Session #8 More on Mechanism Synthesis Static Forces in Mechanisms

Dan Frey

Todays Agenda
Discuss upcoming issues
HW #4 Exam #1 Mid-term project report

Mechanism synthesis
Path generation Employing constraints in design

Forces in mechanisms
Two force members Energy methods

Homework 4 Problem 1

Homework 4 Problem 2

Source: Figure 4-31 in Suh, C. H. Computer Aided Design of Mechanisms Part A. Self-published book, 1989. Courtesy of Dr. C. H. Suh. Used with permission.

Note the imperfect correspondence of points in the figure and plot. Estimate the weight of window glass.

Grading
Homework (8 assignments at 5% each) Exams (2 exams at 15% each) Project Participation 40% 30% 25% 5%

Although you are ~1/2 through the homework sets, the concepts on the homework have so far only exerted <1/4 of their influence on the overall outcome. Allow me to explain.

Exam #1
Tuesday 21 MAR Open book / open notes / open all sources Individual work Computers may be used Content drawn from
Lectures and reading assignments to 9 MAR Homework assignments 1 to 5

Style of the exam will emphasize conceptual understanding Therefore, review the HW for understanding

Mid-Term Oral Presentations

Friday 7 APR You will each have no more than 15 minutes for presentation and should expect at least 5 minutes of questions Projector will be available, but use whatever format of presentation you prefer You should be able to present and answer questions about
Your chosen design challenge (e.g., why is it important?) Your chosen design concept (e.g., how does it work?) Alternative concepts you considered (e.g. how did you choose?) The critical modules you have begun to design critical or issues you have begun to address (e.g., what have you made so far?)

To the degree possible, link theory to practice

Show us if/how the concepts from this class are helpful in actually designing machines

Path Generation
How many target points can I specify?
Coupler Link Guided Point T1 Target Points T2 T3 Input Crank A P C

Output Crank

Path Generation
8 different scalars define the mechanism
four points, each with two coordinates

Each point after the first one gives us one constraint equation It would seem 9 point synthesis is possible
Coupler Link Guided Point T1 Target Points T2 T3 Input Crank A P C

Output Crank

Path Generation
8 different scalars define the mechanism
four points, each with two coordinates

Each point after the first one gives us one constraint equation It would seem 9 point synthesis is possible
Coupler Link Guided Point T1 Target Points T2 T3 Input Crank A P C

Output Crank

Fixed point on left Fixed point on right

Source: Suh, C. H. Computer Aided Design of Mechanisms, Part A. Self-published book, 1989. Courtesy of Dr. C. H. Suh. Used with permission.

Example of Path Generation

9 points specified Solved with Excel
y C

9 8 7

2 3 5 4

D x

Practical Constraints
y C

9 points were specified The solutions exists But the mechanism is rather unwieldy One remedy is to place a constraint on the solution (e.g. the total length of the couplers cannot be more than x)

9 8 7

2 3 5 4

D x

How Well Does it Work?

y
3

2.5

9 8

1.5

7 2 3 5 4

B
0.5 1 0.5 0 0.5 1 1.5

target points optimal design practical constraints

A D x

Why Does this Work so Well?

Given an unconstrained optimization problem defined as

min f (x) the first order optimality condition is f ( x ) = 0 T * where x* is the solution to the problem. Any result of an unconstrained optimization must meet this condition. This implies that small perturbations away from an optimal point will result in very little change in the objective function f as long as the function is C1 everywhere in the neighborhood of x*.

Why Does this Work so Well?

Given an unconstrained optimization problem defined as

min f (x) the first order optimality condition is f(x) f ( x ) = 0 T *

f ( x *+ ) f(x*)

x1 x *+ x* x2

All the designs in this neighborhood are very good.

Two Force Members

If the only forces on a body act through 2 pin joints, then the net force acts along the line between the 2 joints.

Analyzing Static Forces in Mechanisms

B W C E F D A

What force F will keep this mechanism from moving? One way to find out -- write the equations of equilibrium

Analyzing Static Forces in Mechanisms

B W C E F D A

What force F will keep this mechanism from moving? Another way to find out small displacements and energy

Concept Question
I estimate that a pane of auto window glass weights about 10 lbs If the crank turns by 0.01 radians and this makes the cg of the window drop by 0.05 inches, what was the torque on the crank?
Source: Figure 4-31 in Suh, C. H. Computer Aided Design of Mechanisms Part A. Self-published book, 1989. Courtesy of Dr. C. H. Suh. Used with permission.

1) 0.5 in*lb

2) 5 in*lb

3) 50 in*lb

4) 500 in*lb

Analyzing Static Forces in Mechanisms

Fout

Fin

Approximately what is the ratio Fout/Fin?

Analyzing Static Forces in Mechanisms

Fout

Fin

Approximately what is the ratio Fout/Fin?

A Prosthetic Prehensor
Cable runs within a housing down the arm

Cable attached to harness Cable pulls here

Grip III by TRS Inc.

Courtesy of TRS Inc. Used with permission.

Sizing Mode

Courtesy of TRS Inc. Used with permission.

Gripping Mode

Courtesy of TRS Inc. Used with permission.

How will the Mechanism Function?

output grip force

input cable tension

Cable pulls here

Grip III by TRS Inc.

Courtesy of TRS Inc. Used with permission.

Next Steps
Finish Assignment #4 Next Class Thurs 9 MAR Lab Friday 10 MAR
Teams 1,2,3
from 2-3:30 from 3:30-5

Teams 4,5
from 2-3:30 from 3:30-5