Theory of Machines & Mechanisms

MCT 2212
Introduction
Rigid Body
Mechanics
Statics
Body at rest
Body with
constant velocity
Dynamics
Body with
accelerated
motion
under the action
of forces and
moments
Theory of Machines and
Mechanisms
Mechanisms/
Linkages
Parts/ Link
Joints
deals with the determination
of the forces and motions of
links in machines
Subsystems of
machines to facilitate
analysis
Introduction
4
Links: rigid member having nodes, i.e. attachment points
Binary link: 2 nodes
Ternary link: 3 nodes
Quaternary link: 4 nodes
Links & joints
Joint: connection between two links (at their nodes) which allows
motion
Classified by type of contact, number of DOF, type of
physical closure, or number of links joined.
kinematic pair : Joints are also known as kinematic pair
5
Joint Classification
Type of contact:
line/point i.e. higher pair,
area/surface i.e. lower pair
Number of DOF:
full joint=1DOF,
half joint=2DOF
Form closed (closed by geometry) or
Force closed (needs an external force to
keep it closed)
J oint order = number of links-1



Full Joint: permits one relative motion between adjacent links. All of these
kinematic pairs are referred to as one degree of freedom(DOF) pairs.
Turning pairs allow relative turning motion between two
links., e.g. bearings, pivots, or pin joints.
Rolling pairs allow relative rolling motion between two links,
e.g. pair of friction wheels For a rolling pair, it is assumed that
there is no slippage between the links.
Sliding pairs allow relative sliding motion between two links,
e.g Piston-Cylinder.
Half Joint: allows two relative motions simultaneously
between the adjacent links and referred to as two degree of
freedom pairs.
Sliding pairs
Turning pairs
Half Joint
Kinematic Pairs
Types of joints
Higher Pairs
& Lower Pairs
Lower pairs: A kinematic
pair or joint with
surface/area contact.

Higher Pairs & Lower Pairs
Higher pairs: A kinematic pair or joint with point contact or line contact.
Mechanism
Mobility: The mobility of a mechanism is defined as the number of
independent parameters required to specify the position of all links of the
mechanism. It also specify the number of input/actuators needed to operate the
mechanism.
kinematic chain : A kinematic chain is an assembly of links formed by
placing kinematic pairs at each of the nodes without specifying the ground
link.
Kinematic chains may be either open type or close type.
Mechanism: It is an assemblage of links and joints with at least one link
grounded and interconnected in a way to provide controlled output motions in
response to supplied input motions.
DOF of a mechanism: The number of independent ways by which a
dynamical system can move without violating any constraint imposed on it. In
other words, the minimum number of independent coordinates, which can
specify the position of the system completely. It is the number of parameters
that determine the state of a physical system.
Link classification:
Ground: fixed wrt. reference frame
Crank: pivoted to ground, makes complete revolutions
Rocker: pivoted to ground, has oscillatory motion
Coupler: link has complex motion, not attached to ground
Machine: mechanism designed to do work.
A simple machine may also be considered as a single mechanism.
Figure 1.3(b) shows a free body diagram of
the system used to analyze the manual force
required to generate sufficient gripping force.
Figure 1.3(a) The tongs
can be considered either
as a machine or as a
mechanism.
Figure: Inline 4-Cylinder Engine
Figure: IC Engine Demonstration
Machine & Mechanism
Figure: A Paper/ Card Punching Machine Figure: Quick return mechanism
Machine & Mechanism
Figure: Slider crank mechanism
Figure: Scotch Yoke mechanism
Mechanisms are widely used in applications where precise relative
movement and transmission of force are required. Motions may be
continuous or intermittent, linear and/or angular.
Mechanisms
Worm_gear Gear-gear Gear-rack
Examples of continuous motion output
Examples of intermittent motion output
Cam follower
Sewing machine creating a
lockstitch using an
oscillating a boat shuttle
Sewing machine creating a
lockstitch using Allen B
Wilson's rotating hook
Geneva
Mechanism
Cam follower
Ratchet
Mechanism
Every mechanism has one stationary base link. All other links may move
relative to the fixed base link. From the same kinematic chain, an inversion os
a mechanism is obtained by making the originally fixed link into a moving link
and selecting an originally moving link to be the fixed link .
Mechanism Inversion
Figure 1.39 Slider crank mechanism and its three inversions
(a) slider crank mechanism (link 1 fixed),
(b) inversion #1
(link 2 fixed),
(c) inversion #2
(link 3 fixed),
(d) inversion #3
(link 4 fixed).
Planar motion is restricted to a plane. For a planar mechanism, the motions of
all of its links must take place either in the same plane or in planes that are
parallel to one another. The slider crank mechanism and four-bar mechanism
are examples of planar mechanisms.

Planar Mechanism
Figure 1.5 Slider crank mechanism Figure 1.7 Slider crank mechanism with offset
Figure 1.8 Four-bar mechanism
The Grueblers equation for the mobility,
m, of a planar mechanism is given as


n= number of links in the mechanism
J
1
=umber of one degree of freedom pairs
J
2
=umber of two degree of freedom pairs
2 1
2 ) 1 ( 3 J J n m =
I f, m< 0 i.e. ve, Preloaded Structure, may require force to
assemble / I ndeterminate problem .
I f, m=0 , Structure.
I f, m>0 i.e. +ve, Mechanism.



Mobility
18
Figure 1.36 Examples of mobility.
I f, m< 0 i.e. ve, Preloaded Structure, may require force to
assemble.
I f, m=0 , Structure.
I f, m>0 i.e. +ve, Mechanism.



