Chapter 1: Basic concepts/Conceptos bsicos

1.1 Definitions
The function of the punch mechanics depends on location of
points O, A, B. Power is applied to crank 2, punch 4 performs
the needed function.

Parts of mechanism (lines 1, 2, 3, 4) are called links. Links are

connected to each other by joints.

Revolute joints (O, A, B) allow rotation of links with respect of

each other.

Prismatic joint allows sliding.

Fixed link (1) is called the frame.

FIGURE1.3Askeleton
A planar mechanism is one in which all points move in parallel
represen,ng
planes.
thepunchmechanism.
 Degrees of freedom (DOFs)
The system's DOF is equal to the number of independent parameters
(measurements) which are needed to uniquely define its position in space at any
instant of time.

A rigid body in plane motion has three DOF (2 translations, 1 rotation).

Any rigid body in three-space has six degrees of freedom

 Types of links
A link is an (assumed) rigid body which possesses at least two nodes which are
points for attachment to other links.
Crank - A link which makes a complete
revolution and is pivoted to the frame

Rocker - A link which has oscillatory (back and

forth) rotation and pivoted to the frame

Coupler - A link which has complex motion,

and is not directly connected to the frame.
 Types of joints
A joint is a connection between two or more links (at their nodes), which allows some
motion, or potential motion, between the connected links.

A joint between two links restricts the relative motion between these links, thus
imposing a constraining condition on the mechanism motion.

The type of constraining condition determines the number of degrees of freedom

(DOF) a mechanism has.

We can classify joints by the type of contact as Lower Pairs or Higher Pairs.

Lower pair (low-pair) joint allows 1 DOFs between links.

Higher pair (high-pair) joint allows 2 DOFs between links.

Types of joints
Types of joints
Types of joints
 Mobility of a mechanism
The mobility of a mechanism is its number of degrees of freedom.

FIGURE1.7Variouscongura,onsoflinkswith
tworevolutejoints.

Question: How many degrees of freedom have links in Figures a, b, c, d?

 Mobility of a mechanism
(a) Link has 3 DOF: two translation, one
rotation

(b) Two links have 6 DOFs

(c) Two links are welded, forming one link

with 3 DOFs

(d) Two links are connected by a revolute

joint, allowing them to rotate with
respect to each other -> 4 DOFs

A low-pair joint reduces the mobility of a mechanism by two DOFs.

 Mobility of a mechanism

FIGURE1.8Variouscongura,onsoftwolinkswithahighpairjoint.
Cam:h=p://en.wikipedia.org/wiki/File:Nockenwelle_ani.gif

(a) A cam and a roller are not in contact and have 6 DOFs
(b) A cam and a roller are welded together -> 3 DOFs
(c) Two relative motions between the cam and the roller are possible: rolling and sliding ->
3 + 2 = 5 DOFs

A high-pair joint reduces the mobility of a mechanism by one DOF.

Mobility of a mechanism
 Kutzbachs criterion of mobility
m=3(1)212
mthenumberofthemechanismsDOFs
nthenumberoflinks
j1thenumberoflowpairjoints
j2thenumberofhighpairjoints

Examples:
(a)n = 3, j1 = 3, j2 = 0, m = 0; (structure!)
(b)n = 4, j1 = 4, j2 = 0, m = 1;
(c)n = 4, j1 = 4, j2 = 0, m = 1;
(d)n = 5, j1 = 5, j2 = 0, m = 2.
4

Multiple joints count as one less than the number of links joined at that joint and
add to the j1 category. Frame is count as one link.

 Kutzbachs criterion of mobility

2
1

2 3
4

Effect of additional links on mobility:
(a) n = 4, j1 = 4, j2 = 0, m = 1,
(b) n = 5, j1 = 6, j2 = 0, m = 0,
(structure with zero mobility)
(c) n = 6, j1 = 8, j2 = 0, m = -1.
(overconstrained structure)
Mechanisms involving slippage only (a), and
slippage and rolling (b)
(a) n = 3, j1 = 2, j2 = 1, m = 1
(b) n = 4, j1 = 4, j2 = 0, m = 1
 Kinematic inversion
A kinematic chain is an interconnected system of links in which not a single link is
fixed. Such a chain becomes a mechanism when one of the links in the chain is
fixed. The process of choosing different links in the chain as frames is known as
kinematic inversion.

