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Introduction
When any one link of kinematics chain is
fixed, it is called mechanism.
Primary function: transmit or modify
motion.
2 types of mechanism
- simple mechanism
- compound mechanism, >4 links
Angular motion
Input torque
Linear motion
Force
Inversion of Mechanism
It is the method of obtaining different
mechanisms by fixing different links of the
same Kinematics chain.
1.
2.
3.
BC connecting rod
CD rocker/follower
AD frame of m/c
link 4 rotate
link 1 move
Example 1
Example 2
The crank and connecting rod of a theoretical
steam engine are 0.5m and 2.0 m respectively.
The crank makes 180rpm in the clockwise
direction. When it has turned 45 from the
inner dead centre position, determine:
a)
b)
c)
d)
Velocity of pistons
Angular velocity of connecting rod
Velocity of point E on the connecting rod 1.5m
from the gudgeon pin.
Velocities of rubbing at all pins of the crankshaft,
crank and cross-head, when the diameter of their
pins are 5cm, 6cm and 3cm respectively.
Example 3
ABCD is a four bar chain with the link AD is fixed as Figure
below. The length the links are AB=6.25cm, BC=17.5cm,
CD=11.25cm, DA=20cm. The crank AB makes 100rpm in
the clockwise direction. Find the following when the angle
BAD is 60.
a)
b)
c)
Example 4