUSSION. The
shown in figure 23-1
similar
is
operating
in a
clockwise
(])
direction,
load
output
the
As
must
the
than
in
link
travel
it
stroke
we
speed
can
Be-
(2)
and
through angle
6,
The
in
BDC. We
the
call
more
when
swing of %2-
it
does
(d)
and
23-1
Figure
9.2
C-j
are perpendicular,
advance
iting position
Fig.
link.
tions occur
than
output
by the
clearly.
limited
is
stroke
some
rotating at
through
is
returns to
If
the
from A' to
(a)
stroke.
manner
to a four-bar crank-rocker.
input link
the
mechanism
sliding-link
is
160
we
and
can observe
at the lim-
Fig.
2. =
which
is
23-2
We
C-|
Wc:
rotates
From
this equation
we can
solve for
in
the
form
mechanism.
figure 23-2
advance stroke
stroke
from
s,r
(23.1)
From
lengths by observing
-a
II
90 _
9U
6 = 180
EXPERIMENT 23
IV1ECAHNSI MS/LINKAGES
we
E-j
is
As
by
= 360
we may
write
- 9
a result
we
0=
have
180 +^sin"
(23.3)
and
or
6=
for the
180 + a
(23.2)
6 = 180
C-j
161
-ysin"
(23.4)
ft)
EXPERIMENT 23
Then the
ratio of these
two
0/0
angles
A'
is
II
MECHANISMS/LINKAGES
is
is
speed-of-return:
equal to J^-
'
tms case #2
is
180 +
sin"
From
such
(23.5)
analytical
d
1
180
sin
S =
We
In
link
but
we have
sin-j
sm
this
is
nor-
is
nor-
so
a=
eT
we have
less
Now
put
mally
and
J>2
let's
(23.6)
Figure 23-3
For simplicity
let's
is
This
simpler
When
is
will
when
line
perpendicular to the
it is
S can have.
the case.
perpendicular to
Actually this
If
we
is
the
maximum
value that
line of
When
is
stroke will be at
to
its
minimum
value.
\
90
LOAD
23-3
+ TDC
MECHANISMS/LINKAGES
EXPERIMENT 23
MATERIALS
Breadboard with
legs
and clamps
in.
OD
mount
2 Collars
Lever arm
Rigid coupling
Slotted lever 2
Lever arm 2
Flat head
in.
in.
in.
hub
thickness
h
in.
Wire loop
link
in.
long
appendix A.
PROCEDURE
1
2.
Inspect your
components to
undamaged.
in figure
fit.
II
EXPERIMENT 23
MECHANISMS/LINKAGES
II
n
\
L~1/ /
<
>
Fig.
Rotate the
3.
freely.
23-4(b)
dial several
if
is
necessary.
Rotate the mechanism until the crank lever (i^) and the slotted lever both point straight
upward. Now adjust the 2-inch lever that drives the load so that it points in the same
4.
6.
7.
at
TDC,
it
on the
degrees for
position
in
dial,
9.
is
full dial
revolution
revolution
full dial
in
link in the
mechanism
13.
From your
14.
(], C Q , c
and
fi
2 )-
(Notice
(S)
it is
pointing
in
the direction at 90 to
12.
in
(j3)
of the load.
1 1
defined
angle
lever.)
that of step 5.
dial
in
10.
necessary.
if
one
8.
its
8.
data determine
j3'
and
the discussion.)
164
X'.
first
(0 and 0
are
MECHANISMS/LINKAGES
Clockwise
EXPERIMENT 23
Clockwise
Counterclockwise
F/g.
23-5
X'
777e
165
Data Table
0/0
Counterclockwise
X'
II
EXPERIMENT 23
ANALYSIS GUIDE.
X.
On
In
MECHANISMS/LINKAGES
II
For the
first
TDC
to
BDC
and from
BDC
to
j3
TDC,
Why
were the
results different
How do
lever?
PROBLEMS
1.
shown
in
figure 23-1
dimensions:
= 8 inches
2 = 18 inches
Will such a
2.
If
and
mechanism work
in
problem
like
the one
mechanism work
satisfactorily?
1
in
Q
c
were increased
4.
5.
= 28 inches
figure 23-1 ?
3.
= 6 inches
in
length by 6 inches,
problem 2?
mechanism.
166
would the
problem 2?
/ LL
experiment
INTRODUCTION.
experiment we will
investigate
for
In this
computing
alge-
braic functions.
in
comput-
ing
different things.
may be
or angle
With mechanisms,
In
is
2=
Another
computing device.
ratio
else.
a simple
is
x + y
dis-
used to represent
by
a distance
is
related to x and y
work or power.
is
per
The sum, 2,
type of
Wp
RACK
is
and
gear, respec-
pinion gives us
C0
'
The
ratio of
gear
and pinion
velocity
is
-N/n
is
N
n
co
g
set; thus,
velocity.
It
less
than one
in
Fig.
167
24- 1
Mechanical
Summing Mechanism
EXPERIMENT 24
MECHANISMS/LINKAGES
MATERIALS
Breadboard with
legs
and clamps
2 Dial indices
1/4-in.
in.
OD
with
bore hub
Spring balance
Pulley approx.
OD
in.
hub
long
PROCEDURE
1
2.
Inspect
all
shown
scales
in figure
in
breadboard.
:r
r:
11
10
o
2
10
14
16
12
3.
^
^
Fig.
24-2
Calibrated x
and y
Scales
12
14
16
as
shown
in
figure 24-3.
