Pages 64-71 From 0849302579 Fundamentals of Kinematics and Dynamics Vinogradov

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64 Fundamentals of Kinematics and Dynamics of Machines and Mechanisms
PROBLEMS AND EXERCISES

PROBLEMS
1. In Figure 1.14c an inverted slider-crank mechanism is shown.
a. Write a loop-closure equation for this mechanism.
b. If the input is the displacement of the cylinder, what are the unknowns?
c. Solve the equation for the unknowns.
2. In Figure 1.14d an inverted slider-crank mechanism is shown.
b. If the input is the displacement of the cylinder, what are the unknowns?
3. In Figure P2.1 an inverted slider-crank mechanism is shown.
b. If the input is the crank angle, what are the unknowns?
d. Express the position of point P in terms of the input angle.
FIGURE P2.1
4. In Figure P.2.2 a five-bar linkage is shown, in which AB is parallel and equal

to O2C.
5. In Figure P2.3 a slider-crank mechanism is shown.
Kinematic Analysis of Mechanisms 65
FIGURE P2.2
FIGURE P2.3
6. In Figure P2.4 a four-bar linkage mechanism is shown.

d. Express the positions of points P1 and P2 in terms of the input angle.
FIGURE P2.4
7. For the mechanism in Figure P2.4,

a. Formulate the requirement for dimensions in order for the mechanism to
be a crank-rocker.
b. If the follower is to rock within angle γ, is there a unique set of dimensions
to meet this requirement? Outline the solution procedure.
8. In Figure 2.4 find the maximum angle of rocking of the connecting rod, if r2
and r3 are given.
9. For a variable-stroke drive mechanism in Figure P1.7,
a. Identify two loops.
b. For a coordinate system such that axis x is directed from the center of
the driving shaft to the center of the output shaft, outline the solution
procedure using solutions in the book for a four-bar linkage.
10. For the double-toggle mechanism in Figure P1.6,

b. For a coordinate system such that the x-axis passes through the center of
the crankshaft and is directed to the right, outline the solution procedure
using solutions in the book for a four-bar linkage and a slider-crank
mechanism.
11. For the constant velocity mechanism shown in Figure P1.5,

b. For a coordinate system such that the x-axis is directed along the cylinder
to the right, outline the solution procedure using solutions in the book
for a four-bar linkage and a slider-crank mechanism.
FIGURE P2.5
12. A quick-return mechanism, shown in Figure P2.5, is used in machine tools. For
a constant angular velocity of the driving crank, it produces slow velocity during
the cutting phase and then fast return.
b. Define a coordinate system.
c. For a coordinate system such that the y-axis is going through the points
O1 and O2 upwards, outline the solution procedure using solutions in the
book for a slider-crank mechanism.
d. Define the time ratio (time of cutting stroke to the time of return stroke)
in terms of the distances O1O2 and O2A.
13. For the mechanism in Figure P2.1, find

a. the velocities.
b. the accelerations of point P.
Assume that the position, velocity, and acceleration analyses of the skeleton
have been done.

a. the velocities.
have been done.
a. the velocities.
have been done.
16. Assume that dimensions of all links in Figure P1.4 are known.
a. What would be the configuration of the links when the pliers are closest?
b. Assume that the coupler link is parallel to the frame link, and that the
frame link is 10 cm, the coupler link is 7 cm, the link connecting the two
jaws is 2 cm, and the fourth link is 3 cm. What is the angle by which the
coupler link rotates from the initial to the extreme position?
17. Consider the double-rocker mechanism in Figure P2.6.
a. What should the relationship between the links dimensions be in order
for the connecting link to make a complete rotation while the arms are
rocking?
b. Assume 2a = 1 cm, h = 0.5 cm, 2d = 10 cm, and that the arms have equal
length 7 cm. What is the angle of arm 1 rocking?
18. For an eight-slot Geneva mechanism
a. Find the distance between the centers of rotation, r1, given the radius of
the crank r2 (distance from the center of the driving plate to the center
of the pin) and assuming that the pin enters and leaves the slot smoothly.
b. Find the length of the slot.
FIGURE P2.6
FIGURE P2.7
19. In Figure P2.7 a linear intermittent motion mechanism is shown. Given the
angular velocity of the crank and its radius, r2, how would velocity and accel-
eration of the slider change during the cycle of the crank?
EXERCISES (PROJECTS) WITH MATHEMATICA

