Sie sind auf Seite 1von 32

Mechanism Design Graphical Method

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

Mechanism Synthesis
Design a mechanism to obtain a specified motion or force. Type Synthesis given the required performance, what type of mechanism is suitable? Linkages, gears, cam and follower, belt and pulley and chain and sprocket. Number Synthesis How many links should the mechanism have? How many degrees of freedom are desired? Dimensional Synthesis deals with determining the length of all links, gear diameter, cam profile.
Ken Youssefi Mechanical & Aerospace Engineering Dept. SJSU

Mechanism Synthesis
Type Synthesis The Associated Linkage Concept It is desired to derive various types of mechanisms for driving a slider with a linear translation along a fixed path in a machine. Also, assume that the slider must move with a reciprocating motion. 4-Bar

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

Mechanism Synthesis
Type Synthesis - The Associated Linkage Concept (6-Bar)
6-Bar

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

Limiting Conditions 4 Bar Mechanism


Toggle positions of a crank-rocker mechanism. Links 2 and 3 become collinear.

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

Transmission Angle 4 Bar Mechanism


The angle between link 3 and link 4 is defined as the transmission angle

T4 = F34sin() x (O4D)

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

Minimum Transmission Angle 4 Bar Mechanism


Minimum transmission angle occurs when link 2 (crank) becomes collinear with link 1 (ground link)
Max. transmission angle

Min. transmission angle

The minimum transmission angle should be greater than 40o to avoid locking or jamming the mechanism
Ken Youssefi Mechanical & Aerospace Engineering Dept. SJSU

Mechanical Advantage 4 Bar Mechanism

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

Mechanical Advantage 4 Bar Mechanism


B

O4B = 2(O2A)

rin = rout = 60O, v = 5O

M.A. = 20
Ken Youssefi Mechanical & Aerospace Engineering Dept. SJSU

Mechanism Synthesis
Dimensional Synthesis

Graphical Methods provide the designer with


a quick straightforward method but parameters cannot easily be manipulated to create new solutions.

Analytical Methods this approach is suitable


for automatic computation. Once a mechanism is modeled and coded for computer, parameters are easily manipulated to create new designs.
Ken Youssefi Mechanical & Aerospace Engineering Dept. SJSU

10

Graphical Synthesis Motion Generation Mechanism


Two positions, coupler as the output
1. 2. 3. Draw the link AB in its two desired positions, A1B1 and A2B2 Connect A1 to A2 and B1 to B2. Draw two lines perpendicular to A1 A2 and B1B2 at the midpoint (midnormals). Select two fixed pivot points, O2 and O4, anywhere on the two midnormals. Measure the length of all links, O2A = link 2, AB = link 3, O4B = link 4 and O2 O4 = link 1 B1 A1 A2 B2 O2 O4

4.

5.

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

11

Graphical Synthesis Motion Generation Mechanism


Three positions, coupler as the output
Same procedure as for two positions. 1. 2. Draw the link AB in three desired positions. Draw the midnormals to A1A2 and A2A3, the intersection locates the fixed pivot point O2. Same for point B to obtain second pivot point O4. Check the accuracy of the mechanism, Grashof condition and the transmission angle. B3 4. Change the second position of link AB to vary the locations of the fixed points
Ken Youssefi Mechanical & Aerospace Engineering Dept. SJSU

A2 A1 B1 A3

O2 B2

O4

3.

12

Graphical Synthesis Motion Generation Mechanism


Adding a Dyad to a non-Grashof mechanism.
1. 2. 3. 4. Draw the four bar in both positions Select any point C on link 2. Connect C1 to C2 and extend. Select any location on this line for third fixed pivot, O6. Draw a circle with radius C1C2 / 2. The radius is the length of the sixth link. Measure O6D = link 6, DC = link 5
Ken Youssefi Mechanical & Aerospace Engineering Dept. SJSU

B1
3

A1
2

A2
4

B2

O6

D2

C1 O2

C2

5.

