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Chapter 1 Structure of Mechanisms

The document discusses the structure and analysis of mechanisms. It defines key terms like links, parts, joints, degrees of freedom. It provides methods to calculate the degrees of freedom of planar and spatial mechanisms using formulas. It also discusses different types of mechanisms based on their static groups and drive links. The document provides examples of calculating degrees of freedom and separating static groups for different mechanisms. It discusses replacing secondary joints with primary joints to classify mechanisms that otherwise cannot be due to secondary joints.

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15 views35 pages

Chapter 1 Structure of Mechanisms

The document discusses the structure and analysis of mechanisms. It defines key terms like links, parts, joints, degrees of freedom. It provides methods to calculate the degrees of freedom of planar and spatial mechanisms using formulas. It also discusses different types of mechanisms based on their static groups and drive links. The document provides examples of calculating degrees of freedom and separating static groups for different mechanisms. It discusses replacing secondary joints with primary joints to classify mechanisms that otherwise cannot be due to secondary joints.

Uploaded by

Huỳnh Bảo
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CHAPTER 1 STRUCTURE OF MECHANISMS

1.1 Mechanical detail and link


Monkey wrench
Adjustable wrench
Clé anglaise, Molette

Tube wrench

Differences of mechanism
Link and part
How many links are there in mechanism, howmay part are there in a link?
Mechanical part (detail, element or component) is a smallest unit in a machine or
mechanism that cannot be separated to smaller one
-Link consists of parts that are fixed assembled or connected each other by fixed
joint.
- Link has relative movement to other links in a mechanism
- Part is not main studied object but link
- Two link are contected by a movable joint
1.2 Degree of Freedom (DoF) of a link is the ability of motions of a link in space or plane

Rz

3 degrees of freedom in a plane :


6 degrees of freedom in space :
Tx, Ty, Rz
Tx, Ty, Tz, Rx, Ry, Rz
When DoF=0, link is static, fixed
we call it a frame, frame is relative
static
Links are movable connected each
other by joints
1.3 Joint can be categoried by 2
ways:
1.3.1 By contact area: 2 kinds of
joint
-Primary joint (Full joint):
Contact area is plane so contact
pressure is small and its longivity is
high;
-Secodary joint (Haft joint):
Contact area is point or line so
Secodary joint (Haft joint)
1.3.2By number of restricting DoF (Constraint): There are 5 kinds of joint from 1
to 5 with the definition: Joint type number k ( k is from 1 to 5) could perform k
constraints that means it eliminates k DoF
Structures of joints are very complicated

Rotary joint
Translative joint
(rotary joint with Pratt Whitney key)

Prismatism joint
Schema of joints and links
Schema of mechanism
1.4 Chain link and mechanism
Chain of link: Links and joints connect each other, Chain of links can be open, clo
planar or spatial
2nd definition of Mechanism: A mechanism is a closed chain of link that has a fixe
link called frame and other defined movable links
1.5 DoF of mechanism: The number of movable ability of a mechanism. Because
A mechanism is a set of links and joints that are connected each other. The bigger the
number of movable links, the bigger the DoF of the mechanism, and depend on the
number and the type of joint that has the number of constraints.
DoF of mechanism= DoF of links-Constraints
DoF of mechanism is an integer number that affirm the ability of moving of the mech

DoF<0 Structure is not a mechanism but a static or hyperstatic frame


DoF=0 Structure is a static structure
DoF>0 Structrure is a mechanism, this is an object we concentrate to study
1.6 Formula of DoF of mechanism
Spatial mechanism: Wherein:
DoF: Degree of Fredom of mechanism
DoF= 6.n-()- n: number of movable link;
k: type of joint
: number of joint type number k
Planar mechanism:
: Number of duplicate constraint
: Number of redundant constraint
DoF= 3.n- ()-
: Number of redundant degree of
fredom
Meaning of DOF of mechanism: Calculate the DOF of 2 following
mechanisms.DOF of mechanism is total ability of independent movements
of this mechanism

The DOF of a mechanism is equal to the number of drive link in the


Mechanism
Drive link is a link that we already known the law of its motion
Duplicate constraint exists omly in
planar wedge mechanism
Redundant constraints

Parallelogram mechanism in drive wheel of steam locomotive


Why there are no more parallelogram mechanism in diesel electric locomotive?
Find out the redundant constraints in parallelogram mechanism by
calculation of DOF
Redundant dof
Calculation the DOF of these following mechanisms
1.6 Static group: in a chain of links that has DOF=0
Condition of being static group:
Static group must be unique that means it can not be divided into 2 smaller
static group
Planar static group: 3.n- ()-=0

Spatial static group: 6.n-()-=0


In planar mechanism, simple static group that contains only primary joints, has to
satisfy the condition 3.n- =0 or 3.n=
Because number of links n and number of joints are positive number so a
simple planar static group could be:
- Simplest with 2 links and 3 joints,
- More complicated with 4 links and 6 joints,
- Most complicated with 6 links and 9 joints,
1.7 Type of mechanism
Type 1: the mechanism has only drive link and has no static group
Type 2: the mechanism has simplest static group 2 links and 3 joints
Type 3: the mechanism has more complicated static group 4 links and 6 joints
Type 4…..
The bigger the mechanism type the more difficult to analyze kinematics and
Dynamics of this mechanism.
Calculate: DOF, type of mechanism od 2 following mechnism
1.8 Theory of formation of mechanism:
A mechanism has a number of DOF that consists of DOF drive links and a
number of static group, this is 3rd definition of mechanism.
Principle of separation of static group:
- Separation of simplest static group fisrt
- Separation of farthest static group fisrt
- After separation a static group out of a mechanism, the remainder of
this mechanism still being a perfect mechanism
Separation static groups of the following mechanisms:
1.9 Replacement secondary joints by primary joints
Some hight type mechanisms can not be classified because it not satisfied
the condition of being static group 3.n= because of the existing secondary joint

After replace C by link 3, the given


Cannot separate to dive link cam mechanism consists of a drive link
and static group because of 1, and simplest static group 2, 3. This is
secondary joint C Temporary replacement
Some cases of replacement secondary to primary joint. In which case the
replacement is forever?

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