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Lecture 2 - Kinematics Fundamentals - Part A

This document provides an overview of kinematics fundamentals, including mechanisms and structures, paradoxes regarding degrees of freedom, isomers of linkages, and rules for linkage transformations. It defines mechanisms as linkages with degrees of freedom greater than zero and structures as linkages with zero degrees of freedom. Paradoxes are presented where certain linkages disobey the Gruebler criterion for determining degrees of freedom due to unique geometries. Isomers of linkages are analogous to isomers in chemistry, where the connections between links can result in different motions despite having the same number and type of links. Rules for linkage transformations that preserve or change degrees of freedom are also outlined.

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71 views30 pages

Lecture 2 - Kinematics Fundamentals - Part A

This document provides an overview of kinematics fundamentals, including mechanisms and structures, paradoxes regarding degrees of freedom, isomers of linkages, and rules for linkage transformations. It defines mechanisms as linkages with degrees of freedom greater than zero and structures as linkages with zero degrees of freedom. Paradoxes are presented where certain linkages disobey the Gruebler criterion for determining degrees of freedom due to unique geometries. Isomers of linkages are analogous to isomers in chemistry, where the connections between links can result in different motions despite having the same number and type of links. Rules for linkage transformations that preserve or change degrees of freedom are also outlined.

Uploaded by

Suaid Tariq Balghari
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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ME-313 Mechanics of Machines

Lecture 2
Kinematics Fundamentals
Part A

[email protected] +92-333-5689906
Contents

1.Mechanisms and Structures


2.Paradoxes
3.Isomers
4.Linkage Transformation
Degree of Freedom (DOF) or Mobility
Mechanisms and Structures
Mechanisms and Structures

•Mechanism - DOF > 0 – relative


motion of links
•Structure - DOF = 0 - no motion
•Preloaded structure - DOF < 0 -
no motion – stresses in links
Paradoxes

The E-quintet with DOF=0


Agrees with Gruebler Equation
Paradoxes

The E-quintet with DOF=1


Disagrees with Gruebler Equation
due to unique geometry
Paradoxes

Rolling cylinders with DOF=1


Disagrees with Gruebler Equation
which predicts DOF=0
Paradoxes

• Gruebler criterion – no consideration of link sizes


or shapes
• Paradoxes – many linkages disobey Gruebler
criterion due to unique geometry
• Designer needs to be alert to these possible
inconsistencies
• Complete kinematic analysis of linkage motions
necessary to guarantee mobility
Isomers

• Isomers
• Compounds with same number and type of atoms but
interconnected differently and different physical properties
• Figure
• n-butane and isobutane
• Same number of carbon and
hydrogen atoms (C4H10)
• Different interconnections
• Different properties
Isomers

• Linkage isomers
• Links and nodes analogous to atoms and electrons respectively
• Assembled linkage is analogous to the chemical compound
• Connection between links define type of motion of linkage isomers
• Unique Isomers
• Interconnections between different order of links are different
• All binary links are considered equal - all hydrogen atoms are equal
• No consideration of link lengths and shapes
Isomers

• 6 bar mechanism with 4 binaries and 2 ternaries


• Two valid isomers
• Third potential but invalid isomer
• Fails test of degree of freedom distribution
• Requirement - overall DOF uniformly distributed
throughout linkage - not concentrated in sub-chain
• Structural sub-chain of DOF = 0 in triangular formation of
the two ternaries and single binary connecting them
• Remaining three binaries in series form four-bar
mechanism (DOF = 1)
Isomers
Isomers
Isomers

• Method to find number of isomers - Franke’s condensed


notation for structural synthesis
• Step 1
• Each higher-order link is shown as a circle with its number of
nodes written in it
• Step 2
• Circles are connected with lines originating from each circle
• Step 3
• Number is placed on each line to represent number of binary links
Isomers
Isomers
Isomers

• 6 bar mechanism with 4 binaries and 2 ternaries -


• Number of Isomers - combinations of 3 integers (including zero)
that add to 4

• (1, 1, 2) – valid Isomer


• (2, 0, 2) - valid Isomer
• (0, 1, 3) - invalid Isomer
• (0, 0, 4) - invalid Isomer
20

BRAKE
Linkage Transformation

Rule 1 - revolute joint in any loop can be replaced by


prismatic joint with no change in DOF of the mechanism
provided at least two revolute joints remain in loop
Rule 2 - any full joint can be replaced by half joint but this
will increase DOF by one
Rule 3 - removal of link will reduce DOF by one
Rule 4 - combination of rule 2 and rule 3 keep the original
DOF unchanged
Linkage Transformation

Rule 5 - any ternary or higher-order link can be partially


shrunk to lower-order link by combining nodes. This will
create a multiple joint but will not change DOF of mechanism
Rule 6 - complete shrinkage of higher-order link is equivalent
to its removal. A multiple joint will be created and DOF will
be reduced
Linkage Transformation – Rule 1
Linkage Transformation – Rule 1

• Four-bar crank-rocker mechanism


transformed into four-bar slider-crank
mechanism by application of Rule 1

• Unchanged Gruebler's equation – 1 DOF -


slider block and point joint both are full joints
Linkage Transformation – Rule 4
Linkage Transformation – Rule 4

• Four bar slider-crank - transformed via Rule 4 -


substitution of full joint by half joint between rocker and
coupler
• First version
• Curved slot in link 4
• Effective coupler –
Always perpendicular to tangent of slot .
• Traces path of original coupler
Linkage Transformation – Rule 4

• Second version - Scotch yoke mechanism


• Straight slot
• Slot perpendicular to slider axis
• Effective coupler - pivoted at infinity
Linkage Transformation – Rule 4
Linkage Transformation

Rule 5 - any ternary or higher-order link can be partially


shrunk to lower-order link by combining nodes. This will
create a multiple joint but will not change DOF of mechanism
Rule 6 - complete shrinkage of higher-order link is equivalent
to its removal. A multiple joint will be created and DOF will
be reduced
Linkage Transformation – Rule 5 and Rule 6
31

Any Question?

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