O4

6.

13

Graphical Synthesis Motion Generation Mechanism


6-Bar Grashof mechanism
B1 A1
2 3 4

A
5

O2

C O4
6

O6

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

14

Three Position, 6-Bar Grashof ,Motion Generation Mechanism

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

15

Three Position, 6-Bar Grashof ,Motion Generation Mechanism

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

16

Graphical Synthesis Motion Generation Mechanism


Two positions Grashof 4-Bar mechanism with rocker as the output
1. 2. Draw the link CD in its two desired positions, C1D1 and C2D2 Connect C1 to C2 and D1 to D2 and draw two midnormals to C1C2 and D1D2 The intersection of the two midnormals is the fixed pivot point O4. Select point B1 anywhere on link O4C1 and locate B2 so O4B1= O4B2 Connect B1 to B2 and extend. Select any location on this line for fixed pivot point O2. Draw a circle with radius B1 B2 / 2, point A is the intersection of the circle with the B1 B2 extension.
Ken Youssefi

D1 C1 C2

3.

O2

A2

B1

B2

D2

4. 5.

O4

O2A = B1B2 / 2

6.

7.

Measure the length of all links, O2A = link 2, AB = link 3, O4CD = link 4 and O2 O4 = link 1
17

Mechanical & Aerospace Engineering Dept. SJSU

Graphical Synthesis Motion Generation Mechanism


Two positions Grashof 4-Bar mechanism with rocker as the output
D1 C1 C2

O2

A2

B2

D2

O4

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

18

Two Position, 4-Bar Grashof Motion Generation Mechanism

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

19

Graphical Synthesis Motion Generation Mechanism


Three positions with specified fixed pivot points, coupler as the output O4
1. Draw the link CD in its three desired positions, C1D1, C2D2 and C3D3 and locate the fixed pivot points O2 and O4. Draw an arc from C1 with radius O2C2 and another arc from D1 with radius O2D2. Locate the intersection, O2. Draw an arc from C1 with radius O4C2 and another arc from D1 with radius O4D2. Locate the intersection, O4.
Ken Youssefi Mechanical & Aerospace Engineering Dept. SJSU

O2 C2 D1 C1 O2 O2 O4 O4 C3 D2 D3

2.

3.

20

Graphical Synthesis Motion Generation Mechanism


Three positions with specified fixed pivot points, coupler as the output
4. Draw an arc from C1 with radius O2C3 and another arc from D1 with radius O2D3. Locate the intersection, O2. Draw an arc from C1 with radius O4C3 and another arc from D1 with radius O4D3. Locate the intersection, O4.

O4 O2 C1 O2

C2 D1 C3 O2 O4 O2

D2 D3

5.

O4

O4

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

21

Graphical Synthesis Motion Generation Mechanism


Three positions with specified fixed pivot points, coupler as the output O
4

6.

Connect O2 to O2 and O2 to O2 . Draw two midnormals and locate the intersection, G. Connect O4 to O4 and O4 to O4 . Draw two midnormals and locate the intersection, H. O2G is link 2 and O4H is link 4. Construct a link (3) containing GH and CD. Verify the solution by constructing the mechanism in three position

O2 O4 C2 D1 O2 C1 G O2 C3 O4 D2 H D3

7.

8. 9. 10.

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

22

Graphical Synthesis Motion Generation Mechanism

C2 D1 C1 G

D2 H D3 O2 C3 O4

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

23

Graphical Synthesis Motion Generation Mechanism


Three positions with specified fixed pivot points, coupler as the output.

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

24

Graphical Synthesis Path Generation Mechanism


Three prescribed points.
Design a 4-Bar in such a way that a point on the coupler passes thru three specified points
1. Draw the three desired points, P1, P2, and P3. Select the location of the fixed pivot points, O2 and O4. Select the length of the crank O2A and the coupler side AP. With A1P1 established, locate A2 and A3, A1P1 = A2P2 = A3P3. Measure angles and 3.
1 (O2A1P1), 2

P1

P2 P3

2.