Mobility
19
Figure 1.36 (Continued)
n=6, j
1
=7, m=1
n=11, j
1
=14, j
2
=1 m=1
n=4, j
1
=1, j
2
=1, j
3
=2 ,m=3
n=5; J
1
=6; J
2
=0; m=0
n=5; J
1
=6; J
2
=0; m=0 but, m=1.
Full Joint,
Pure rolling,
no sliding
In case of pure rolling,
n=3; J
1
=3; J
2
=0; m=0
In case of rolling & sliding,
n=3; J
1
=2; J
2
=1; m=1
Half Joint,
rolling &
sliding
3
1
1
1
2
4
5
1
1
1
2 4
5
3
2
3
1
1
Mobility Paradoxes
The Gruebler criterion pays no attention to
link sizes or shapes, it can give misleading
results in the face of unique geometric
configurations.
Paradoxical Mechanism
a sin|= b sino
A spatial 4R linkage is, in general, immovable because M=-2.

However, it may have mobility one if special geometry are met.

There are two well-know paradoxical mechanisms:
Spherical four-bar mechanism (The axes of revolute joints all
pass through a single point)
Bennett mechanism
Idle Degrees of Freedom
An Idle degree of freedom is one that appears (and is) present but its value has
no effect on the input output relationships of interest
To identify Idle degrees of freedom, first identify the input and output links
Then we must determine if a single link or combinations of links can move
without affecting the input/output link positions
Like a connecting link rotating (about its axis) in a steering mechanism
without changing the relationship between the steering wheel and the front
tires in a vehicle
10/7/2014 ME 3230 Page 24
Note: Pin-in-slot & Cam Contact are half joints
5
2 13 2 ) 1 12 ( 3
2 ) 1 ( 3
2
13
12
2 1
2
1
=
=
=
=
=
=
J J n m
J
J
n
Here,
The Structure has five DOF with two Idle DOFs.
They are the roller and the cam rocker .
m
Actual
= M
Theoretical
- m
Idle

=5-2 = 3

Idle Degrees of Freedom
Joints: RSSR
n=4, j
1
=2, j
2
=0, j
3
=2 ,m=2
But Actual m=1
The result seems to conflict with our practical
experience since there is a unique value of | for
any given value of u. i.e., the orientation of link 4
can be determined when the orientation of link 2 is
specified.

Examining the mechanism carefully will reveal that
we need an extra parameter to identify the
orientation of link 3. Because this parameter doesn't
affect the input-output relationship of the linkage,
so we call it an idle degree of freedom.
Idle Degrees of Freedom (Redundant DOF)
An idle dof is one that does not affect the input-output relationship of
the linkage.
Procedures for Locating the Idle dof are
as following:
Identify the input link and output link.
Check to determine if a single link or a
combination of connected links can move
without altering the relative position of the
input and output links. If the answer is
positive, there are some idle dofs
Joints: n=14, j
1
=6, j
2
=0, j
3
=12 ,m=12
But Actual m=6 and 6 idle dof, each idle
dof locates in between two spherical
joint.
Stewart
Platform
Figure 1.29 (a) a prosthetic hand
Figure 1.29(b) Fingers wrap
around an object as shown in
In a spatial mechanism, links move in three dimensions. For
example, in a prosthetic hand, the thumb moves in a plane that is
not parallel to the planes of motion of the other four fingers.
where the subscript refers to the number of freedoms of the joint.
5 4 3 2 1
2 3 4 5 ) 1 ( 6 J J J J J n M =
Spatial mechanism
The Kutzbach mobility equation for spatial linkages:
Example of Spatial Linkage
4 Links; 2 spherical Joints, 1cylindrical joint and 1 revolute joint.
DOF of a Spherical Joint is 3
DOF of a Cylindrical Joint is 2
DOF of a Revolute Joint is 1
3
2 3 1 4 1 5 ) 1 4 ( 6
2 3 4 5 ) 1 ( 6
5 4 3 2 1
=
=
= J J J J J n M
Four-Bar Mechanism-Grashof's Criterion
Four-bar mechanisms may be studied by distinguishing the link lengths as
follows:
s: the length of the shortest link
l: the length of the longest link
p, q: the lengths of the other two links
To assemble the kinematic chain it is necessary that,
l q p s > + +
The type of a four-bar mechanism may be determined using Grashof"s
Criterion,

(i) (ii) (iii) q p l s + < +
Then, only case (i) offers all three types of a four-bar mechanisms.
q p l s + > + q p l s + = +


Class_I


Class_II


Class_III
(i) If s is the input link, then
the mechanism is a crank
rocker.
(ii) If s is the base link, then
the mechanism is a drag link.
(iii) If otherwise, then the
mechanism is a rocker-rocker.
Rocker_Rocker Change Point
q p l s + < + q p l s + > + q p l s + = +
Four-Bar Mechanism-Grashof's Criterion
Figure 1.43 Types of four-bar mechanisms (a) crank rocker, (b) drag link, (c) rocker-rocker.
For S+L<P+Q
Crank-rocker if either link adjacent to shortest is grounded
Double crank if shortest link is grounded
Double rocker if link opposite to shortest is grounded
For S+L>P+Q
All inversions will be double rockers
No link can fully rotate
Figure: Four Bar double rockers
For S+L=P+Q (Special case Grashof)
All inversions will be double cranks or crank rockers
Linkage can form parallelogram or antiparallelogram
Often used to keep coupler parallel (drafting machine)
32
Parallelogram form Anti parallelogram form Deltoid form
Figure 1.47 Four-bar mechanisms:
crank rocker
Let the lengths of the three moving links are r
2
= 2.0 cm; r
3
=4.0
cm; r
4
=5.0 cm, adjusting the length of the base link we can get the
following inversion of four bar mechanism.