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PART I
Chapter 1
Drag-link mechanism
Drag-link mechanism
Crank-rocker mechanism
Crank-rocker mechanism
Double-rocker mechanism
Crank-rocker mechanism
1.3
A crank-rocker linkage has a 100-mm frame, a 25-mm crank, a 90-mm coupler, and a 75-mm rocker. Draw the linkage and find the maximum and minimum values of the transmission angle. Locate both toggle positions and record the corresponding crank angles and transmission angles.
Extremum transmission angles: min = 1 = 53.1; max = 3 = 98.1 Toggle positions: 2 = 40.1; 2 = 59.1; 4 = 228.6; 4 = 90.9 1.4
In the figure, point C is attached to the coupler; plot its complete path.
1.5
(d) n = 4, j1 = 3, j2 = 2; m = 3 ( 4 1) 2 ( 3) 1( 2 ) = 1
Note that the Kutzbach criterion fails in this case; the true mobility is m=1. The exception is due to a redundant constraint. The assumption that the rolling contact joint does not allow links 2 and 3 to separate duplicates the constraint of the fixed link length O2O3 .
Ans.
Note that each coaxial set of sliding joints is counted as only a single prismatic pair.
1.6
Use the mobility criterion to find a planar mechanism containing a moving quaternary link. How many distinct variations of this mechanism can you find? To have at least one quatenary link, a planar mechanism must have at least eight links. The Grbler criterion then indicates that ten single-freedom joints are required for mobility of m=1. According to H. Alt, Die Analyse und Synthese der achtgleidrigen Gelenkgetriebe, VDI-Berichte, vol. 5, 1955, pp. 81-93, there are a total of sixteen distinct eight-link planar linkages having ten revolute joints, seven of which contain a quatenary link. These seven are shown below:
1.7
Find the time ratio of the linkage of Problem 1.3. From the values of 2 and 4 we find = 188.5 and = 171.5 . Then, from Eq. (1.5), Q = = 1.099 .
Ans.
1.8
1.9
Plot the complete coupler curve of the Roberts' mechanism of Fig. 1.19b. Use AB = CD = AD = 60 mm and BC = 30 mm.
1.10
If the crank of Fig. 1.8 is turned 10 revolutions clockwise, how far and in what direction will the carriage move? Screw and carriage move by (10 rev ) (1.5 rev/ mm ) = 6.67mm to the left. Carraige moves (10 rev ) ( 2 rev/mm ) = 5mm to the right with respect to the screw. Net motion of carriage = 6.67 5 = 1.67 mm to the left. More in depth study of such devices is covered in Chap. 10.
1.11
Show how the mechanism of Fig. 1.12b can be used to generate a sine wave. With the length and angle of crank 2 designated as R and 2, respectively, the horizontal motion of link 4 is x4 = R cos 2 = R sin ( 2 + 90 ) .
1.12
Devise a crank-and-rocker linkage, as in Fig. 1.11c, having a rocker angle of 60. The rocker length is to be 0.50 m.