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Mechanisms of Machinery
Tutorial 1
Mobility of Planar Linkage
MECH3030 TAs
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Tutorial Schedule
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Learning Objectives of Tutorial 1
• Mobility of Planar and Spatial Mechanism
• Able to identify the links
• Able to identify the joints and their connectivity
• Able to analyze Linkages using mobility equation
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Design of Mechanisms
Application Need & Specification
Joints & links arrangements,
Linkage Synthesis to generate work mechanism
Velocity Analysis Get Velocity vs time
Acceleration Analysis Get Acceleration vs time
Stress Analysis F = ma
Design fulfil requirement? Safety factor OK? Fulfils
application need?
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Mobility of Mechanism
Minimum number of pair variables needed to
specify the position of all members of the
mechanism relative to the member chosen as
the base or frame
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Mobility Equation for Planar Linkage
n: # of Links j: # of Joints
count count
j
j
M 3(n 1) 3 j fi 3(n j 1) fi
i 1 i 1
fi: dof permitted by each joint
Look up from table
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fi
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Mobility of four bar linkage
Number of joint j = 4
Number of link n = 4
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Kinematics, Design, and Dynamics of Machinery
Let’s find the Mobility together…
M = ...
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Another example – Crank‐Slider
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How about this?
Number of link n = 5
Number of joint j = ???
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Counting joints with >2 links
When counting joints, we must account for
one joint between every two contacting
bodies.
If p links come together at one
location, we will have p – 1 joints
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Mobility
Number of link n = 5
Number of joint j = 4
𝝨fi = 1+1+1+1 = 4
Number of link n = ?
𝝨fi = ?
Number of joint j = ?
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Mobility
Number of link n = 6
Number of joint j = 7
𝝨fi = 1+1+1+1+1+1+1+1 = 7
You have 7 joints, therefore M=3(n‐j‐1)+ 𝝨fi =3(6‐7‐1)+7 = 1
should have 7 terms
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Tutorial 1 Assignment
From the above linkage,
(a) Determine the number of links n
(b) Determine the number of joints j
(c) Determine the mobility.
Please give your answers in Canvas (due 18‐9‐2019, 10:00am)
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Mobility equation for Spatial Linkages
n: # of Links j: # of Joints
count count
i 1 i 1
fi: dof permitted by each joint
Look up from table
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fi
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fi
20
fi
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From the above linkage,
(a) Determine the number of links n
(b) Determine the number of joints j
(c) Determine the mobility.
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From the above linkage,
(a) Determine the number of links n
(b) Determine the number of joints j
(c) Determine the mobility.
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