The pulley
is
used
Remove
the master link from the chain and put the link in a safe place so that
it
doesn't
get lost.
5.
in
figure 24-4.
Be sure to use
a flat
the chain
measure
7.
is
taut.
in this
The ounce
mounts
so that zero
is
indicated
on each when
experiment.
scale)
in
Make
all
whole number.
8.
Remove
link.
168
EXPERIMENT 24
MECHANISMS/LINKAGES
PULLEY
Fig.
24-3
CHAIN
SPROCKET
SCALES
INDEX
PULLEY
NJ
=2?
Fig.
tscgr
24-4(a)
~To
4
ill
ill
ill
10
\Q
oi
To
((50
~oL_fo"
lYp
>
1
1
169
''I
16
''
to
"o)
24-4 (b)
14
12
''
VTH.I
Fig.
10
12
14
16
EXPERIMENT 24
X
A
19
1 ft
I
7/
c
n
u
12
12
11
Fig.
Discuss
z.
and
2.
0
0
(z)
x, y
output
tween
MECHANISMS/LINKAGES
24-5
the results of the data table and determine the relationship be-
some of the
What
mechanism could
satisfy?
PROBLEMS
1.
Suppose that we misalign the x and y scales in the experimental mechanism an inch
or so by sliding one to the left and the other to the right in figure 24-4. If the three
pointers were zeroed on the scales,
subsequent data?
2.
Compare the
calibration of the x
How do
they compare?
3.
Explain
why
4.
the scale
is
and y
why
z scale.
Explain
A+
6.
16 = 25
this experiment.
lever
in
such a
way
as to allow
you
Explain
in detail
170
six.
are
COMPUTING MECHANISMS
25
experiment
(TRIG)
INTRODUCTION. Computations
experiment we
In this
will
puting mechanisms.
to
solve
The
relationship
may
between
involve sine,
involve
secant,
cosecant or cotangent
in
the
first
three
is
is
not con-
added.
when
its
output
measure
is
chosen angle.
put
is
In
other words,
when
the out-
from
a trig table.
sine, co-
figure 25-1.
EXPERIMENT 25
COMPUTING MECHANISMS
MECHANISMS/LINKAGES
(TRIG)
(C) y =
Fig.
TAN
disk
the sine).
dis-
It is
called a
MAX.
MID.
MAX
MIN.
MID
n/2
MIN
2n
FOLLOWER DISPLACEMENT
25-2
Sine
Cam Used as a
172
Function Generator
sine or cosine
can
We
EXPERIMENT 25
IVIECAHN ISMS/LINKAGES
function because of
shape.
its
start at
and
is
-|
fixed at
distances traveled
25-3
Fig.
is
make
it
x,
it
shown
is
a variable.
The
in
as a fixed
part
relationships
a scale factor of
could
sin
and
it is
2.8 inches,
Then,
inch,
if
radar
shows that
is
measured to be one
we have
a flying target
Precision
levels of
in figure
is
.0
scale factor
is
posi-
shown
scale factor
a.
1400 yards
(25.1)
sin
receiver
=*
the distance y
Height =
As an
we have
2.8(500 yds)
cos a
x = i cos a
500
tance,
between
and y are
y = #i
inch =
25-4. Choosing
tion
is
give high
TARGET
^0
HEIGHT
20
RADAR
SET
GROUND RANGE
77777M7777777777777777777M777777777777P777?
Fig.
25-4
Example Problem
173
EXPERIMENT 25
MECHANISMS/LINKAGES
MATERIALS
Breadboard with
*1
Wire loop
link
legs
and clamps
approx. 3
in.
Steel rule 6
in.
3 Collars
long
long
mount
Lever arm,
in.
wall thickness
Rigid coupling
Slotted lever, 2
1/4
in.
long, with
bore hub
in.
PROCEDURE
1
2.
3.
in figure
25-5.
Begin with the crank arm pointing up and the dial at 0. Adjust the ruler to measure the
4.
is
in the
Record the displacement of the follower for each 20 degrees of rotation of the crank arm
from 0 to 360 (call displacements left of the starting point a negative quantity).
0
0
Fig.
25-5
Experimental Setup
174
EXPERIMENT 25
MECHANISMS/LINKAGES
5.
6.
Fig.
25-6
in figure
25-6.
and adjust
Experimental Setup
175
dial to read
II
zero degrees.
EXPERIMENT 25
Fig.
25-5
Crank Angle a
in
MECHANISMS/LINKAGES
Fig.
Lever Angle
Displacement
degrees
in
inches
in
a.
25-6
Displacement
degrees
inches
20
1/8
40
1/4
60
3/8
80
1/2
100
5/8
120
3/4
140
7/8
160
180
1-1/8
200
- 1/8
220
- 1/4
240
-3/8
260
- 1/2
280
-5/8
300
-3/4
320
-7/8
340
360
- 1-1/4
Fig.
7.
in
25-7
Place the ruler so that one edge of the rigid coupling indicates three inches and call this
zero displacement.
displacement equally
in
both directions.
8.
9.
on separate
listed in
sets of axes
176
MECHANISMS/LINKAGES
ANALYSIS GUIDE.
EXPERIMENT 25
your data explain the type of curve you got in each case.
Explain how you know the function generated to be as you stated. Discuss any difficulties you
encountered
in
In analyzing
the experiment.
PROBLEMS
1.
The mechanism of
where
is
is
maximum
error (e) of
maximum
error
Explain
how you
could use the experimental setup of figure 25-4 to get the cosine
function.
