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Mechanics of Machines Basics

The document discusses mechanisms and structures, and how their degrees of freedom (DOF) are determined by the number of links and joints. It then covers number synthesis to determine the number and order of links and joints needed to produce a particular DOF. Examples are provided to illustrate number synthesis for 1 DOF mechanisms using different numbers and arrangements of links. The concepts of isomers, linkages that have the same number and type of links but different connections, and Franke's method for representing isomers are also introduced.

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298 views15 pages

Mechanics of Machines Basics

The document discusses mechanisms and structures, and how their degrees of freedom (DOF) are determined by the number of links and joints. It then covers number synthesis to determine the number and order of links and joints needed to produce a particular DOF. Examples are provided to illustrate number synthesis for 1 DOF mechanisms using different numbers and arrangements of links. The concepts of isomers, linkages that have the same number and type of links but different connections, and Franke's method for representing isomers are also introduced.

Uploaded by

nauman khan
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Mechanics of Machines

Lecture 2
Mechanism and Structure
DOF of an assembly of links predicts its character.
If DOF is positive, it will be a mechanism and there will be
relative motion.
If DOF is zero, it will be a structure and no relative motion is
possible.
If DOF is negative , it will be a preloaded structure, and no
relative motion is possible.
Number Synthesis

Number synthesis is the determination of


number and order of links and joints
necessary to produce motion of a
particular DOF.
Order = no. of nodes per link, like binary,
ternary, quaternary etc.
Example

1 DOF
Number of links, up to 8
Order up to hexagonal.
Full rotating joints.
Hypothesis: If all joints are full joints, an odd
number of DOF requires even number of links
and vice versa.
Even number = 2n or 2m
Odd Number = 2n-1, or 2m-1
Note: n or m must be positive integer.
Let
L = Number of links.
J = Number of joints.
M = Mobility or DOF.
Gruebler Equation for J
3
J= 2 1 2
Substitute (Both Even)
M = 2m, L = 2n
3
= 3 2
Try both odd number
M= 2m-1, L = 2n-1
7
= 3
2
Try odd-even
M= 2m-1, and L = 2n
J= 3n-m-2
Positive for m 1 and n 2.
For Even-Odd
M= 2m, and L= 2n-1
J=3n-m-3
Positive for m 1 and n 2.
For one-DOF mechanism, consider 2,4,6,8 links.
Let
B = No. of binary links
T = No. of ternary links
Q = No. of quaternary links
P = No. of pentagonal links.
H = No. of hexagonal links.
Total number of Links in any Mechanism will be
L= B+T+Q+P+H+.
And 2 link nodes are needed to make one joint:
J= nodes/2
Nodes = Order of link * No. of links of that order
2 + 3 + 4 + 5 + 6
=
2
Paradoxes
Agree Greubler Equation
DOF = 0
Because the Gruebler criterion
pays no attention to link size or
shapes, it can give misleading
results in the face of unique
geometric configurations

Disagree Greubler Equation


DOF = 1

Disagree Greubler Equation


which predicts DOF = 0
While the DOF = 1
Isomers

From Greek meaning Having Equal Parts


Isomers in chemistry are compounds that have
the same number and type of atoms but which
are interconnected differently and thus have
different physical properties
Linkage isomers are analogous to these
chemical compounds in that the links have
various nodes (electrons) available to connect
to other links nodes
The assembled linkage is analogous to the
chemical compound
Isomers

o Figure shows all the isomers for the


simple cases of one DOF with 4 and 6
links
o Only way to construct a four bar
isomer is to have one binary link next
to another binary link.
o The 6-link case of 4 binaries and 2
ternaries has only two valid isomers
o These are known as Watts chain and
Stephensons chain
Isomers
The Watts chain has two ternaries
directly connected, while
Stephensons chain does not
connected.
Isomers: Frankee molecules
Frankes condensed notation for structural synthesis method
can be used to help find the isomers of any collection of links
that includes some links of higher order than binary
Each higher order link is shown as a circle with its number of
nodes written in it as shown
These circles are connected with a number of lines emanating
from each circle equal to its valence
A number is placed on each line to represent the quantity of
binary links in that connection
This gives a molecular representation of the linkage and allows
exhaustive determination of all possible binary link
interconnections among the higher links
Isomers: Frankee molecules

Note the correspondence in the


figure between the linkages and their
respective Franke molecule
The only combinations of three
integers (including zero) that add to 4
are: (1,1,2), (2,0,2), (0,1,3) and (0,0,4)
The first two are the Stephens and
Watts linkages; the third is the
invalid isomer
The fourth combination is also invalid
as it results in a 2-DOF chain of 5
binaries in series with the 5th binary
comprised of the two ternaries
locked together at two nodes in a
preloaded structure with a subchain
DOF of -1

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