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Chapter Outcomes Chapter 2: Kinematic Fundamentals

After covering this chapter, you should be able to:


Identify mechanisms and predict their motion Calculate the degrees of freedom of mechanisms

2.1: Degrees of Freedom (DoF)


DoF: Number of independent parameters needed to completely define a systems position in space Marker in 3-D space example (whiteboard) Marker in 2-D space example (whiteboard) Course coverage will be limited to 2-D/planar systems

2.2: Types of Motion


Pure rotation: Object changes angular orientation about fixed axis (whiteboard) Pure translation: Object changes position without changing angular orientation (whiteboard) Complex motion = rotation + translation (whiteboard)

2.3(A): Links
Reminder: A mechanism is a collection of links connected by joints arranged to transmit a specific type of motion Link: Rigid body which possesses at least 2 nodes (nodes = points for attachment to other links) Links are classified according to # of nodes

2.3(A): Links
Simplified drawings of links (whiteboard) Students must be able to identify and differentiate types of links Links do not necessarily need to take their obvious shapes (links are classified according to # of nodes, NOT their shapes) Example (whiteboard)

2.3(B): Joints
Joint: Connection between 2 or more links (at their nodes) which allows some motion Can be classified in several ways. We will focus on 2:
by the DoF allowed at the joint by the number of links joined (order of the joint)
Name Pin / Rotational Slider / Translational Link against plane Pin in slot Rolling cylinder

DoF Classification
Diagram
Link Joint Link Link Joint (surface) Link

DoF 1 (why?) 1 (why?) 2 (why?) 2 (why?) Pure roll: 1 Pure slide: 1 Roll & slide: 2

Simplified Diagram

Order Classification
Order = (# of links joined) - 1 Name Single joint Multiple joint Diagram Order 1 2 DoF 1 2 joints, each with 1 DoF (whiteboard)

2.3(C): Kinematic Chains


Kinematic chain: An assembly of links and joints Mechanism: A kinematic chain with at least one link grounded Example (whiteboard)

2.4: DoF of Planar Mechanisms


Number of inputs needed to fully define position of mechanism Kutzbachs / Modified Grueblers equation: M = 3(L 1) 2J1 J2 where: M = DoF L = # of links J1 = # of 1 DoF joints J2 = # of 2 DoF joints Example (transparency) Reminder (whiteboard)

2.5: Mechanisms and Structures


If DoF > 0, its a mechanism If DoF = 0, its a structure If DoF < 0. its a preloaded structure (will have built in stresses with manufacturing error)

More on DoF Definitions


For a body in free space, it is:
The number of independent parameters needed to completely define a systems position in space

Input
Input = Source of Motion The device that introduces/produces motion for a mechanism Rotary Input
Usually provided by a motor
Piston

For a mechanism, it is:


The number of inputs needed to fully define position of mechanism

Linear Input
Usually provided by a linear actuator Simply a piston in a cylinder moved by pneumatic or hydraulic pressure

Sliding Joint

Are they the same? NO!!! So what is an input?

Cylinder

Computer simulation on number of Inputs

Linear Actuator

2.11: Inversion
Act of grounding a different link in a kinematic chain Usually produces different motions from the mechanism Example (computer simulation)

2.12: The Grashof Condition


Fourbar link naming conventions: Ground: Link fixed to the ground Crank: Link which makes a complete revolution Rocker: Link which has oscillatory motion (rocks back and forth) Coupler: Link connecting input and output links
Coupler Crank Rocker

Ground

2.12: The Grashof Condition


Grashof condition: Condition used to predict rotational behavior/motion of fourbar linkage based on link lengths Linkage is Grashof if S + L P + Q (whiteboard) where S: length of shortest link L: length of longest link P: length of intermediate link Q: length of another intermediate link Else linkage is non-Grashof Grashof linkage: At least one link will be able to make a full revolution Non-Grashof linkage: No link will be able to make a full revolution

Grashof Classification (Transparency + Computer Simulation)


Class 1: S + L < P + Q Either link attached to the shortest is grounded Crank-Rocker Shortest link is grounded Double-Crank Link opposite the shortest is grounded Double Rocker Class 2: S + L > P + Q (non-Grashof) Tripler Rocker Class 3: S + L = P + Q (special case) Will have change points when all links become collinear Output behavior at these points indeterminate

Link Assembly
In order for the four links to be assembled L < (S + P + Q) If L = S + P + Q, the links can be assembled but will not move (whiteboard)

Course Outcomes
Identify mechanisms and predict their motion Calculate the degrees of freedom of mechanisms Design mechanisms to fulfill motion generation and quick return requirements Determine the positions, velocities and accelerations of links and points on mechanisms Derive SVAJ functions to fulfill cam design specifications Calculate dynamic joint forces of mechanisms Balance simple rotating objects and pin-jointed fourbar linkages Work in a team to analyze and modify existing mechanisms Present completed work in oral and written form Use related computer programs to design, model and analyze mechanisms

End of Chapter 2
Please bring geometrical set + tracing paper during tutorial session next week. Thank you.

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