3.
a and y
for figure
25-4.
4.
Write the equation relating the displacement, y, and the angle, a, for figure 25-5.
5.
Look
90.
at the
experimental setup
What would
in figure
25-5.
lever to
6.
Did your results of problem five agree with equation 25.1? Explain your reply.
7.
Knowing the
vertical
you knew the vertical component and hypotenuse of a right triangle, which of
the mechanisms you constructed would produce data proportional to the angle?
If
177
26
experimen
INTRODUCTION.
rates or derivatives.
is
change
changing
40 mph to 10 mpg
change
rate of
at
A mpg
^v
= -0.6
An
in relation
if
instantaneous rate
in
AV
or
=-^ =
average rate
dS
50 mph for
mph
d.
at
hour
hr./gal
the
-12
20
22
10
60-40
in
at
mileage,
speed,
in
is
the
average rate =
how
from 22 mpg
the change
is
tells us
For example,
to another quantity.
will
quantities.
rate of
experiment we
this
In
DISCUSSION. A
mpg
time
intervals
while
for
we
talk
about
derivative
we
considered.
a measurable out-
Many
are
rates
compared to time.
here to a point
Your average
would be
50 miles awav
is
of
rate
quantities
in
are
example
three hours.
in
change of
AS = 150
mi. =
"Tup
your average
rate of
position
It
cn
50 mph
50 miles each
isn't difficult
to perceive
averaging 50
is
called
differentiators.
good
One method
shown
of doing this
is
in figure
The cable from the wheel turns a permanent magnet inside a coil so that an
electrical current is generated and measured
by the current meter. The faster the car goes,
the faster the magnet turns, inducing more
change so on the
time or doing 70
often
26-1.
average rate
This
changes
mph
and
still
then calibrated
mph.
in
mph.
or meter deflection
is
quantity that
is
pro-
left
this trip
It
a differentiator.
speed so
178
is
it is
EXPERIMENT 26
MECHANISMS/LINKAGES
COIL
SPEEDOMETER
CABLE
KB
3-
CURRENT
METER
MAGNET
SHAFT ROTATION
TAKEN FROM WHEEL
Fig.
26-1
results.
Speedometer
Solving for
work
gives us
The
the weights
W=
are
Pt
move
Now
let's
As an introductory example
one horsepower
words,
power
If
is
is
let's recall
we want
that
P =
to
figure
tigate
time
physical quantities.
graphical
relationship
Y777W777
POINTER
ROTATING
SHAFT
Fig.
26-2
179
26-3 to be
work _
the
in
let's
inves-
of
some
MECHANISMS/LINKAGES
EXPERIMENT 26
r
LU
g
O
CL
25-3
The computation
(2) (1
power curve
Now,
x width).
if
no power
is
is
produces only
method
and
is
from 0 to
The
-r
(t)dt
(time axis)
unit as before
how you
is
not
it
means
interest here
1)
in
the area, so
W = Pt =
The
area
(3) (1)
= 3 units
W=
Pt=
(2) (5)
The
total
is
is
-r
w (2-3)
-r
W (3-5)
=p
-r
(t)dt
= 0
f(t)dt= 3
units.
the total
area:
Wt = W v2 + W 2 _3 + W3.4 + W 4 5 =
w (1-2)
is
= 10 units
f(t)dt
= 10
f (t)dt
= 6
2 + 0+ 3
+ 10 + 6 = 21 units
180
For
areas.
1
written
W (0-1
calculating
for
the integral
f (t)
from 2 to 3 {At =
example,
length
expended
is
curve
of a rectangle
(area
When
the
are
is
as
relatively
is
area to be
= 2 units of work
long
rectangles.
is
W = Pt =
so
easy
of areas
solve
terms of
MECHANISMS/LINKAGES
EXPERIMENT 26
Fig.
Thus,
integrator,
when we say
we mean that it
26-4
device
is
an
wave
is
0.636
of the function:
Let's carry the
When we
definite integral
from zero to
curve
we
is
0.636,
sin
ir
x dx = - cos x + k
of a half sine
Here k
are saying that the area
and
is
shifts the
the x, y axes.
written
In
the
its
way
f (x)dx
=J
sin
x dx =
the x axis
0.(
.636
cases
we
line.
specific value.
interested in the
and
some
in
In
these cases
bottom of the
integral
we
between
input,
experiment.
coj,
are not
at the top
curve.
Rdco:
For
^^ji OUTPUT, Wo
vm
FRICTION WHEEL
Fig.
The
output,
2&5
Mechanical Integrator
181
co
we
relationship
Q and
is
MECHANISMS/LINKAGES
EXPERIMENT 26
MATERIALS
Breadboard with
legs
and clamps
Pulley approximately
1/4
DC motor 28 VDC
Pulley approximately 2
1/4
in.
in.
OD
in.
Disk dial
Steel rule 6
in.
with
2 Collars
bore hub
Flexible coupling
Stroboscope
DC power
O-ring approximately
OD
long
in.
bore hub
with
supply (0-40V)
1X1/8
PROCEDURE
1
Inspect your
components to
undamaged.
2.
in figure 26-6.
3.
pulleys.
4.
Mount the
5.
shown
quite tightly.
It
should
in
figure 26-7.
fit
BEARING PLATE
LARGE
PULLEY
COLLAR
INPUT DIAL
INPUT
Fig.
26-6
SHAFT
MECHANISMS/LINKAGES
EXPERIMENT 26
REFERENCE
DIRECTION
POSITION
MOTOR
Fig.
