MECHANISMDESIGN170329

Linkage Transformation
1. revolute joints in any loop can be replaced by prismatic joints
with no change in DOF of the mechanism, provided that
at least 2 revolute joints remain in the loop.

Joint Name Diagram DOF Lower pair with equivalent

instantaneous velocity
L = 2 L = 2
Slider J1 = 1
J1 = 1
(prismatic)
M= 1 M= 1
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Linkage Transformation

2. any full joint can be replaced by a half joint,

but this will increase the DOF by one
3. removal of a link will reduce the DOF by one
4. the combination of rules 2 and 3 above will keep the original
DOF unchanged

simple harmonic motion of slider

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Linkage Transformation

Joint Name Diagram DOF Lower pair with equivalent

instantaneous velocity
L = 2 L = 3
Roll-slide
J1 = 1 J1 = 2
contact
M= 1 M= 2
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Geared fivebar linkages

Lower pair with equivalent

Joint Name Diagram DOF instantaneous velocity
L = 3 L = 4
Gear contact J1 = 2
(roll-slide at gear teeth) J1 = 4
J2 = 1
(rolling at pitch circle) M= 1 M= 1
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Springs as links

Spring acts to reduce the DOF of the

mechanism to zero, and holds in static
Equilibrium. If the force overcomes the
Spring force then it will be again 1 DOF.

Lower pair with equivalent

Joint Name Diagram DOF instantaneous velocity

L = 4
L = 2
Spring J1 = 3
M= 3
M= 3
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Compliant mechanism

bow & arrow

ideally single link whose shape would provide flexibility
as pseudo joints
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MEMS : micro electromechanical systems

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Quiz Chap. 2

Quiz : April 3rd, 11:00 ~ 12:00

PROBLEMS 2-7 with Grueblers equation

PROBLEMS 2-21 with Grueblers equation
PROBLEMS 2-24 with Grueblers equation
Skeleton Diagrams
Kinematic Pairs
Units
Etc