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Chapter 1
MCT 313
Industrial Machines and Mechanisms
The study of design and analysis of linkages,
cams and gears.
2
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 –
3
Joints – Moveable connections between links
Primary
* Pin (also called Revolute)
4
* Slider (also called Prismatic)
5
Higher Order
* Gear
6
* Cam
7
Simple Links – Links with only 2 joints
8
Complex Links – Links with only 3 or more
joints.
9
Example
Identify the number of links and the type of
joints contained in the tin snips
10
Example
Identify the number of links and the type of
joints contained in foot pump.
11
Example
Identify the number of links and the type of
joints contained in child’s digging toy.
12
Mechanism – A group of links,
connected together, with one link fixed.
* Absolutely Fixed.
* Relatively Fixed.
13
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.
14
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.
15
More kinematic models:
4
B
2 A C
16
Example
Draw a kinematic diagram of the device shown.
17
Example
Draw a kinematic diagram of the device shown.
18
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
19
Example
Draw a kinematic diagram of the device shown.
20
Mobility (Special Case)
2 3
2
4
or 4
3
21
Example
Draw a kinematic diagram and calculate the
mobility of the front loader shown.
22
Four-Bar Mechanism:DriverFrameCoupler
A linkage with 4 links connected by 4 pins.
Coupler
Follower
Driver
Frame
23
Types:
crank – crank
crank – rocker
rocker - rocker
24
Slider-Crank Mechanism:
A linkage with 4 links connected by 4 joints.
(3 pins & 1 slider)
in-line
Coupler
Crank
Sliding Link
Frame
25
offset
Coupler
Sliding Link
Crank
Frame
26