Chapter 01 14

Machines and Mechanisms: Applied
Kinematic Analysis, 4/e

Chapter 1
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. All Rights Reserved.
2
Chap 1 Introduction
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1.1 INTRODUCTION
Determine appropriate movement
of the wipers
View range
Tandem or opposite
Wipe angle
Location of pivots
Timing of wipers
Wiping velocity
The force acting on the machine
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1.2 MACHINES AND MECHANISMS
Machine
Devices used to alter,
transmit, and direct forces
to accomplish a specific
objective
Mechanism
Mechanical portion of a
machine that has the
function of transferring
motion and forces from a
power source to an output
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1.3 KINEMATICS
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Dynamics
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Kinematics
Kinematics
Deal with the way things move
Kinematic analysis
Determine
Position, displacement, rotation, speed, velocity, acceleration
Provide
Geometry dimensions of the mechanism
Operation range
Dynamic analysis
Power capacity, stability, member load
Planar mechanism motion in 2D space
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1.4 MECHANISM TERMINOLOGY
Mechanism
Synthesis is the process of developing mechanism to satisfy a set of performance requirements
for the machine.
Analysis ensures that the mechanism will exhibit motion to accomplish the requirements.
Linkage
Frame
Links rigid body
Joint
Primary joint (full joint)
Revolute joint (pin or hinge joint) pure
rotation
Sliding joint (piston or prism joint) linear
sliding
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Higher-order joint (half joint)
Allow rotation and sliding
Cam joint
Gear connection
Simple link
A rigid body contains only two joints
Crank
Rocker
Complex link
A rigid body contains more than two
joints
Rocker arm
Bellcrank
Point of interest
Actuator
A power source link
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1.5 Kinematic Diagram
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Kinematic Diagram
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1.7 MOBILITY
1.7.1 Grueblers Equation
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Constrained mechanism
one degree of freedom
Locked mechanism
Zero or negative degrees of freedom
Unconstrained mechanism
More than one degree of freedom
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Actuators and Drivers
Electric motors (AC)
Electric motors (DC)
Engines
Servomotors
Air or hydraulic motors
Hydraulic or pneumatic cylinders
Screw actuators
Manual
1.7.2 Actuators and Drivers
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1.8 COMMONLY USED LINKS AND JOINTS
1.8.1 Eccentric Crank
1.8.2 Pin-in-a-Slot Joint
1.8.3 Screw Joint
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1.9 SPECLAL CASES OF THE MOBILITY EQUATION
1.9.1 Coincident Joints
1.9.2
One degree of freedom actually if pivoted links are the same size

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1.10 THE FOUR-BAR MECHANISM
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1.10.1 Degree-of-Freedom
s : short link
l : long link
p , q : intermediate link

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1.11 SLIDER-CRANK MECHANISM
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1.12 SPECIAL PURPOSE MECHANISMS
1.12.1 Straight-Line Mechanisms
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1.12.2 Parallelogram Mechanisms
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1.12.3 Quick-Return Mechanisms
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1.12.4 Scotch Yoke Mechanism
Machines and Mechanisms: Applied Kinematic Analysis,
4/e
Chapter 4 Displacement Analysis
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4.2 POSITION
4.2.1 Position of a Point
4.3 DISPLACEMENT
4.3.1 Linear Displacement
4.3.2 Angular Displacement
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4.4 DISPLACEMENT ANALYSIS
Locate the positions of all
links as driver link is
displaced
Configuration
Positions of all the links
One degree of freedom
Moving one link will
precisely position all
other links
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4.5 DISPLACEMENT:GRAPHICAL ANALYSIS
4.5.1 Displacement of a Single Driving Link
4.5.2 Displacement of the Remaining Slave Links
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4.5.2 Displacement of the Remaining Slave Links
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r1
r2
r4
r3
r3
r5
r4
Y
X
X1
Y1
1 2 3 4
3 3 1 1 2 2
1 1 2 2 3 3
1 1 2 3
3 4 5
3 3 4 4 1
3 3 4 4
1
0
5.3
0
3.2
3, 30, 4.9, 3.3
0
0
0.8
10.1
r r r r
r c r s r c
r c r s r s
r r r
r r r
r c r c x
r s r s
r
u u u
u u u
u
u u
u u
+ + + =
( ( ( (
+ + + =
( ( ( (
+