3.

A1

A2
1 2 3

A3 O4

O2 4. 5.

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

25

Graphical Synthesis Path Generation Mechanism


Three prescribed points. Locate moving pivot B by means of kinematic inversion. Fix coupler AP in O4 position 1 and rotate O2O4.
6. 7. Rotate A1O2 about A1 by ( 1) to O2 .
2

O4 P1 P2 P3

Draw an arc from O2 with radius O2O4 , draw another arc from P1 with radius P2O4 , locate the intersection, O4 . 8. Rotate A1O2 about A1 by ( 3 1) to O2 . 9. Draw an arc from O2 with radius O2O4 , draw another arc from P1 with radius P3O4 , locate the intersection, O4 . 10. Connect O4 to O4 and O4 to O4 and draw the midnormals. Locate the intersection, B. 11. Verify the mechanism.

A1 O2 O2

B O2 O4

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

26

Graphical Synthesis Path Generation Mechanism with Prescribed Timing


Three prescribed points Timing requirements: input crank rotation , mechanism moves from P1 to P2 input crank rotation , mechanism moves from P1 to P3
1. 2. 3. Select location of the fixed pivot point O2. Rotate O2P2 , in the opposite direction of motion, through angle , P2. Rotate O2P3 ,in the opposite direction of motion, through angle , P3. Draw midnormals to P1P2 and P1P3.and locate the intersection A. Measure O2A = link 2 and AP. Follow the same procedure as before , for without timing, to locate the moving pivot point B.
Ken Youssefi

P2

P1

P2 P3

P3 A

4.

O2

5. 6.

Note: timing takes away the free choices of the crank length and coupler length AP.
27

Mechanical & Aerospace Engineering Dept. SJSU

Graphical Synthesis; Quick Return Mechanism


4-Bar crank-Rocker mechanism Advance stroke mechanism operates under the load. Return stroke mechanism operates under no load. Q = time of advance stroke / time of return stroke Q>1 quick-return mechanism

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

28

Quick Return Mechanism


Consider the two toggle positions of a crank-rocker mechanism.
C

B2
3 2 4

B1

A1 O4

A2

O2

Locate point C to satisfy the following two conditions; 1) C is on extension of line A2B2. 2) O2C = O2B1 = r2 + r3
Ken Youssefi

B2C = r2 +r3 - (r3 r2) = 2r2


29

Mechanical & Aerospace Engineering Dept. SJSU

Quick Return Mechanism

B2
4

B1

3 2

A1 O4

A2

O2 180 , Return stroke

Q = advance / Return = (180 + ) / (180 ), Time Ratio

Ken Youssefi

Mechanical & Aerospace Engineering Dept. SJSU

30

Synthesis of a Quick Return Mechanism


Known or selected;
Rocker angle, Rocker length, r4 Time ratio, Q
1. 2. 3. 4. 5. Select the location for the fixed pivot point, O4. Draw the two toggle positions, knowing r4 and . Calculate the angle from known time ratio Q = (180 + ) / (180 ) Construct an arbitrary line XX through point B1. Construct the line YY through point B2 making an angle with XX. The intersection of XX and YY is the other fixed pivot, O2
Ken Youssefi

Determine; r1, r2, r3

B1 B2 X

O2 X

O4

6.

Mechanical & Aerospace Engineering Dept. SJSU

31

Synthesis of a Quick Return Mechanism


C 7. 8. 9. Locate point C on YY so O2C = O2 B1. Measure length B2 C, Link 2 = r2 = (B2 C) /2 Calculate the length of link 3, AB = r3 = O2 B1 r2 B2 2r2 X B1 Y

B O2 X A A2 O2 O4 Y r2 A1 O4

10. Verify the motion of the mechanism and check the minimum transmission angle.
Ken Youssefi Mechanical & Aerospace Engineering Dept. SJSU

32

Das könnte Ihnen auch gefallen