Definitions -Mechanism: Combination of 2 or more rigid bodies connected by joints so their relative motion is constrained. E.g.

linkages, cams, gear trains.

-Planar Mechanism: Mechanism with motion in 2 dimensions. -Spatial Mechanism: Mechanism with motion in 3 dimensions. We will assume from now on that we are dealing with planar mechanisms. -Kinematics: Study of motion without reference to forces producing the motion. -Dynamics: Study of forces & moments required to produce motion. -Mechanism Synthesis: Procedure by which mechanism is developed to satisfy design criteria. -Mechanism Analysis: Study of mechanisms performance to see if design criteria are satisfied. -Link: Rigid body within a mechanism. The ffg shows a binary, tertiary and quaternary link.

An unconstrained link has 3 degrees of freedom (DOF; 2 translational & 1 rotational)

-Kinematic Pairs: Connections or joints between links.

Revolute Pair- Relative motion described by

Sliding Pair- Relative motion described by x

Each pair found in a mechanism will remove 2 DOF from the mechanism.

Multiple Pairs- E.g.

=>

-Kinematic Chain: Degrees of Freedom (DOF)

Most practical mechanisms have 1 DOF.

( ) Where: dL= DOF of isolated link = 3 (for planar motion) n= no. of links G=no. of grounded links /frames = 1 (note; many frames at different locations can be considered as 1 for planar motion) J= DOF taken away by one joint = 2 L=no. of joints Hence ( )

OR Perform a step by step DOF analysis of the mechanism e.g. 4-bar mechanism Using formula: n=4, G=1, L=4 => F = 3(4-1)-2*4 = 1 DOF

Using step by step DOF analysis: Before assembly; each link has 3 DOF. 4 links hence total of 12 DOF. Link 4 is a frame, hence remove 3 DOF; leaving total of 9 DOF. There are 4 revolute pairs; each removing 2 DOF i.e. remove 4*2=8 DOF; leaving total of 1 DOF.
-Gublers Criterion: solve the above equation for a 1 DOF mechanism to obtain L in terms of n. n must be an even integer hence we can obtain L for n = 2,4,6,8. -Kinematic Inversion: When 2 mechanisms differ ONLY by the position of the grounded link, then they are inverses of each other.

Four-Bar Mechanisms

s=length of shortest link l=length of longest link p,q=lengths of intermediate links -Grashofs Theorem: If one link is a crank which rotates continuously then; ( s is frame s is crank s is coupler => => => double crank crank-rocker double rocker

Particle & Rigid Body Kinematics -Particle Kinematics Velocity Acceleration

-Rigid body Kinematics

Velocity

Acceleration

-Vector Loop Equations

There are 3 vector loop equations for planar mechanisms; position, velocity and acceleration; whose solutions give orientations, velocities and accelerations of links. E.g.
Position Loop Equation:

(1)

Differentiating (1) w.r.t time

Vector Loop Equation:

(2)

Differentiating (2) w.r.t time

Acceleration Loop Equation:

(3)

The sum of these vectors is 0 because they form a loop. (Where rB/A is position of B with respect to A, etc...)

 Solving Mechanisms -Identify suitable points on or off the mechanism and connect them with position vectors. -For a mechanism with f degrees of freedom, we require at least f control (given parameters). -For an x-bar mechanism, we must find x-parameters to solve position, velocity or acceleration. -Useful things to remember: ( )
( )

( ) ,
( )

which is the case for any non sliding pairs.

-If possible try to identify common geometrical shapes on the mechanism. If the mechanism retains this shape/form regardless of the motion it carries out then you can apply simple geometrical relationships instead of the vector loop equations e.g. a triangle where you can apply the sine or cosine rule or simply apply trigonometry to solve.
-Graphical Solutions Position

-Write down position loop equation -Choose an angle 1, draw r1. -using a compass, draw a circle of radius r2, centre B & a circle of radius r3, centre D. They should cross at C. -If they cross at more than 1 point, use common sense to decide the right one. -Complete the mechanism & measure 2 and 3. -Move onto velocity then acceleration analysis.
Velocity

-Write down velocity loop equation -Notice how the links move indicated by the velocity vectors at a tangent to the links; shown on the diagram. -Now find the lengths of these velocity vectors by applying the velocity equations seen earlier. Note that for this case because the lengths of the links remain constant, the radial velocity is 0 which is why the diagram only shows the tangential velocity vectors and the formulae reduce to; Obtain the length of this vector and draw it at tangent to r1 on a graph (scale if needed) Can only draw this vector in the known direction at a tangent to r2 at the end of VB/A.

Can only draw this vector in the known direction at a tangent to r3 at start of VB/A.

Complete the velocity diagram by allowing the vectors of unknown length to meet.

Measure their lengths substitute back in equations and find

Acceleration

-Write down velocity loop equation -Same story about directions; apply the formulae for acceleration seen previously and note that these are a sum of two vectors and unlike the velocity equations we still have 2 components hence we must reduce the equation to its lowest form and then draw all known vector components and then draw vector components of known direction only of arbitrary length.

-Complete the acceleration diagram; find where they meet.

-Measure previously unknown lengths, substitute back in equations and find

-Analytical Solutions

Position Analysis

(1) (2) But; (3) (4) By re-arranging we obtain; ( ( ) ) (5) (6)

By squaring equations (5) and (6), and adding the resulting equations from each;

By re-arranging we obtain; ( ) ( ) ( )

Where;

The left hand side can be written as; ( ( ) ( ) )

and

Hence; Also; ( )

and

and

( )

Hence;

( )

(7)

Similarly;

( )

(8)

Where;

( ( ) ( )

And;

()

_ _

()
Position of Links ( () ) VS Position of Crank ( )

Velocity Analysis

By differentiating equations (3) and (4) we obtain; (9) (10)

Equation ( ) Equation ( ) (12) (11)

By adding (11) and (12) and re-arranging we obtain;

( ( ) )

(13)

Similarly;
( ( ) )

(14)

_ _

()
Angular Velocity of Links ( () ) VS Position of Crank ( )

Acceleration Analysis

By differentiating equation (13) and (14) we obtain;

( ) ( )( ) ( ( ) ) ( )( )

(15)

)(

) (

( )

)(

(16)

_ _

()
Angular Acceleration of Links ( () ) VS Position of Crank ( )

NOTE: The above methods give the most general way of solving mechanisms. It may not always be necessary to go through such lengths but the general procedure remains the same. Try to find short cuts whenever or wherever possible but if in doubt, stick to the general method.