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Machines and Mechanisms: Applied

Kinematic Analysis, 4/e

Chapter 1
MCT 313
Industrial Machines and Mechanisms
 The study of design and analysis of linkages,
cams and gears.

 Involves solutions to kinematics problems.

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 Kinematics:
 The study of the geometry of motion
 How things move
 Definitions:
 Link – A rigid body, connected to other rigid
bodies, with the objective of transmitting
motion or forces.
 Rigid Body –

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 Joints – Moveable connections between links

Primary
* Pin (also called Revolute)

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 * Slider (also called Prismatic)

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Higher Order
* Gear

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* Cam

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 Simple Links – Links with only 2 joints

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 Complex Links – Links with only 3 or more
joints.

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 Example
 Identify the number of links and the type of
joints contained in the tin snips

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 Example
 Identify the number of links and the type of
joints contained in foot pump.

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 Example
 Identify the number of links and the type of
joints contained in child’s digging toy.

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 Mechanism – A group of links,
 connected together, with one link fixed.
 * Absolutely Fixed.
 * Relatively Fixed.

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 Linkage – A mechanism, where all
 parts are connected to form a closed chain.
Example
Identify the number of links and the type of joints
contained in the grain door of the dump truck tailgate.

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 Kinematic Model – A representation of a mechanism that only
shows the dimensions that influence the motion.

B
2
A 3 D 4
1

C
 Remove any superfluous detail.
 Simplify the drawing of the mechanism for further analysis.

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 More kinematic models:

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B

2 A C

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 Example
 Draw a kinematic diagram of the device shown.

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 Example
 Draw a kinematic diagram of the device shown.

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 Mobility (Degrees of Freedom) – the number of
inputs needed to precisely position all links of a
mechanism.
 The number of drivers needed to run a
mechanism.
 F = 3(n-1) – 2jp - jh
 n = number of links.
 jp = number of primary joints.
 jh = number of higher order joints.
 F = 1 constrained mechanism
 F < 1 locked mechanism

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 Example
 Draw a kinematic diagram of the device shown.

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 Mobility (Special Case)
2 3

2
4
or 4
3

By definition, a pin joint connects two links.

When three links must be joined by 2 joints:


 One connects link 2 to 3
 The other connects link 3 to 4
Therefore all 3 links are joined.

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Example
Draw a kinematic diagram and calculate the
mobility of the front loader shown.

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Four-Bar Mechanism:DriverFrameCoupler
A linkage with 4 links connected by 4 pins.

Coupler
Follower

Driver

Frame

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Types:
crank – crank

crank – rocker

rocker - rocker

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 Slider-Crank Mechanism:
 A linkage with 4 links connected by 4 joints.
 (3 pins & 1 slider)

in-line

Coupler
Crank
Sliding Link

Frame

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offset

Coupler
Sliding Link
Crank

Frame

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