In this way, for an n-link chain n different mechanisms can be obtained.

Example: Four inversions of the slider-crank

chain:
(a) an internal combustion engine,
(b) rotary engine used in early aircraft, quick-
return mechanism,
(c) steam engine, crankshaper mechanism,
(d) farm hand pump.
 Grashofs law for a four-bar linkage
s the shortest link
l the longest link
p, q two others

From a practical point of view, it is of

interest to know if for a given chain at
Least one of the links will be able to
make a complete revolution. In this case,
a motor can drive such a link.

Grashofs law: if the sum of the shortest

and longest links is not greater
than the sum of the remaining two links,
at least one of the links will be revolving.

Inversions of the four-bar linkage:

++
(a) and (b) crank-rocker mechanisms (revolving link - s),
(c) double-crank mechanism (revolving links l, q),
(d) double-rocker mechanism (revolving link - s).
Exercises
Exercises
Exercises
Exercises
Exercises
 Kinematic analysis
Coordinate Systems:

Global (,) and local (1,1)

coordinate systems
 Kinematic analysis
Coordinates of a vector in global system:
Vector operations
Vector operations
Vector operations
 Kinematic analysis
This process of finding the output motion given the mechanism parameters is
called kinematic analysis

Input: displacements of the

hydraulic cylinders

Output: Position of the bucket

FIGURE2.3Aloader.
 Kinematic analysis

Posi,onanalysis
Velocityanalysis
Accelera,onanalysis
 Kinematic analysis
Kinematics is the study of motion without consideration of what causes the
motion. In other words, the input motion is assumed to be known and the
objective is to find the transformation of this motion.

Kinematic analysis comprises the following steps:

Make a skeletal representation of the real mechanism.
Find its mobility.
Choose a coordinate system.
Identify all links by numbers.
Identify all angles characterizing link positions.
Write a loop-closure equation.
Identify input and output variables.
Solve the loop-closure equation.
Check the results by numerical analysis.
Example: slider-crank mechanism
1frame
2crank
3connec,ngrod
4piston

Mobility: n = 4, j1 = 4, j2 = 0, m = 1

We can associate a vector with the

position of each link, such that the system
of vectors makes a loop:
 Example: slider-crank mechanism
Loop equation takes into account all constraints, imposed on link motions.

Each vector can be represented in the form:

Then the equation becomes (loop-closure equation):

Number of equations: 2
Number of parameters in the equations: 6
Hence it is necessary to specify, what is given, and what is unknown.
 General case. Case 1.
Consider a mechanism with N links. Then the loop-closure equation takes the form:

(*)
 Case 1.
Then in equation (*)

From equation (*) it follows that

 Example: slider crank mechanism
Loop - closure equation:

4
4
Example: slider crank mechanism
Example: slider crank mechanism
 Case 2.

where unknowns are ,

Case 2.
Case 2.
 Case 2.

Note: Two physically admissible mechanism configurations are possible.

 Case 2.

j i =
Example (case 2): slider-crank mechanism
Second case : unknowns r1 , 3 , given r2 = 1, r3 = 4, 1 = , 2 - variable
( Note, that ri = r1 , i = 1, rj = r3 , j = 3 )
Loop-closure equation:

Define vector b:

