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Today, we will cover:

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)

KINEMATICS AND DYNAMICS OF MACHINES

MECE 3270U: Lecture 2

Lecture 2 - 1

Kinematics: The study of motion without


regard of force. The objective of kinematics
is to develop various means of transforming
motion to achieve a specific kind needed in
applications.

Dynamics: The study of forces on system in


motion. The objective of dynamics is to
analyse the behaviour of a given machine or
mechanism when subjected to dynamic
forces.

KINEMATICS AND DYNAMICS OF MACHINES

Kinematics & Dynamics

Lecture 2 - 2

Machine:

an assemblage of parts that


transmit forces, motion and energy in a
predetermined manner.
Mechanical parts
Electrical parts

KINEMATICS AND DYNAMICS OF MACHINES

Machine/Mechanism/Links

Lecture 2 - 3

A machine has two functions:


Transmitting definite relative motion
(motions may be continuous or
intermittent, linear and/or angular)
Transmitting force

These functions require strength and


rigidity to transmit the forces.

KINEMATICS AND DYNAMICS OF MACHINES

Machine

Lecture 2 - 4

Single-cylinder piston engine:

Figure 1.1 Single-cylinder piston engine [Model 1.1].

KINEMATICS AND DYNAMICS OF MACHINES

Machine

Lecture 2 - 5

mechanism may be defined as a


combination of rigid or resistant
bodies, formed and connected so that
they move with definite relative
motions with respect to one another.

KINEMATICS AND DYNAMICS OF MACHINES

Mechanisms

Lecture 2 - 6

Mechanisms within single-cylinder engine:

Figure 1.2 Mechanisms in a single-cylinder piston engine: (a) engine, (b) timing belt drive, (c) cam mechanism, (d) slider crank mechanism.

KINEMATICS AND DYNAMICS OF MACHINES

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

KINEMATICS AND DYNAMICS OF MACHINES

Links

Lecture 2 - 8

empty circles:
pivot points

Figure 1.6 (a) Slider crank mechanism. (b) Skeleton representation.

hatched lines:
base link

KINEMATICS AND DYNAMICS OF MACHINES

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

KINEMATICS AND DYNAMICS OF MACHINES

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

KINEMATICS AND DYNAMICS OF MACHINES

Slider-Crank Mechanism

Lecture 2 - 11

As link 2 rotates full circle, link


4 only oscillates between ~85
and ~135 degrees
Figure 1.8 (a) Four-bar mechanism [Model 1.8]. (b) Function graph.

KINEMATICS AND DYNAMICS OF MACHINES

Four-Bar Mechanism

Lecture 2 - 12

KINEMATICS AND DYNAMICS OF MACHINES

Working Model 2D

Lecture 2 - 13

Mechanisms can be built up by starting with a


single mechanism, then adding links to create
more complicated mechanisms.

Figure 1.12 Washing machine mechanism [Model 1.12].

KINEMATICS AND DYNAMICS OF MACHINES

Four-Bar Mechanism

Lecture 2 - 14

KINEMATICS AND DYNAMICS OF MACHINES

Four-Bar Mechanism

Figure 1.11 Washing machine mechanism [Model 1.12].

Lecture 2 - 15

SKELETON: used to show


centre to centre distances

KINEMATICS AND DYNAMICS OF MACHINES

Equivalent Four-Bar Mechanisms

Figure 1.10 Equivalent four-bar mechanisms [Video 1.10].

Lecture 2 - 16

KINEMATICS AND DYNAMICS OF MACHINES

Equivalent Four-Bar Mechanisms

Figure 1.10 Equivalent four-bar mechanisms [Video 1.10]. (Continued)

Lecture 2 - 17

link is defined as a machine element


(component) having two or more nodes
(pairing elements) which connect it to other
bodies for the purpose of transmitting force
or motion.

KINEMATICS AND DYNAMICS OF MACHINES

Link

Lecture 2 - 18

Not rigid elements


Spring

Belts
Ropes

KINEMATICS AND DYNAMICS OF MACHINES

Link (completely rigid)


Crank Pin
Crank Shaft
Flywheel

Lecture 2 - 19

Link has two nodes


Binary

Ternary

Binary
Link hasTernary
three nodes

Binary
Ternary
Quaternary

Quaternary

LinkTernary
has four nodes
Quaternary

Quaternary

KINEMATICS AND DYNAMICS OF MACHINES

Binary

Lecture 2 - 20

The

links of a mechanism are connected


together by kinematics pairs (or joints).
Each kinematic pair permits only one
relative motion between adjacent links:
Turning Pairs
Sliding Pairs
Rolling Pairs

KINEMATICS AND DYNAMICS OF MACHINES

Kinematic Pairs

Lecture 2 - 21

Figure 1.31 Examples of turning pairs.

KINEMATICS AND DYNAMICS OF MACHINES

Examples of Turning Pairs

Lecture 2 - 22

Figure 1.32 Examples of sliding pairs.

KINEMATICS AND DYNAMICS OF MACHINES

Examples of Sliding Pairs

Lecture 2 - 23

Degrees of Freedom (dof) The number of


independent coordinates required to
define/constrain the position of all links with
respect to ground.

xG

Rigid link has 3


DOF (in-plane)

yG

KINEMATICS AND DYNAMICS OF MACHINES

Degrees of Freedom

Lecture 2 - 24

Simple

motion

Pure translation
Pure rotation
Complex

motion: simultaneous
combination of translation and rotation

KINEMATICS AND DYNAMICS OF MACHINES

Types of Motion

Lecture 2 - 25

Pin

joint allows 1 DOF


Linear slider
Threaded nut
Tire on dry ground

KINEMATICS AND DYNAMICS OF MACHINES

1 DOF Pairs (Joints)

Lecture 2 - 26

KINEMATICS AND DYNAMICS OF MACHINES

2 DOF Pairs (Joints)

Lecture 2 - 27

Lower

(primary) pairs - Single degree of


freedom

Higher

pairs - Two degrees of freedom

KINEMATICS AND DYNAMICS OF MACHINES

Joint Nomenclature

Lecture 2 - 28

The

mobility of a mechanism is defined


as the minimum number of independent
parameters (coordinates) required to
specify the position of all links of the
mechanism.
= +

n = number of links
j = number of joints

KINEMATICS AND DYNAMICS OF MACHINES

Mechanism Mobility

fi = degrees of freedom of relative joints


Chapter 2 - 29

Figure 1.36 Examples of mobility.

KINEMATICS AND DYNAMICS OF MACHINES

Examples of Mobility (1)

Lecture 2 - 30

Front-end loader (model)


n=?
j=?
fi = ?

M=2

KINEMATICS AND DYNAMICS OF MACHINES

Examples of Mobility (2)

Lecture 2 - 31

Mobility

of spatial mechanisms
Mechanism Inversion
Grashof criterion
Examples

KINEMATICS AND DYNAMICS OF MACHINES

Next Lecture

Lecture 2 - 32

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