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
Susystems of
machines to facilitate
analysis
Introduction
4
Links! rigid memer ha"ing nodes# i$e$ attachment %oints

&inary link! 2 nodes

Ternary link! ' nodes

(uaternary link! ) nodes

Links & joints
Joint! connection etween two links *at their nodes+ which allows
motion

Classified y ty%e of contact# numer of ,-.# ty%e of %hysical

closure# or numer of links /oined$
kinematic pair ! Joints are also known as kinematic %air
5
Joint Classification
Type of contact!
line/%oint i$e$ higher %air#
area/surface i$e$ lower %air
Number of DOF!
full /oint01,-.#
half /oint02,-.
Form closed *closed y geometry+ or
Force closed *needs an e1ternal force to
kee% it closed+
Joint order = number of links-1
Full Joint! %ermits one relati"e motion etween ad/acent links$ 2ll of these
kinematic %airs are referred to as one degree of freedom*,-.+ %airs$
Turning pairs allow relati"e turning motion etween two
links$# e$g$ earings# %i"ots# or %in /oints$
olling pairs allow relati"e rolling motion etween two links#
e$g$ %air of friction wheels .or a rolling %air# it is assumed that
there is no sli%%age etween the links$
!liding pairs allow relati"e sliding motion etween two links#
e$g Piston3Cylinder$
"alf Joint! allows two relati"e motions simultaneously
etween the ad/acent links and referred to as two degree of
freedom %airs$
!liding pairs
Turning pairs
"alf Joint
#inematic $airs
Types of joints
"ig%er $airs
& Lo&er $airs
Lo&er pairs' 2 kinematic
%air or /oint with
surface/area contact$
"ig%er $airs & Lo&er $airs
"ig%er pairs' 2 kinematic %air or /oint with %oint contact or line contact$
Mechanism
(obility or DOF of a mec%anism! The moility of a mechanism is defined as
the numer of inde%endent %arameters re4uired to s%ecify the %osition of all
links of the mechanism$ 5t also s%ecify the numer of in%ut/actuators needed to
o%erate the mechanism$
kinematic c%ain ' 2 kinematic chain is an assemly of links formed y
%lacing kinematic %airs at each of the nodes without s%ecifying the ground
link$
6inematic chains may e either open type or close type$
(ec%anism! 5t is an assemlage of links and /oints with at least one link grounded and
interconnected in a way to %ro"ide controlled out%ut motions in res%onse to su%%lied
in%ut motions$
Link classification!

7round! fi1ed wrt$ reference frame

Crank! %i"oted to ground# makes com%lete re"olutions

8ocker! %i"oted to ground# has oscillatory motion

Cou%ler! link has com%le1 motion# not attached to ground

(ac%ine! mechanism designed to do work$
A simple machine may also be considered as a single
mechanism.
.igure 1$'*+ shows a free ody diagram of
the system used to analy9e the manual force
re4uired to generate sufficient gri%%ing force$
.igure 1$'*a+ The tongs
can e considered either
as a machine or as a
mechanism$
igure! "nline 4#$ylinder %ngine
igure! "$ %ngine Demonstration
(ac%ine & (ec%anism
igure! A &aper' $ard &unching Machine igure! (uic) return mechanism
(ac%ine & (ec%anism
igure! Slider cran) mechanism
igure! Scotch *o)e mechanism
Mechanisms are widely used in a%%lications where %recise relati"e
mo"ement and transmission of force are re4uired$ Motions may e
continuous or intermittent# linear and/or angular$
(ec%anisms
:orm;gear 7ear3gear 7ear3rack
)*amples of continuous motion output
)*amples of intermittent motion output
Cam <follower
Sewing machine creating a
lockstitch using an
oscillating a oat shuttle
Sewing machine creating a
lockstitch using 2llen &
:ilson=s rotating hook
7ene"a
Mechanism
Cam <follower
8atchet
Mechanism
>"ery mechanism has one stationary ase link$ 2ll other links may mo"e
relati"e to the fi1ed ase link$ .rom the same kinematic chain# an in"ersion os
a mechanism is otained y making the originally fi1ed link into a mo"ing
link and selecting an originally mo"ing link to e the fi1ed link $
(ec%anism In+ersion
.igure 1$'? Slider crank mechanism and its three in"ersions
*a+ slider crank mechanism *link 1 fi1ed+#
*+ in"ersion @1
*link 2 fi1ed+#
*c+ in"ersion @2
*link ' fi1ed+#
*d+ in"ersion @'
*link ) fi1ed+$
Planar motion is restricted to a %lane$ .or a %lanar mechanism# the motions of
all of its links must take %lace either in the same %lane or in %lanes that are
%arallel to one another$ The slider crank mechanism and four3ar mechanism
are e1am%les of %lanar mechanisms$
$lanar (ec%anism
Figure 1.5 Slider cran) mechanism Figure 1.7 Slider cran) mechanism with o+set
Figure 1.8 our#bar mechanism
The 7ruelerAs e4uation for the moility#
m, of a %lanar mechanism is gi"en as
n0 numer of links in the mechanism
J
1
0umer of one degree of freedom %airs
J
2
0umer of two degree of freedom %airs
2 1
2 + 1 * ' J J n m =
If, m< 0 i.e. ve, Preloaded Structure, may require force to
assemle ! Indeterminate "rolem .
If, m# 0 , Structure.
If, m$0 i.e. %ve, &ec'anism.
(obility
,-
Figure 1.36 %.amples of mobility.
If, m< 0 i.e. ve, Preloaded Structure, may require force to
assemle.
If, m# 0 , Structure.
If, m$0 i.e. %ve, &ec'anism.
(obility
,/
Figure 1.36 (Continued)
n=5; J
1
=6; J
2
=0; m=0
n=5; J
1
=6; J
2
=0; m=0 but, m=1.
.ull Joint#
Pure rolling#
no sliding
In case of pure rolling,
n=3; J
1
=3; J
2
=0; m=0
In case of rolling sli!ing,
n=3; J
1
=2; J
2
=1; m=1
Balf Joint#
rolling &
sliding
,
-
-
-
.
/
0
-
-
-
. /
0
,
.
,
-
-
(obility $arado*es
The 7rueler criterion %ays no attention to
link si9es or sha%es# it can gi"e misleading
results in the face of uni4ue geometric
configurations$
Idle Degrees of Freedom
2n 5dle degree of freedom is one that a%%ears *and is+ %resent ut its "alue has
no effect on the in%ut < out%ut relationshi%s of interest
To identify 5dle degrees of freedom# first identify the in%ut and out%ut links
Then we must determine if a single link or cominations of links can mo"e
without affecting the in%ut/out%ut link %ositions
Like a connecting link rotating *aout its a1is+ in a steering mechanism
without changing the relationshi% etween the steering wheel and the front
tires in a "ehicle
,0'1',4 M% 2320 &age 33
4ote! &in#in#slot 5 $am $ontact are
half 6oints
Bere#
The Structure has fi"e ,-. with two 5dle ,-.As$
They are the roller and the cam rocker $
m
Actual
7 M
8heoretical
# m
"dle