26-7
Experimental Setup
II
Top View
6.
7.
The forces
is
tend to move the rubber friction wheel away from the center of the
drive wheel so the collar riding against the shaft hanger can serve to adjust the position
will
and
9.
10.
will
Set the
Move
dial indicates
be called zero.
volts
dial
RPM.
(in 1/64 inches) in the data table (so that the friction
wheel moves toward the center of the drive wheel) and reset the collar against the shaft
hanger.
11.
Strobe the output and repeat step 10 for each position indicated
input
is
made to
in
The
sine curve.
12.
Your data
on the graph
wave provided.
183
as the sine
EXPERIMENT 26
Reading
Distance
6/64
4A
(at
in.
in.
/ /o4 in.
zziw
in.
26/64
in.
31/64
in.
38/64
in.
first
26-8
In analyzing
RPM
net point)
Z/D4
Fig.
ANALYSIS GUIDE.
Output
Reference
l\IO.
13.
From
MECHANISMS/LINKAGES
your
if
how
results
from
this
data and discuss the relationship that exists between the input and output.
in a
Explain
computing machine.
in
your own
Discuss any
a.
PROBLEMS
1.
After
integrating a
/dx=x
k =
and k =
2.
and
k, plot
-- 4
3
Fig.
26-9
the
Problem Axes
184
be sufficient.
MECHANISMS/LINKAGES
EXPERIMENT 26
EXPERIMENT 26
2.
The
distance
from the
friction
MECHANISMS/LINKAGES
at a constant velocity.
is
by
varied
This distance
is
yxdx=-y+k
Sketch the output waveshape.
3.
If
a flywheel changes
its
velocity
load
full
is
moved along
length of
100
feet.
in
from 10
RPM
RPM
to
is
in
is
per second?
What
RPM
40
it
in feet
per second.
5.
Sketch
setup
6.
in
186
RATCHET MECHANISMS
27
experiment
motion
amine some
is
may be
In this
to use a ratchet.
Others
re-
One method
experiment we will ex-
continuous.
an
nature, or to prevent a
intermittent
shaft
And,
as a
PAWL
simplest form.
In this
that direction.
its
in
mechanism
when the
When
move-
counterclockwise
lever
the lever
is
is
moved
di-
Fig.
lever
is
given an
In
other words,
up and down
If the
be secured to a stationary member.
square
in
were
teeth of the ratchet wheel
wheel
will
when the
oscillatory
be given an
mo-
in
action.
27-2.
Fig.
27-2
ger
either direction.
wheels are
inter-
To
wheel rotation.
in
returned to
slide
27-
also
used
This approach
Here, the pawl
to
is
is in
provide
reversing
illustrated in figure
187
Square-toothed ratchet
is
free to
EXPERIMENT 27
move but is held
amount
pawl
is
lifted
ratchet
by
When
the
flat
a small
driving face
is
wheel
of spring force.
MECHANISMS/LINKAGES
placing a
number of pawls
by side and
proportioning their lengths according to the
pitch of the teeth on the ratchet wheel,
a
side
motion
in
the opposite
di-
rection.
number of indexing
far,
the
num-
One way
ratchet wheel
is
is
For
of a
Fig.
27-3
Fig.
27-4
frictional type.
positive
In this
The
is
the
the
direct,
intermittent
in
the pawl
in
smooth
figure 27-4
moved
surface.
in
is
is
it.
Friction Ratchet
The
The
such that
encouraged.
move
188
no
If
rather,
motion
is
is
motion
type there
will
if
the
in
tend
fric-
tion ratchet
is
positive-action
substantially the
ratchet
EXPERIMEN T 27
MECHANISMS/LINKAGES
same
as the
in
figure
is illus-
illustrated
ROLLERS
27-1.
sometimes
are placed
balls,
Rollers, or
one
in
move
RATCHET
WHEEL
and
When
To
in-
automatically pulled
in
is
Fig.
is
important.
One way
the ratchet
to
is
to
make
initial
initial
lie
contact
The
CENTER OF RATCHET
27-6
circle.
line
Fig.
on the same
line of
all
normal to the
the system
27-5
189
is
EXPERIMENT 27
In
used to
RA TCHET MECHANISMS
MECHANISMS/LINKAGES
The
tooth or
rack
or linear.
teeth, engages
one and
pulls
it
wheel
ratchet
motion
is,
The
many
teeth.
may have
In
use a rack
a single
some instances a
The intermittent
to the right
as in figure 27-7
linear
in
resulting
of course,
is
inter-
mittent.
of
its
travel.
DRIVE
PAWL
CRANK
Fig.
27-7
MATERIALS
Breadboard with
legs
and clamps
2 Lever arms
in.
bore hubs
in.
OD
2 Disk
Rack
1/4
in.
in.
in.
OD
with
bore hub
in.
OD
PROCEDURE
1
2.
Mount the
1/2
in.
components to
insure that
in.
190
it is
shown
long.
undamaged.
in figure
27-8.
EXPERIMEN T 27
MECHANISMS/LINKAGES
0
INPUT DIAL
3 1/2"-
Fig.
3.
on the drawing
C'
4.
27-8
in
figure 27-8.
o''
Adjust the height of the rocker shaft and the spacing between the bearing plate assembly
and crank shaft so that the rack properly meshes with the gear when both
vertically
5.
6.
link length
levers point
downward.
output
dial so that
it
is
grommet
plate.
