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Class 2
Fundamental Concepts
TYPES OF MOTION
Three Dimensional Motion
In a plane, or two-
dimensional space, rigid
body motion becomes a
combination of
simultaneous rotation about
one axis (perpendicular to
the plane) and also
translation resolved into
components along two axes
in the plane.
Planar motion of a body
occurs when all the particles
of a rigid body move along
paths which are equidistant
from a fixed plane
Translation
Curvilinear Translation
Fixed Axis Rotation
When a body is
subjected to
general plane
motion, it
undergoes a
combination of
translation and
rotation, The
translation occurs
within a reference
plane, and the
rotation occurs
about an axis
perpendicular to
the reference
plane.
DEGREES OF FREEDOM (DOF) OR MOBILITY
Definition of the DOF
Dyads
DETERMINING DEGREE OF FREEDOM OR
MOBILITY OF MECHANISMS
Degrees of Freedom of Planar Mechanisms
A. Mobility of one planar link = 3
B. Mobility of L planar links = 3L
C. Mobility of (B) when joint by J1 one DOF joints = 3L – 2J1
D. Mobility of (C) when joint by J2 two DOF joints = 3L – 2J1 – J2
E. Mobility of (D) with one grounded link = 3(L – 1) – 2J1 – J2
L=4
The degree of freedom of an
J1 = 4
assembly of links completely
J2 = 0
predicts its character. There are
only three possibilities.
M = 3(4-1) – 2×4 – 0 = 1
a) M > 0 → mechanism, links
will have relative motion.
L=3
b) M = 0, → structure, no J1 = 3
relative between links is J2 = 0
possible.
c) M < 0, → preloaded M = 3(3-1) – 2×3 – 0 = 0
structure, no relative
between links is possible L=2
and some stresses may be J1 = 2
present. J2 = 0
M = 3(2-1) – 2×2 – 0 = -1
Example 1
1 (Ground)
2
3
4
5
6
7
L=9
9 8
J1 = 11
J2 = 1
L=8
J1 = 10
J2 = 0
Chapter 2
A four bar
mechanism is
obtained by
grounding one of
the links in the
four bar linkage.
Four different
mechanism
inversions may be
obtained from the
same four bar
linkage, all with L=4
DOF = 1 J1 = 4
J2 = 0
M = 3(4-1) – 2×4 – 0 = 1
Inversions of the Four Bar Mechanism
Let :
L = length of shortest link
S = length of longest link
P
P = length of one remaining link
Q = length of other remaining link Q
S
L
Then if :
S+L≤P+Q
the linkage is Grashof class I linkage and
at least one link will be capable of making
a full revolution with respect to the
ground plane. S+L≤P+Q
The Grashof Condition on 4 Bar Linkage’s Rotatability
All
inversions
will be
triple-
rockers
Triple Rocker #3
Triple Rocker #4
(RRR3)
(RRR4)
Motions of Grashof Class III Four Bar Linkage Inversions
S+L=P+Q
Intermittent motion is a
sequence of motions and
dwells. A dwell is a period
in which the output link
remains stationary while
the input link continues to
move.
There are many
applications in machinery
that require intermittent
motion. The cam-follower
variation on the four bar
linkage is often used in
these situations.
Geneva Mechanisms