Kinematics Fundamentals 2

Learning Objectives

Describe at least one example of a paradox to the Gruebler / Kutzbach equation for determining the number of degrees of freedom for a mechanism. Explain the concept of linkage transformations, and in particular the effect of replacing revolute joints with prismatic joints, replacing full joints with half joints, and removing links entirely. Describe the links and joints of a fourbar linkage, a crankslider, and a cam follower, and explain how they are related. Explain how inversions of a kinematic chain are created, and determine the inversions of simple mechanisms. Apply the Grashof Condition to fourbar linkages and describe the information revealed. Define intermittent motion and provide examples of intermittent motion mechanisms.
2

Degree-of-Freedom Paradoxes

There are exceptions to the Gruebler / Kutzbach method of determining degrees of freedom. The E-quintet is an example in which If three binary links happen to have equal length, the joints of a middle link do not constrain the mechanism any more than the outer links. The equation predicts DOF = 0, but the mechanism has DOF = 1. Note the redundant member(s). Rolling cylinders even without slip is an example in which the ground link is coincidentally exactly the same length as the sum of two other links (i.e. the radii). The equation predicts DOF = 0 (L=3, J1=3), but the mechanism has DOF = 1. Others paradoxes exist, so the designer must not apply the equation blindly.
3

M = 3( L 1) 2 J1 J 2

Reference: Design of Machinery, 4th ed. by R. L. Norton, 2008, McGraw-Hill

Fourbar Linkage

The fourbar linkage is the simplest possible pin-jointed mechanism for controlled motion with one degree of freedom. Changing the relative lengths of the links can create a wide variety of motions.
Coupler (Link 3)

Input (Link 2)

Output (Link 4)

Ground (Link 1) 4

Transformations of Planar Kinematic Chains

Replacing revolute joints in any loop by prismatic joints does not change the DOF, provided that at least two revolute joints remain in the loop. Replacing a full joint by a half joint increases the DOF by one. Removing a binary link reduces the DOF by one. Partially shrinking by coalescing nodes of a higherorder (> 2 nodes) link will create a multiple joint but does not change the DOF. Completely shrinking a higher-order link is equivalent to removing it, leaving a multiple joint and fewer DOF.

Crank-Slider

The crank-slider (right) is a transformation of the fourbar crankrocker, by replacing the revolute joint at the rocker pivot by a prismatic joint, maintaining the same one degree of freedom. The transformation may be conceptualized as an infinitely long Link 4, but the slider block is actually Link 4.
6

Reference: Design of Machinery, 4th ed. by R. L. Norton, 2008, McGraw-Hill

Scotch Yoke

The Scotch Yoke is a linkage that achieves exact simple harmonic motion in response to a constant speed rotation. Replacing the joint (full joint to half joint) at the end of Crank 2 increases the degrees of freedom by one, but removing Link 3 reduces the degrees of freedom by one, resulting in a linkage that maintains one degree of freedom.

Reference: Design of Machinery, 4th ed. by R. L. Norton, 2008, McGraw-Hill

Cam Follower

A cam follower is a mechanism that appears to have only two moving links (apart from ground), but it has 1 DOF. Removing Link 3 of a fourbar mechanism reduces the DOF by one, but replacing a full joint with a half joint increases DOF by one. It has a fourbar equivalent if the coupler (Link 3) is viewed as a link of variable length.
8

Reference: Design of Machinery, 4th ed. by R. L. Norton, 2008, McGraw-Hill

More Examples of Linkage Transformation

Partially shrinking (or collapsing) a ternary or higher order link by coalescing nodes will create a multiple joint but does not change the degrees of freedom. Complete shrinkage of a higher order link creates a multiple joint and reduces the DOF.
9

Reference: Design of Machinery, 4th ed. by R. L. Norton, 2008, McGraw-Hill

Grashof Condition

The Grashof Condition is a relationship that predicts the rotation behavior of the inversions of a fourbar linkage based only on the lengths of the links:
S = length of shortest link L = length of longest link P = length of one remaining link Q = length of other remaining link

If S + L < P + Q (Class I), the linkage is Grashof and at least one link will be capable of making a full revolution with respect to ground. If S + L > P + Q (Class II), the linkage is non-Grashof and no link will be capable of making a full revolution with respect to any other link. If S + L = P + Q (Class III), the linkage is special-case Grashof and although at least one link will be capable of making a full revolution, there will be indeterminate change points when links become colinear. At these change points, output behavior will become indeterminate.
10

Inversion

Inversions result from grounding different links of a kinematic chain. There are as many inversions as links, but not all inversions will have distinct motions. For example, a Grashof Fourbar has only 3 distinct inversions, 2 crank-rockers, 1 double-crank, and 1 double-rocker as shown in next slides.

11

All Inversions of Grashof Fourbar Linkage

Which link makes a full rotation?

12

Inversions of Non-Grashof Fourbar Linkages

Reference: Design of Machinery, 4th ed. by R. L. Norton, 2008, McGraw-Hill

13

Examples of Special-Case Grashof Linkages

Reference: Design of Machinery, 4th ed. by R. L. Norton, 2008, McGraw-Hill

14

Planar Fourbar Mechanisms (Comprehensive)

Reference: Design of Machinery, 4th ed. by R. L. Norton, 2008, McGraw-Hill

15

Inversions of the Crank-Slider Mechanism

Reference: Design of Machinery, 4th ed. by R. L. Norton, 2008, McGraw-Hill

16

Intermittent Motion

Intermittent motion is a sequence of motions and dwells. A dwell is a period in which the output link remains stationary while the input link continues to move. Examples include the Geneva mechanism and the racthet-andpawl.

Reference: Design of Machinery, 4th ed. by R. L. Norton, 2008, McGraw-Hill

17

Homework Problem

18