b = r2 (cos 2 , sin 2 )T b = r2 , = + 2
Find r1 ( ri )
r i = b cos( i ) rj2 b 2 sin 2 ( i )
2
r1 = r2 cos( + 2 1 ) r32 r2 sin 2 ( + 2 1 )
2
r1 = r2 cos( + 2 1 ) r32 r2 sin 2 ( + 2 1 )
r1 = cos 2 16 sin 2 2
 Find 3 ( j )
b sin( i ) r sin( + 2 1 ) sin( + 2 1 )
1) sin( j i ) = sin( 3 1 ) = 2 =
rj r3 4
sin 2 sin 2
sin( 3 ) = sin 3 = => sin 3 =
4 4
b cos( i ) ri r cos( + 2 1 ) r1
2) cos( j i ) = cos( 3 ) = 2
rj r3
r2 cos 2 r1 cos 2 1
cos 3 = = (cos 2 16 sin 2 2 )
r3 4 4
1
cos 3 = ( 16 sin 2 2 )
4
b sin( i ) sin 2
3) *j = i + arcsin( ) 3* = + arcsin( )
rj 4
3* ,
*
3
4) i = 3 = *
depending on sin ( j i ) and cos( j i ) from eq.1) and 2)
+ 3
2 *
3
 2
Example: slider-crank mechanism 2

3
2 =

1 r2 r3 1 2 =
4 4
2 1 1
2 3 4 5 2 1 1 2 3 4 5

1 r1 1

2 2

2 2

3 7
2 = 1 1 2 =
2 4

2 1 1 2 3 4 5 2 1 1 2 3 4 5

1 1

2 2

Using 1) and 2), expressions for all vectors can be simplified to

r1 = (cos 2 + 16 sin 2 2 )(cos , sin )T = ( cos 2 16 sin 2 2 ,0)T

r2 = (cos 2 , sin 2 )T

r3 = ( 16 sin 2 2 , sin 2 )T ( check r1 + r2 + r3 = 0)
Third case: Case 3.
magnitudes of two vectors are to be found.
 Example (case 3): Scotch Yoke Mechanism

h=p://www.youtube.com/watch?v=BoMeqKnLVj0
Loop-closure equation:

3
Given r1 = 5, 1 = , r2 = 2, 2 ( variable), 3 ( i ) = 0, 4 ( j ) =
2
Find r3 (ri ), r4 (rj )
Define vector b :
bx = r1 cos 1 r2 cos 2 = 5 cos 2 cos 2 = 5 2 cos 2
by = r1 sin 1 r2 sin 2 = 5 sin 2 sin 2 = 2 sin 2
b = bx2 + by2 = 29 20 cos 2
bx 5 2 cos 2
cos = = (1)
b 29 20 cos 2
by 2 sin 2
sin = = (2)
b 29 20 cos 2
From (1), (2) we can find for any 2 .
Define r3 (ri ) :
3
sin( j ) sin( )
sin( 4 ) 2 cos
ri = b =b =b =b = b cos = bx = 5 2 cos 2
sin( i j ) sin( 3 4 ) 3 1
sin( )
2
Define r4 (rj ) :
sin( i ) sin( 3 ) sin
rj = b =b =b = b sin = by = 2 sin 2
sin( i j ) sin( 3 4 ) 3
sin( )
2
 Example (case 3): Scotch Yoke Mechanism
3
2 = 2 2 2 =
4 4
1 1

2 1 1 2 3 4 5 2 1 1 2 3 4 5

1 1

2 2

5 2 2
7
2 = 2 =
4 4
1 1

2 1 1 2 3 4 5 2 1 1 2 3 4 5

1 1

2 2
 Case 4:
Directions of two vectors to be found.
Trajectory of a point on a mechanism
 Trajectory of a point on a mechanism
Example:Expresstheposi,onofpointPintermsoftheinputangle 2

O
B

Second case : unknowns r1 , 3 , given r2 = 1, r3 = 4, 1 = , 2 - variable

( Note, that ri = r1 , i = 1, rj = r3 , j = 3 )
Loop-closure equation:

Solution of the loop closure equation is:

r1 = (cos 2 + 16 sin 2 2 )(cos , sin )T = ( cos 2 16 sin 2 2 ,0)T

r2 = (cos 2 , sin 2 )T
16 sin 2 2 sin 2 T
r3 = 4( , ) ( check r1 + r2 + r3 = 0)
4 4
 Trajectory of a point on a mechanism
1m

r4
4

Position of point P is given by vector r4 =| OP | (cos 5 , sin 5 ), which can be found as

r4 = r1 + PB
Vector PB has a magnitude | PB |= |AB| + |AP| = 1 + 4 = 5m

Vector PB has a direction of vector AB = r3 , i.e.
T
16 sin 2 sin 2

PB =| PB | (cos 3 , sin 3 ) = 5 2
,
4 4

Exercisesforhome:
Velocity analysis
 Velocity analysis

Note, that Vr and Vt are independent components.

