Introduction Machine Kinematics &Dynamics Kinematic Diagram Analysis and Synthesis Mechanism and Terminologies Inversion Pairing Plane Motion Other Types of Motions
Machines and Mechanism Machines : devices used to alter, transmit, and direct forces to accomplish a specific objective. Mechanism : A mechanism is the mechanical portion of a machine that has the function of transferring motion and forces from a power source to an output. A mechanism can be considered rigid parts that are arranged and connected so that they produce the desired motion of the machine.
Kinematics and Dynamics Kinematics : study of relative motion of machine parts Kinematic analysis involves determination of position, displacement, rotation, speed, velocity, and acceleration of a mechanism. Dynamics : study of forces acting on machine parts and motions resulting from these forces Dynamic Analysis involves determining operating forces in a machine. Synthesis & Analysis Synthesis is the process of developing a mechanism to satisfy a set of performance requirements for the machine. In Synthesis we design a mechanism to produce a desired output motion for a given input motion Analysis : ensures that the mechanism will exhibit motion that will accomplish the set of requirements. In analysis given a mechanism of definite proportions we find displacements, velocities and accelerations Mechanism Terminology-linkage Linkage : is a mechanism where rigid parts are connected together to form a chain. Classified as Closed loop chains : each link is connected to two or more other links Open loop chains : at least one link is connected to only one other links Robot : Open chain Adjustable height platform: Closed chain Mechanism Terminology- Frame, link Frame : a part of mechanism that exhibits no motion. It serves as the frame of reference for the motion of all other parts. Links : are the individual parts of the mechanism which have relative motion to one another They are considered rigid bodies and are connected with other links to transmit motion and forces.
Mechanism Terminology-Types of links Depending on the number of nodes links are classified as Link must posses at least two nodes (points for attachment to other links) Joint : is a movable connection between links and allows relative motion between the links. Classification of joints Based on Type of contact between the elements, line, point, or surface. Number of degrees of freedom allowed at the joint. Type of physical closure of the joint: either force or form closed. Number of links joined (order of the joint).
Mechanism Terminology-joint Mechanism Terminology-Types of joints Based on Type of contact between the elements lower pair : joints with surface contact higher pair : joints with point or line contact. Flat / The R and P pairs are the basic building blocks of all other pairs lower pair Joints Full Joint Half Joint Mechanism Terminology-Types of joints Based on Number of degrees of freedom allowed at the joint. One freedom Joint (Full Joint) : Joints with 1dof , these are lower pairs Also known as Primary Joints, Permit simple motion Ex : Revolute Joint, Prismatic Joint Two freedom Joint (Half Joint ) : Joints with 2dof- these are higher pairs Also known as Higher order joints, Permit complex motion Ex : cam Joint, Gear Joint
Based on Type of physical closure of the joint form-closed joint: kept together or closed by its geometry. force-closed joint : requires some external force to keep it together or closed. Mechanism Terminology-Types of joints Based on Number of links joined order of the joint : number of links joined minus one (n-1) First order : two links Joined Together Second order : three links joined together
Mechanism Terminology-Types of joints Actuator : is the component that drives the mechanism. Crank: a link that makes a complete revolution and is pivoted to ground, Rocker : a link that has oscillatory (back and forth) rotation and is pivoted to ground, Coupler (or connecting rod): a link that has complex motion and is not pivoted to ground. Ground : is defined as any link or links that are fixed (nonmoving) with respect to the reference frame. Note that the reference frame may in fact itself be in motion. Mechanism Terminology Planar linkage A planar linkage : is one in which the velocities of all points in all members are directed parallel to a plane called plane of motion. Motion of links and joints is limited to 2D space All bodies that move freely have 3 Degrees of freedom The only lower pair joints that are properly compatible with planar mechanisms are revolute and prismatic The axis of rotation of all revolute joints must be normal to the plane of motion and the direction of sliding of all prismatic joints must be parallel to the plane of motion Spherical linkages Spherical linkage : motion of all points can be completely described by their radial projections or shadows on the surface of a sphere with a properly chosen centre These are the linkages whose joints are revolute The axis of all revolute joints pass through a point Spherical linkages obey same kind of constraint criteria as planar mechanisms Spatial Linkages Spatial Mechanism : is one in which there is no restriction on the relative motion of particles Motion of particles is in 3D space Each body that moves freely has 6 degree of freedom Robotic Mechanisms are best examples. Mobility Mobility of a mechanism is the minimum number of co ordinates needed to specify the positions of all members of a mechanism relative to a particular member chosen as base or frame. Linkages usually have mobility of 1 or more If mobility is zero or negative then the assemblage is a structure. Statically determinate if mobility is zero statically indeterminate if mobility is negative.