7.
dial readings at
10.
20-degree steps.
Continue
until the
Record both
output
degrees.
each step.
in
dial
in
step 5.
is
firmly
plate.
On
graph paper plot the output positions versus the input positions for both sets of data.
191
EXPERIMENT 27
RA TCHET MECHANISMS
MECHANISMS/LINKAGES
Clockwise Rotation
Input
Output
motion?
Input
*o
Fig.
tions of a ratchet.
1"
ANALYSIS GUIDE.
Counterclockwise Rotation
27-9
In analyzing this
Output
How
192
in
EXPERIMENT 27
MECHANISMS/LINKAGES
RA TCHET MECHANISMS
PROBLEMS
1.
and
a ratchet
mechanism
mechanism.
2.
What
are the advantages of the friction type ratchet over the positive action type?
3.
Draw
4.
amount
in
crank rocker.
193
/ >C
experiment
INTRODUCTION.
allowing rotation
In
in
many
it is
In this
experiment we
friction ratchet
is
will
composed
In this
examine
that
a simple
type of
we know
the value
freely
In
is
In
some
cases no spring
component
of the
is
the wheel
to turn,
it
is
If
itself.
moments
)
-j
angle.
exerted
arising
(f
a ratchet.
this value,
force
example of such
in
DISCUSSION. A
applications
FRICTION RATCHETS
That
is,
must impart
acting
from
is
figure 28-2,
Sf
-fi 1 f
(28.1)
the wheel.
where both
In
is
f-j
pawl arm.
under
this
less
directly
Now
on
type of condition.
purposes of analysis
in
we
will
be interested
pawl arm
For
let's
let's
assume
is
28-1
Friction Ratchet
194
in.
the
Jmrn
Fig.
lift
The
relationship
EXPERIMENT 28
MECHANISMS/LINKAGES
Fig.
28-2
is
a = 180
F =
=cos a
we must
we observe
(28.3)
-|3
(28.2)
So,
To
FRICTION RA TCHETS
ar| d
first deter-
F.
To do
^ anc
'
tne
we know
aw of sines
if
|
fJ,
we can
to the triangle
we nave
a + 0+ 180 = 360
find a.
sin
R
j0
sin
Applying
in figure
28-3
MECHANISMS/LINKAGES
FRICTION RA TCHETS
EXPERIMENT 28
or
sin
where R
is
(3
=-p
sin
With
this
is
is
the center
FR =
the angle
line
equation (28.4)
we can determine
Finally, if we know
(28.4)
SRf 1
#1 cos
28.1
shaft
at the
wheel
is
and 28.2
where
Sfi
r is
SRfi
=- =
F;
&i
(28.5)
the wheel
If
(28.7)
cos a
in
figure 28-1
which
(28.6)
rendering
#1 cos
of course,
j3.
F =
is,
wheel opposing
is
attempts to
forced down-
ward.
arm
its
clockwise rotation.
MATERIALS
OD, 1/16
Washer 1/4
in.
O-ring
average diameter
2 Spring balances
4 Collars
Waxed
Protractor
Steel rule
Dial caliper
Breadboard with
legs
and clamps
Pulley approximately 2
1/4-in.
in.
OD
with
bore hub
2 Lever arms
in.
bore hubs
in.
in.
approximately 18
string
ID, 1/2
in.
long
in.
in.
thick
long
in.
PROCEDURE
1
Inspect
all
of your
components to
and O-ring
shown
28-4.
2.
Assemble the
3.
4.
levers
as
undamaged.
in figure
28-5.
is
vertical
when the
O-ring
is
in
firm
5.
Tie a loop
6.
Wind the string tightly in a single layer onto the pulley shaft so that the loop is accessible.
The string must be wound on the shaft in the direction that will cause the pulley to turn
forcing the pawl arm away when the loop end of the string is pulled.
7.
in
string.
it is
196
MECHANISMS/LINKAGES
EXPERIMENT 28
NOTE:
Fig.
8.
9.
Smoothly
WASHER
O-RING
Fig.
FRICTION RA TCHETS
28-5
28-4
<S>
pull
Wrap the
string
in
it
smooth enough.
197
You may
have to
1 1
Now
MECHANISMS/LINKAGES
FRICTION RA TCHETS
EXPERIMENT 28
repeat step 9.
for pawl forces of 8, 12, and 16 ounces.
12.
13.
1 1
line
listed
line
Pulley
Pulley
Pawl
Force
Force
Force
Forward
Backward
is
centers.)
4 oz
8 oz
12 oz
16 oz
Fig.
ANALYSIS GUIDE.
In analyzing
28-6
your
results
from
this
main points:
1.
pawl force?
2.
a difference
Based on your answer to these points discuss the effectiveness of the experimental ratchet.
PROBLEMS
1.
Using your ratchet parameters from step 13 and equation 28.4, compute the angle
2.
Make
3.
4.
a sketch of the
mechanism
a and
label
Fj
it
and
label
on your
and
label
and
p.
j3.
sketch.
s,
R, fi,
r, -|
on your
Compare
well
Fj
do they agree?
198
in
How
experiment
INTRODUCTION.
such a
way
DISCUSSION.
anism shown
moment
in
is
we
In this
forces,
respectively,
f-j
has
its
in
and
equal
in
to
links ^1
and
each
other
at the
load
(point B),
we
two components.
see
It
in
are
will
for
and
(-|
experiment we
Looking
figure 29-2.
magnitude.
mech-
we assume
Notice that
sion
in figure 29-1.
shown
29
that a small force at the joint produces a large force at the ends. Toggles are used in
a variety of presses,
f/2
^2'
in
-= tan
or
applied
-p-
= 2 tan
\\\\\\\\\\\\\^
(A)
FORCES AT POINT A
Fig.