75#3 7 2
Idle Degrees of Freedom
C
2 1' 2 + 1 12 * '
2 + 1 * '
2
1'
12
2 1
2
1
=
=
=
=
=
=
J J n m
J
J
n
.igure 1$2? *a+ a %rosthetic hand
.igure 1$2?*+ .ingers wra%
around an o/ect as shown in
5n a s%atial mechanism# links mo"e in three dimensions$ .or
e1am%le# in a %rosthetic hand# the thum mo"es in a %lane that is
not %arallel to the %lanes of motion of the other four fingers$
where the suscri%t refers to the numer of freedoms of the /oint$
spatial mec%anism
The 6ut9ach moility e4uation for s%atial linkages!
C ) ' 2 1
2 ' ) C + 1 * D J J J J J n " =
)*ample of !patial Linkage
) LinksE 2 s%herical Joints# 1cylindrical /oint and 1 re"olute /oint$
,-. of a S%herical Joint is '
,-. of a Cylindrical Joint is 2
,-. of a 8e"olute Joint is 1
'
2 ' 1 ) 1 C + 1 ) * D
2 ' ) C + 1 * D
C ) ' 2 1
=
=
= J J J J J n "
Four12ar (ec%anism13ras%of4s Criterion
.our3ar mechanisms may e studied y distinguishing the link lengths as
follows!
s! the length of the shortest link
l! the length of the longest link
", q! the lengths of the other two links
To assemle the kinematic chain it is necessary that#
The ty%e of a four3ar mechanism may e determined using 7rashofFs
Criterion#
*i+ *ii+ *iii+
8hen9 only case :i; o+ers all three types of a four#bar
mechanisms.
l # p s + +
# p l s + < + # p l s + > + # p l s + = +
Class_I Class_II Class_III
*i+ 5f s is the in%ut link# then
the mechanism is a crank
rocker$
*ii+ 5f s is the ase link# then
the mechanism is a drag link$
*iii+ 5f otherwise# then the
mechanism is a rocker3rocker$
8ocker;8ocker Change Point
Four12ar (ec%anism13ras%of4s Criterion
# p l s + < + # p l s + > + # p l s + = +
Figure 1.43 8ypes of four#bar mechanisms :a; cran) roc)er9 :b; drag lin)9 :c; roc)er#roc)er.
For !5L6$57
Crank1rocker if either link ad/acent to shortest is grounded
Double crank if shortest link is grounded
Double rocker if link o%%osite to shortest is grounded
For !5L8$57
2ll in"ersions will e doule rockers
Go link can fully rotate
.igure! .our &ar doule rockers
For !5L9$57 :!pecial case 3ras%of;
2ll in"ersions will e doule cranks or crank rockers
Linkage can form %arallelogram or anti%arallelogram
-ften used to kee% cou%ler %arallel *drafting machine+
3-
Parallelogram form 2nti %arallelogram form ,eltoid form
.igure 1$)H .our3ar mechanisms!
crank rocker
Let the lengths of the three mo"ing links are r
2
0 2$I cmE r
'
0)$I
cmE r
)
0C$I cm, ad/usting the length of the ase link we can get the
following in"ersion of four ar mechanism$