Beruflich Dokumente
Kultur Dokumente
1.
Few definitions
2.
Examples of mechanisms
3.
Joints DOF
4.
Kinematic pairs
5.
Mechanism mobility
With many figures and models from Machines & Mechanisms: Applied
Kinematics, Analysis (David H. Myszka), Kinematics, Dynamics, and Design of
Machinery (Waldron & Kinzel) and from Mechanics of Machines (Cleghorn)
Lecture 2 - 1
Lecture 2 - 2
Machine:
Machine/Mechanism/Links
Lecture 2 - 3
Machine
Lecture 2 - 4
Machine
Lecture 2 - 5
Mechanisms
Lecture 2 - 6
Figure 1.2 Mechanisms in a single-cylinder piston engine: (a) engine, (b) timing belt drive, (c) cam mechanism, (d) slider crank mechanism.
Mechanisms
Lecture 2 - 7
Individual
parts of a machine or
mechanism are referred to as links:
They may be nonrigid, such as cables
and belts
They may be rigid bodies, such as
cranks, levers, wheels, bars, or gears
Links
Lecture 2 - 8
empty circles:
pivot points
hatched lines:
base link
Skeleton Representation
(slider-crank)
Lecture 2 - 9
pivot point
crank
coupler
(connecting rod)
slider
base pivot
base link
Figure 1.7 Slider crank mechanism with offset [Model 1.7].
pivot point
Skeleton diagram
Slider-Crank Mechanism
Lecture 2 - 10
pivot point
crank
coupler
(connecting rod)
slider
base pivot
base link
Figure 1.7 Slider crank mechanism with offset [Model 1.7].
pivot point
Skeleton diagram
Slider-Crank Mechanism
Lecture 2 - 11
Four-Bar Mechanism
Lecture 2 - 12
Working Model 2D
Lecture 2 - 13
Four-Bar Mechanism
Lecture 2 - 14
Four-Bar Mechanism
Lecture 2 - 15
Lecture 2 - 16
Lecture 2 - 17
Link
Lecture 2 - 18
Belts
Ropes
Lecture 2 - 19
Ternary
Binary
Link hasTernary
three nodes
Binary
Ternary
Quaternary
Quaternary
LinkTernary
has four nodes
Quaternary
Quaternary
Binary
Lecture 2 - 20
The
Kinematic Pairs
Lecture 2 - 21
Lecture 2 - 22
Lecture 2 - 23
xG
yG
Degrees of Freedom
Lecture 2 - 24
Simple
motion
Pure translation
Pure rotation
Complex
motion: simultaneous
combination of translation and rotation
Types of Motion
Lecture 2 - 25
Pin
Lecture 2 - 26
Lecture 2 - 27
Lower
Higher
Joint Nomenclature
Lecture 2 - 28
The
n = number of links
j = number of joints
Mechanism Mobility
Lecture 2 - 30
M=2
Lecture 2 - 31
Mobility
of spatial mechanisms
Mechanism Inversion
Grashof criterion
Examples
Next Lecture
Lecture 2 - 32