29-2
(B)
FORCES AT POINT B
199
(29.1)
where
line
is
MECHANISMS/LINKAGES
TOGGLE LINKAGES
EXPERIMENT 29
many
In
BC.
applications the
link lengths
requires that
tan0 =
sin
we
is
and
are
Notice that
2
the vertical force components at points
figure 29-5.
that
recall
we can draw
some-
In this case
f-j
in
now
C and
B, respectively.
cos
If
the
the mechanism
sum
of fi and
is
equilibrium, then
in
cos
1+ f 2
or
Also, the
f
cos@=
2 F sin
(29.2)
moments
acting
must be equal so
as an equivalent expression.
= af
bf
-J
we
If
approximately as shown
that as
in figure 29-3.
on points C and B
is
Notice
Now, if f is a finite
(non-zero) force, then F becomes extremely
In theory at least, F would be infinite
large.
0.
However,
idealistic
condition
at
in
in a practical case,
is
in
the links,
(29.3)
such an
Using the
-^ = tan@
12
Fig.
29-3
can solve
etc.
10
moment equation we
14
IN
16
DEGREES
f/F Versus
200
18
20
22
24
26
28
30
Fig.
f
1
=-j-
TOGGLE LINKAGES
EXPERIMENT 29
MECHANISMS/LINKAGES
29-4
^2
equation
will give us
j=
2=
(1
+-^)tan
(29.4)
or
this
In
type of
mechanism,
when 0
2 n+f)=f
and
which can be solved for ^2 n terms of
'
is
mechanism. However, as
2"
+a/b
(A)
FORCES AT POINTS A,
Fig.
29-5
B,
&C
#2
ar| d
(B)
201
is
~ Ci
FORCES AT POINT B
we can approximate
So,
MECHANISMS/LINKAGES
EXPERIMENT 29
0 and
of tan
use the
form
X2
tan0
!<1
tan
(29.5)
in
actual practice.
MATERIALS
6
long
Steel rule
Protractor
Breadboard with
in.
1/4
and clamps
legs
*See Appendix
OD with
bore hub
in.
Spacer No.
1/32
in.
Rigid coupling
*1
in.
6x1/8
with
wall thickness
5 Collars
2 Pieces of string approx. 6
in.
long
PROCEDURE
1
Inspect
all
of your
components to
undamaged.
2.
3.
4.
Check to
5.
6.
7.
used
in
input force
The
is 1
to
when no
it
force
its
reads zero.
is
applied.
post.
Then
carefully
move
ounce.
that:
joint vertically.
(b)
link lengths
29-6.
Check to be sure
(a)
in figure
approaches the
string vertical.
The point of attachment of the wire link to the slider block must be as
shown in figure 29-7. You may have to hold the screw in this position
while taking your force and angle readings.
(c)
Both spring balances must be horizontal and they must not touch any
part of the mechanism.
202
it
back
MECHANISMS/LINKAGES
EXPERIMENT 29
Q.
J~l
<2>
CO
TOGGLE
JOINT
U
Fig.
29-6b
'
i
LJ
LINK
(B)
29-7
CORRECT
Fig.
LINK
(A)
TOGGLE LINKAGES
Slider
203
INCORRECT
EXPERIMENT 29
8.
9.
10.
in step
(f)
and output
link
and the
in
6.
must be exercised
1 1
MECHANISMS/LINKAGES
TOGGLE LINKAGES
2, 3, 4, 5, 6,
care
2.
3.
On
on
*1f
(ounces)
f/F
1V
Fig.
ANALYSIS GUIDE.
29-8
777e
Data Table
List
204
EXPERIMENT 29
MECHANISMS/LINKAGES
TOGGLE LINKAGES
PROBLEMS
1
2.
3.
to
accommodate nuts of
degrees.
4.
A certain
If
various sizes.
toggle
.0
what
links of
-|
is
=8
in.
and
^ = 5 in
Wnat
is
the
do you observe?
6.
at
205
mechanism.
What
difference,
if
any,
30
experiment
TOGGLE LA TCHING
INTRODUCTION. Mechanisms
practical applications.
experiment
this
In
we
shall
examine
a simple
example of
many
a latching
mechanism.
DISCUSSION. Toggle
quently
Figure
in
this
used
to
latch
shows
30-1
way.
mechanisms
load
Combining the
fre-
and
30.2 gives us
position.
in
mechanism
In this
-|
and 2
(S.,
+ s2
links with
are
tan
S2
(30.3)
port link.
as
When
The
latched.
is
in figure 30-1,
the
In actual practice
there will be
is
If
arms
on the load
as well as
of figure 30-1
force.
we can determine
In the case
the effective
The
load support
is
a class-two lever
and
on the
act-
must be equal
lever
F(St
+S 2
= F'(S
2
or
F'= F
Then
if
(30.1)
is
relatively
in
equilibrium
,l + 2
tan
is
CENTER LINE
(30.2)
Fig.
206
30-
Latching Toggle
TOGGLE LA TCHING
EXPERIMENT 30
MECHANISMS/LINKAGES
if
when
small
-|
the mechanism
line
is
on the
resting
is
stop.
A
Toggle mechanisms of this type are used
in a variety
Figure
of practical applications.