= = = =
+ + =
( ( (
+ + =
( ( (

=
2 equations for 2 unknows
2 equations for 2 unknows
(1)
(2)
2 3
, u u
4 1
and x u
4.1 Vector Analysis of Displacement
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1 2 3 4
3 3 2
2 3 3
2 2 1/ 2
3
2 3
0
3 1.6 2.3
0
1.5 3 0
(3.9 1.2 )
r r r r
r c c
s r s
r
solve for and
u u
u u
u u
+ + + =
( ( ( (
+ + + =
( ( ( (

= +

X
Y
r1
r4
r3
r2
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Analysis of Mechanism Position
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1 2 3
1 2 1
1 2
1 2 1
1
1 2 2
1 2
2 2
1 2
0
50 40
0
50 40 0
240 ,
15 , 255
50 40
0
50 40 0
r r r
c c d
s s
solve for and d
when rotate
c c d
s s
solve for and d
d d d
u u
u u
u u
u
u u
u u
u
+ + =
( ( (
+ + =
( ( (

=
=
( ( (
+ + =
( ( (

A =
r3
r1
Y
r2
X
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4.6.1 Closed-Form Position Analysis Equations for an In-Line
Slider-Crank
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4.6.2 Closed-Form Position Analysis Equations for an Offset
Slider-Crank
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1 2 3 4
3 1 2
1 2 3
1 2 3
1 2 3
0
15 12 20 25
0
12 20 15 0
90 , .
60 , .

r r r r
c c c
s s s
eqs solve for and
eqs solve for and
Calculate the differenc
u u u
u u u
u u u
u u u
+ + + =
( ( ( (
+ + + =
( ( ( (

(1) = 2
(2) = 2
2
e of in and u (1) (2).
r3
r2
Y
X
r4
r1
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1 2 3
1 2
1 2
1 2 1 max
1 2 1 min
0
0.5 1.75 1
0
0.5 1.75
,
,
r r r
c c
s s y
for solve for and y
for solve for and y
u u
u u
u u u
u u t u
+ + =
( ( (
+ + =
( ( (

=
= +
r1
r3
r2
X
Y
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4.7 LIMITING POSITIONS:
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1 2 3 4
1 2 1 3 max
1 2 1 3 min
0
, )
, )
r r r r
for solve for and
for solve for and
u u u u
u u t u u
+ + + =
=
= +
Y
X
r2
r4
r3
r1
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1 2 3 4
2 3 1 max 2
2 3 1 min
0
,
,
r r r r
for solve for and
for solve for
u u u u
u u t u
+ + + =
= )
= + )
r1
r2
r4
Y
r3
X
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4.9 TRANSMISSION ANGLE
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1 2 3 4
1 2
1 2
1 2
0
0.5 2.0
0
0.5 0
r r r r
c lc
s ls
given solve for l and
u u
u u
u u
+ + + =
( ( (
+ + =
( ( (

r2
r1
r3
Y
X
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1 2 3
1 2 3
1 2
0
30, 70, 0
30
r r r
x
r r r
given solve for and x u u
+ + =
(
= = = =
(

,
Y
r1
r2
X
r3
Machines and Mechanisms: Applied Kinematic Analysis,
4/e
Chapter 6 Velocity Analysis
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6.2 LINEAR AND ANGULAR VELOCITY
6.2.2 Linear Velocity of a General Point
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cos
sin /( )
A B
AB A
V V along AB link
w V link length
u
u
=
=
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1 2 3 4
2 2 3 3 4 4
3 4
0
0
r r r r
r r r
eqs for unknowns and
e e e
e e
+ + + =
+ + =
2 2
r2
r1
r3
r4
X
Y
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6.6 GRAPHICAL VELOCITY ANALYSIS:RELATIVE VELOCITY METHOD
6.6.1 Points on Links Limited to Pure Rotation or Rectilinear Translation
6.6.2 General Points on a Floating Link
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1 2 3
1 1 2 2
1 2
1 4
1 1 2 4
0
0
0
5
r r r
r r
eqs for and
r r r
r r r
e e
e e
e e
+ + =
(
+ + =
(

2
= +
= +
r1
r2
r3
r4
X
Y
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1 2 3
1 1 2 2 2
2
1 2
2
2
0
0
5 min ,
r r r
solve for and
r r r
vc
rad r
vs
eqs for unknowns and v
u u
e e
u
e
u
e
1 2
+ + =