 Equations for velocities
Differentiating the loop-closure equation with respect to time:

We arrive at the following equation for velocities:

 Velocity analysis
First case : unknown rj , j .
Moving all known components of the velocities equation to the right - hand side
and combining them into vector b, we arrive at the following equation.

Multipling the equation by vector u1 = [ sin j , cos j ]T we arrive at

bx sin j + by sin j
j =
rj

Multipling the equation by vector u1 = [cos j , sin j ]T we arrive at
 Example of the first case.

Unknowns r1 (t ), 1 (t ) (i = 1)

Given 2 (t ) = 2 = , r2 (t ) = r2 = 3, r3 (t ) = r3 = 5, 3 (t ) variable
2
First approach : using the velocity equation

r3
Loop closure equation is r2
T T
r1 (t )(cos 1 (t ), sin 1 (t )) = [bx (t ), by (t )] r1

Vector b = (bx (t ), by (t ))T = (r2 (t ) + r3 (t ))
bx (t ) = r3 cos 3 (t ), by (t ) = r2 r3 sin 3 (t )
r1 (t ) = b = bx2 + by2 = r32 + r22 + 2r2 r3 sin 3 (t )
bx r3 cos 3 (t ) by r2 r3 sin 3 (t )
cos 1 (t ) = = , sin1 (t ) = =
b r32 + r22 + 2r2 r3 sin 3 (t ) b r32 + r22 + 2r2 r3 sin 3 (t )
 Velocity equation in this case is
r1 (t )(cos 1 (t ), sin 1 (t ))T + r1 ( sin 1 (t ), cos 1 (t ))T 1 (t ) = [bx (t ), by (t )]T

Vector b = (bx (t ), by (t ))T
bx (t ) = r3 sin 3 (t )3 (t ), by (t ) = r3 cos 3 (t )3 (t )

Solve for 1 (t ) using formulas for the first case :

bx (t ) sin 1 (t ) + by (t ) cos 1 (t ) r3 sin 3 (t )3 (t ) sin 1 (t ) r3 cos 3 (t )3 (t ) cos 1 (t )
1 (t ) = =
r1 (t ) r1 (t )
r3
= 3 (t ) cos( 3 (t ) 1 (t ))(eq.*)
r1 (t )

Solve for r1 (t ) using formulas for the first case :

r1 (t ) = bx (t ) cos 1 (t ) + by (t ) sin 1 (t ) = r3 sin 3 (t )3 (t ) cos 1 (t ) r3 cos 3 (t )3 (t ) sin 1 (t )
r2 r3 cos 3 (t )3 (t )
= (simplified using expressions for cos 1 (t ), sin 1 (t ))(eq. * *)
r1
Approach 2 : Differentiate r1 (t ),1 (t ) to find r1 (t ), (t ) = 1 (t )
dr1 (t ) d 1
r1 (t ) = = r22 + r32 + 2r2 r3 sin 3 = (2r2 r3 cos 3 (t ))3 (t )
dt dt 2 r22 + r32 + 2r2 r3 sin 3
r2 r3
= cos 3 (t )3 (t ) (the same result as eq. * *)
r1

Bonus : Differentiate 1 (t ) directly to find (t ).

Verify that the answer is the same as eq.(*)
 Velocity analysis
Second case : unknown ri (t ), j (t )
Velocity loop - equation takes the form :
i
(*)
Velocity analysis. Case 3.
Velocity analysis. Case 4.
 Example.
3
Findangularspeedoflink3 2 4
R3 B
Findangularspeedoflink4 b
3 R4
A
c
R2 a 4
2 R1 d

O2 O4

a2 sin( 4 2 )
angular velocity of link 3: 3 =
b sin(3 4 )

a2 sin( 2 3 )
angular velocity of link 4: 4 =
c sin( 4 3 )