TOGGLE STOP
used
jaw
in a pair
is,
in
of pliers.
lower
used to change
Fig.
It
is
30-2
is
if
f'-f^
screw
pivot,
will
It
in
left
end of
fi-j
is
not
be
(30.4)
a force analysis
is
one
only valid
at
setting.
ADJUSTING
SCREW
JAWS
BELL CRANK
Fig.
30-3
MATERIALS
Steel rule 6
in.
long
Protractor
in.
OD
with
bore hub
Rigid coupling
Breadboard with
legs
and clamps
f
Shafts
4"x
1/4"
in.
5 Collars
Lever arm 2
bore hub
See appendix
in.
wall thickness
long
207
in.
long
MECHANISMS/LINKAGES
TOGGLE LA TCHING
EXPERIMENT 30
PROCEDURE
1
Inspect
all
of your
components to
undamaged.
2.
3.
4.
Check to see that both spring balances read zero when no force
5.
6.
it
(a)
used
in
applied.
it
it
reads zero.
Then
carefully
move
it
back
The
that:
string
joint vertically.
to
(b)
link lengths
reads 14 ounces.
Check to be sure
7.
figure 30-4.
in
make the
The point of attachment of the wire link to the slider block must be
as shown in figure 30-5. You may have to hold the screw in this position while taking your force and angle readings.
(c)
Both spring balances must be horizontal and they must not touch any
part of the mechanism.
8.
9.
in
(f)
and output
link
and the
(F) forces,
10.
at
in
Using the link lengths, work out an equation for the approximate unlatching force you
11.
would expect
one
in
the discussion.
12.
ANALYSIS GUIDE.
in
step 7
force),
it.
is
important.
208
EXPERIMENT 30
MECHANISMS/LINKAGES
Fig.
Fig.
30-4a
30-4b
TOGGLE LA TCHING
EXPERIMENT 30
TOGGLE LATCHING
MECHANISMS/LINKAGES
Unlatching
force
equation
Unlatching
force
value
Fig.
30-6
PROBLEMS
1.
degrees.
What
is
if
and
a toggle angle of
is
two
300
pounds?
2.
3.
mechanism
If
load
is
figure 30-3?
J2
= 4
in
is
lift in its
"up"
position.
ft,
3-1/2
ft,
degrees?
4.
5.
210
if
mechanism.
S = 2-1/2
ft?
Assume
12205
Appendix
The wire
diameter of 0.05
in.
steel
wire with a
Fig.
The
link should
1
2.
be constructed as follows:
Smooth
A-1
file
4.
if
as
total length
in figure
A-1
+-
Fig.
A-2
shown
in.)
shown
in figure
in
A-2.
213
in
opposite directions
Loop
figure A-3.
In
APPENDIX A
MECHANISMS/LINKAGES
is
constructed
a link are
not
loop bent
or reverse
critical.
in
in
link.
Don't worry
if
your
link isn't
it
experiments.
Fig.
A-3
214
it
can be used
APPENDIX
EXPERIMENT
Name
Instructor
Class
Date:
%
f=1
s1
=2
1
Fig. 1-5
s2
M2
Diff.
in
%
F
Si
Fig. 1-6
s2
M2
Diff.
in
EXPERIMENT
Name
Instructor
Class
Date:
Qty.
First
Second
Trial
Trial
h
*2
f
M2
m't
M'2
MA.,
MA 2
(MA-,)(MA 2
Fjj/F,
Diff.
F/^r.
2-4
EXPERIMENT
Name
Instructor
Class
Date:
0/
Qty.
Fl
^2
*1
*2
First
Trial
Second
Trial
Third
Trial
F/V7.
5-5
7/je
Dafa 7a6/e
*2
Diff.
EXPERIMENT
Name
Instructor
Class
Date:
F2
LL
*2
*2
*1
%
f
M2
Diff.
M'-j
M2
%
MA-j
MA 2
F/fir.
4-5
MAy
7/7e
MA T
Data Tables
Diff.
Diff.
EXPERIMENT
Name
Date:
Class
Instructor
%
LL
F2
C
1
Fl /F 2
F/fif.
5-S
f
1
M
1
*21
M2
Diff.
EXPERIMENT
Name
Instructor
Class
Date:
Qty
Trial
>=2
1
F/ff.
5-5
Data Table A
Qty
Trial
Fig.
6-3
Data Table B
Diff.
EXPERIMENT
Name
Date:
Class
Type of
Mechanism
Name
Dimensions of
o
Mechanism
Instructor
of Mechanism
*1-
Sketch of Mechanism
=
*c
Description of Motion
Test of Mechanism's
Possibility
Fig. 7-
Type
10
of
Name
Mechanism
Dimensions of
fi
Mechanism
of
Mechanism
h~
=
*c
Description of Motion
Sketch of Mechanism
Test of Mechanism's
Possibility
Fig.
7-11
Type
of
Name
of
Mechanism
Mechanism
Dimensions of
*c
*o
Mechanism
Description of Motion
Sketch of Mechanism
Test of Mechanism's
Possibility
Fig. 7-
12
Type of
Name
of
Mechanism
Mechanism
Dimensions of
*o
Mechanism
*1
=
c
Description of Motion
Sketch of Mechanism
Test of Mechanism's
Possibility
Fig. 7-
13
EXPERIMENT
Name
Instructor
Class
Date:
Driver
Follower
Angular
Position
Position
Velocity (Rad/sec.)