1. A motor drives a film-advancing mechanism with constant velocity ω
(Figure P2.8) Link 2 is the driver. The path of point C should be as indicated,
so that during the engagement with the film point C moves along a straight line.
a. Find (by trial and error) such dimensions of the mechanism that the
needed trajectory of point C is achieved.
b. Animate the motion.
c. Plot the velocity and acceleration of point C over the cycle. Find the
velocities and accelerations during engagement and disengagement with
the film. Does the velocity remain constant during the engagement?
FIGURE P2.8
2. A motor drives a carrier mechanism with constant velocity ω (see Figure 2.26).
The path of point A should be such that at the lowest position the line AB is
parallel to the horizontal conveyor, and at the highest position the line AC should
be parallel to the inclined conveyor (so that the load can be transferred from
one conveyor to another).
a. Find (by trial and error) such dimensions of the mechanism (for the
assumed positions of the conveyor belts) that the needed trajectory of
point A is achieved. (Hint: At extreme positions the motion of point A is
reversed, which means that at these positions the links DC and CB are
collinear.)
c. Plot the velocity and acceleration of point A over the cycle. What are the
velocities and accelerations at the points of load transfer?
3. For the dimensions of the double-rocker given in problem 17:
a. Animate the motion.
b. Plot the trajectory, velocity, and acceleration of the tracing point over the
cycle.
4. The oscillating drive-arm in Figure P2.9 has the maximum operating angle π/6.
For a relatively short guideway, the reciprocating output stroke is large and it
follows a straight line.
needed trajectory of the tracing point is achieved.
c. Plot the velocity and acceleration of point P over the cycle. What are the
velocities and accelerations at the end points of the stroke?
FIGURE P2.9
5. For a complex mechanism operating a dump truck in Figure 1.6 assume that the
bed moves from a horizontal to a π/3 position.
needed trajectory of the bed is achieved.
6. In Figure P1.6 a double-toggle puncher is shown. When the drive crank rotates
clockwise, the second toggle begins to straighten to create a strong punching force.
a. Find link dimensions such that the desired motion is achieved.
c. Plot velocities and accelerations of the point P over the cycle.
7. In Figure P1.7 a variable-stroke drive, which is a combination of two four-bar
linkages, is shown. The driving member rotates the eccentric, which, through
the linkage, causes the output link to rotate a fixed amount. The ratchet on the
output shaft transfers motion in one direction only. Thus, on the return stroke,
the output link overrides the output shaft. As a result, a pulsating motion is
transmitted to the output shaft, which is needed in many applications, such as
feeders and mixers. A smoother drive can be produced by mounting on the same
shaft the same device but with some shift in phase with respect to the first one.
A continuously variable drive can be designed by mounting a few of such devices
on the same shaft and using the control link to change the position of the
adjustable pivot.
a. Perform a complete kinematic analysis for one position of the adjustable
pivot. Plot velocities and accelerations of the output link over the cycle.
8. In Figure P1.3 an adjustable stroke mechanism is shown. The output link slides
along the horizontal line, and the stroke is controlled by the position of the pivot
point.
a. Perform complete kinematic analysis for one position of the adjustable
pivot. Plot velocities and accelerations of the output link over the cycle.
9. For the loader shown in Figure 2.3, assume that rods 5 and 6 move during the
same time interval (synchronized motion), but their velocities may be different.
a. Find by trial and error such dimensions that the bucket rotates over the
π/2 range from the lowest to the highest position.
b. Perform a complete kinematic analysis. Plot angular velocity and accel-
eration of the bucket when it moves from the lowest to the highest
position.
c. Animate the motion.

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Ch2Frame Page 64 Friday, June 2, 2000 6:39 PM

64 Fundamentals of Kinematics and Dynamics of Machines and Mechanisms

PROBLEMS AND EXERCISES

4. In Figure P.2.2 a five-bar linkage is shown, in which AB is parallel and equal

Kinematic Analysis of Mechanisms 65

6. In Figure P2.4 a four-bar linkage mechanism is shown.

7. For the mechanism in Figure P2.4,

66 Fundamentals of Kinematics and Dynamics of Machines and Mechanisms

10. For the double-toggle mechanism in Figure P1.6,

11. For the constant velocity mechanism shown in Figure P1.5,

Kinematic Analysis of Mechanisms 67

13. For the mechanism in Figure P2.1, find

14. For the mechanism in Figure P2.2, find

68 Fundamentals of Kinematics and Dynamics of Machines and Mechanisms

EXERCISES (PROJECTS) WITH MATHEMATICA

Kinematic Analysis of Mechanisms 69

70 Fundamentals of Kinematics and Dynamics of Machines and Mechanisms

Kinematic Analysis of Mechanisms 71

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