+ + =
(
= =
(

2 2
Y
X
r3
r2
r1
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1 2 3
1 1 2 2 2
2
1 2
0
0
0
50
r r r
r r r
r
e e
e e
+ + =
+ + =
(
=
(

2 2
r2
r1
r3
X
Y
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1 2 3
2 2 3
1 1
1 1 2 2 2
2
2
2
1 2
0
1
6, 340
3
0
8
8
r r r
r r
eqs for unknowns r and
r r r
c
r
s
u
u
e e
u
u
e e
+ + =
(
= = , =
(

2 2
+ + =
(
=
(

2 2
r1
r3
r2
Y
X
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6.9 ALGEBRAIC SOLUTIONS
6.9.1 Slider-Crank Mechanism
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6.9.2 Four-Bar Mechanism
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6.10 INSTANTANEOUS CENTER OF ROTATION
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6.11 LOCATING INSTANT CENTERS
6.11.1 Primary Centers
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6.12 GRAPHICAL VELOCITY ANALYSIS:
INSTANT CENTER METHOD
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1 2 3 4
1 1 2 2 3 3
3 1 2
0
0
r r r r
r r r
given solve for and
e e e
e e e
+ + + =
+ + =
,
r1
r2
r4
Y
r3
X
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1 2 3 4
2 2 3 3 4 4
2 3
4 5 6
4 4 5 5
5
0
0
60 .
0
0
0
r r r r
r r r
rpm solve for and
r r r
r r
v
eqs for unknowns and v
e e e
e e e
e e
e
4
+ + + =
+ + =
=
+ + =
(
+ + =
(

2 2
r1
r2
r4
r3
r5
r4
X
r6
Y
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1 2 3 4
1 1 2 2 3 3
1 2 3
0
0
r r r r
r r r
given find and
e e e
e e e
+ + + =
+ + =

r1
r2
r3
r4
X
Y
Chapter 7 Acceleration Analysis
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7.2 LINEAR ACCELERATION
7.2.1 Linear Acceleration of Rectilinear Points
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( ) ( ) ( )
1 2 3 4
1 1 2 2 3 3
1 2 3
1 1 1 2 2 2 2 3 3 3 3
2 3
0
0
0
r r r r
r r r
given find and
r r r
solve for and
e e e
e e e
e e e e e e e e
e e
+ + + =
+ + =

+ + + + =

r2
r1
r3
Y
r4
X
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p
r
r5
( )
1 2 3 5
1 1 2 2 3 3 5
0
p
p
p
r r r r r
r r r r r
r
e e e
= + + + =
= + + +
=
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( ) ( )
1 2 3
1 1 2 2
2
1 1 1 1 2 2 2 2
2
0
0
0
0
0
r r r
r r
v
solve for and v
r r
a
solve for and a
e e
e
e e e e e e
e
+ + =
(
+ + =
(

(
+ + + + =
(

r2 r3
r1
X
Y
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7.8 ALGEBRAIC SOLUTIONS
7.8.1 Slider-Crank Mechanism
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7.8.2 Four-Bar Mechanism
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r1
Y
r3
r2
X
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7.10 ACCELERATION IMAGE ( Useless! )
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7.11 CORIOLIS ACCELERATION
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( ) ( )
1 2 3
1 2
1 1 2 2 2
2
1 2 2
2
2
1 1 1 2 2 2 2
2
2
0
0
400, ,
0
r r r
solve for and
r r r
vc
r solve for and v
vs
ac
r r
as
solve for and a
u u
e e
u
e e
u
u
e e e e e
u
e
+ + =

+ + =
(
= =
(

(
+ + + =
(

r3 r2
r1
Y
X
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7.12 EQUIVALENT LINKAGES
Chapter 9 Cams
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9.1 INTRODUCTION
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Plate cam
Cylindrical cam
Linear cam
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9.2 TYPES OF CAMS
Follower motion
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Follower position
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9.3 TYPES OF FOLLOWERS
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9.11 THE 4-STATION GENEVA MECHANISM
Constant rotation producing index motion
Chapter 13 STATIC FORCE ANALYSIS
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13.3 MOMENTS AND TORQUES
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13.5 FREE-BODY DIAGRAMS
13.5.1 Drawing a Free-Body Diagram
13.5.2 Characterizing Contact Forces
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13.6 STATIC EQUILIBRIUM
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13.7 ANALYSIS OF A TWO-FORCE MEMBER
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Chapter 14 DYNAMIC FORCE ANALYSIS
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