20
40
60
80
100
120
140
160
180
200
220
240
260
280
300
320
340
360
Fig.
8-8
Trial
=
o _
Driver
Follower
Angular Velocity
Position
Position
(Rad/sec.)
20
40
60
80
100
120
140
160
180
200
220
240
260
280
300
320
340
360
Fig.
8-9
c=
Trial
o=_
EXPERIMENT
Name
Instructor
Class
Date:
Follower
Driver
Position
Position
Driver
Follower
Angular Veloc
Position
Position
ity (Rad/sec.)
20
20
40
40
60
60
80
80
100
100
120
120
140
140
160
160
180
180
200
200
220
220
240
240
260
260
280
280
300
300
320
320
340
340
360
360
1-
=
=
*o
*c
Fig.
9-6
h=
r
h=
Trial
Fig.
*0
9-7
Trial
EXPERIMENT
Name
10
Instructor
Class
Date:
Clockwise
Counterclockwise
0i
0.
0-
*o=-
2-
Fig.
10-6
Data Table
0.
Counterclockwise
Clockwise
Fig.
10-7
Data Table
II
02
EXPERIMENT
Date:
11
Name
Class
Instructor
EXPERIMENT
Name
12
Instructor
Class
Date:
=
*c
Second
First Trial
Fig.
12-6
Trial
&
EXPERIMENT
Name
13
Instructor
Class
Date:
*1
Fig.
13-6
(Meas.)
(Comp.)
EXPERIMENT
Name
14
Date:
Class
Instructor
8'
x
*c
Clockwise
Counterclockwise
Fig.
14-9
Clockwise
0'
X'
Counterclockwise
0'
X'
EXPERIMENT
Name
15
Date:
Instructor
Class
First Pass
Second Pass
Third Pass
15-5
Average Values
X
EXPERIMENT
Name
16
Date:
Class
Cam
Instructor
Profile
G;
Ng
Gear
Fig.
&
16-10
Follower Data
EXPERIMENT
Name
17
Date:
Cam
Class
Instructor
Profile
e)
Gear
Fig.
&
17-9
Follower Data
9,
EXPERIMENT
Name
18
Instructor
Class
Date:
<1
18-13
18-13
*5
EXPERIMENT
Name
19
Instructor
Class
Date:
N1
n
1
(3/4
OD)
in.
(2 in.
OD
(3/4
N2
in.
OD)
(2 in.
N1
OD)
N2
n
1
Spur Gears
N3
"3
-N 3
Ratio
n
3 - N3
Harmonic Drive
wo
CO;
Calculated
Measured
Fig.
19-5
w
i
+
ratio
EXPERIMENT 20
Name
Date:
Class
Instructor
Distance between
shafts,
-|
Measured
Calculated
Input Angle
Output Angle
Input Angle
Output Angle
(degrees)
(degrees)
(degrees)
(degrees)
65
70
10
75
15
80
25
85
29
90
30
100
35
150
40
200
45
250
50
300
55
350
60
360
Fig.
20-3
EXPERIMENT
Name
21
Date:
Class
Instructor
Angle
(degrees)
F t (oz)
F 2 (oz)
Ratio
20
25
30
35
40
45
50
55
60
65
70
75
Fig.
21-4
EXPERIMENT 22
Name
Date:
Class
Output
Input 0j
0Q
(degrees)
(degrees)
First
Instructor
Input 6j
Output
Second Setup
Setup
Fig.
22-7
0O
(degrees)
(degrees)
EXPERIMENT 23
Name
Date:
Class
*2
*c
Clockwise
Counterclockwise
(3
F/g.
23-5
Instructor
Clockwise
(3'
X'
0/0
Counterclockwise
X'
EXPERIMENT
Name
24
Date:
Class
Instructor
12
10
12
14
16
11
17
17
10
13
12
12
11
Fig.
24-5
output
(z)
EXPERIMENT
Name
25
Instructor
Class
Date:
Fig.
Crank Angle a
in
dearees
25-5
Fig.
Displacement
in
III
inrhps
Ivl IUJ
II
Lever Angle
in fipnrpp*;
25-6
Displacement
in
III
inrhpQ
ICO
II lis
20
1/8
40
1/4
60
3/8
80
1/2
100
5/8
120
3/4
140
7/8
160
180
1-1/8
200
- 1/8
/ o
220
- 1/4
240
- 3/8
260
280
-5/8
300
-3/4
320
-7/8
340
360
- 1-1/4
Fig.
25-7
EXPERIMENT
Name
26
Instructor
Class
Date:
Reading
Distance
From
Output
Reference
No.
Ref point)
6/64
12/64
in.
17/64
in.
22/64
in.
26/64
in.
31/64
in.
38/64
in.
(at
Fig.
in.
2&8
7?
RPM
Fig.
26-10 Curves
EXPERIMENT
Name
27
Instructor
Class
Date:
Counterclockwise Rotation
Clockwise Rotation
Input
Output
Input
Fig.
27-9
Output
EXPERIMENT
Name
28
Instructor
Class
Date:
Pulley
Pulley
Pawl
Force
Force
Force
rorwaru
DdUlx well
vJ
4 oz
8 oz
12 oz
16 oz
Fig.
28-6
EXPERIMENT
Name
29
Date:
Class
*1-
Instructor
2
T
(ounces)
f/F
1V
F/fif.
77?e
Data Table
EXPERIMENT
Name
30
Date:
Class
Instructor
h=
1=
Unlatching
force
equation
Unlatching
force
value
Fig.
30-6