EE 2333 Mechanics of Machines Chapter II Mechanism and Linkages

By Syed Fawwaz Al-Attas

Mechanisms Terminology

PAIRING ELEMENTS
the geometrical forms by which two members of a mechanism are joined together, so that the relative motion between these two is consistent. Such a pair of links is called Kinematic Pair.

Pairing elements:

PAIRING ELEMENTS

Courtesy:www.technologystudent.com

KINEMATIC PAIRS
Based on nature of contact between elements
(i) Lower pair : The joint by which two members are
connected has surface contact. Sliding pair Turning pair

Examples: Sliding pairs (lower pairs)

Examples: Turning pairs (lower pairs)

KINEMATIC PAIRS
(ii) Higher pair: The contact between the pairing elements
takes place at a point or along a line.

Examples: 2 DOF pairs (higher pairs)

KINEMATIC PAIRS
Based on relative motion between pairing elements
(a) Siding pair [DOF = 1]

(b) Turning pair (revolute pair) [DOF = 1]

KINEMATIC PAIRS
Based on relative motion between pairing elements
(c) Cylindrical pair [DOF = 2]

(d) Rolling pair [DOF = 1]

KINEMATIC PAIRS
Based on relative motion between pairing elements
(e) Spherical pair [DOF = 3] Eg. Ball and socket joint

(f) Helical pair or screw pair [DOF = 1]

KINEMATIC PAIRS
Based on the nature of mechanical constraint
(a) Closed pair

(b) Unclosed or force closed pair

Kinematic Chain
Definition: A kinematic chain is an assembly of links connected together either joined together or arranged in a manner that permits them to move relative to one another, without specifying the base link (i.e., a fixed link)

That is, when all linkages in a system are movably and connected joints, chain. together by joints, they are said to form a kinematic chain.
Joints

Binary Links

4-link kinematic chain

Ternary Link

Fig. Devices with diverse link components.

Kinematic Chain LOCKED CHAIN OR STRUCTURE

Links connected in such a way that no relative motion is possible. possible.

Types of Links in a Kinematic Chain

Kinematic chains might contain different types of links and joint. Links containing only 2 par element connections are called binary links; links; Those having 3 are called ternary links, links, Those having 4 are called quaternary links, and so on links,
Fig. Mechanism with diverse link types.

Joints

Binary Links

Binary links

Binary link

Ternary Link

Ternary link

Fig. Devices with diverse link components.

Closed vs. Open kinematic chains



Closed Chain Mechanisms:

 If

every link is connected to at least two other links, the chain forms one or more closed loops and it is called a closed kinematic chain.
Fig. Walking robot using a 4-bar mechanism

4-bar kinematic chain

5-bar link mechanism

Closed vs. Open kinematic chains



Open Chain Mechanisms:



A kinematic chain that is not closed (has no closed loops) is an open kinematic chain. .

Real robot

Robot simulation

Skeleton

PUMA Robot: 3-link open chain mechanism

Mechanisms
Definition: A mechanism is a kinematic chain where one of its linkages does not move (such link is fixed and its called the base link). A mechanism is a constrained kinematic chain.
Motion of any one link in the kinematic chain will give a definite and predictable motion relative to each of the others. Usually one of the links of the kinematic chain is fixed in a mechanism

Fixed link or base link

Fixed link or base link

Some Common Types of Mechanisms

4-bar mechanism

5-bar & 6-bar mechanisms

slider Figure. Slider crank mechanism with offset.

Slider-crank mechanism
Figure. (a) Slider crank mechanism. (b) Skeleton representation.

Cam-follower mechanism

crank

Follower

Gear Trains mechanism Etc.

Figure. Gear train.

Cam Disk

Links
Individual parts of machines or mechanisms are also referred to as links.
Links

Types of Links: Links can be non-rigid: cables and belts. Links can also be rigid bodies: cranks, levers, wheels, bars or gears.

Example:
Rigid links: pulleys, cam, crank, etc.

Non-rigid link: timing belt

Slider-crank mechanism
This mechanism incorporates 5 main elements:
coupler

1. 2. 3. 4. 5.

A stationary base link (link 1). The other links can move relative to the base link . The crank (link 2) rotates about a base pivot/joint. The slider or piston (link 4) moves in a linear motion. A coupler (link 3) connects the crank to the slider. The line of action is the straight-line path of the center of the slider. The slider-crank mechanism might have an offset between the line of action and the base line.

slider

crank

Figure. Slider-crank mechanism.

Figure. Slider crank mechanism with offset.

Skeleton of a Mechanism
A skeleton is a highly simplified drawing of a mechanism.
Use: Skeletons are use for analyzing the motions of the mechanism. theoretical The dimensions in the skeleton diagram are critical for determining motions. The skeleton includes links and joints:
Joints are represented with a symbol that depends on the type of joint. Links are, in general, represented by straight lines (regardless of the actual shape of the real link).

slider

joints

crank
Figure. (a) Slider crank mechanism. (b) Skeleton representation.

Four-Bar Mechanism
4-bar mechanisms are among the most common and useful mechanisms: Components in a 4-bar mechanism: It has 4 bars (links)
A stationary or base link (link 1) and 3 moving links. The crank (link 2 or link 4) rotates about a base pivot/joint (O2 or O4) and move the mechanism. A coupler (link 3) connects the crank to the output link.

Angular displacements
Figure. Example 4-bar mechanism.

Figure. Skeleton representation.

Four-Bar Mechanism
Complex mechanisms can be built from simple mechanisms by adding more links.
FIG. 4-bar mechanism used in a washing machine.

3 2 1

This gear drives the agitator to provide the washing action

Gears

FIG. 4-bar mechanism Skeleton. FIG. Complex mechanism

Compound Mechanisms
A compound mechanism is system/machine composed of basic/simple mechanisms forming a complex machine. The entire machine can be completely analyzed by independently analyzing all the individual (simple) mechanisms comprising the overall system.
4-Bar mechanism

4-Bar mechanism

Example: compound mechanism: Excavator

Compound mechanism

. . .
4-Bar mechanism

Machines

Though all machines are mechanisms, all mechanisms are not machines

Planar vs. Spatial Mechanisms

Planar Mechanisms:
When all the links of a mechanism have plane motion, it is called as a planar mechanism. All the links in a planar mechanism move in planes parallel to the reference plane.

Spatial Mechanisms:
A mechanisms where links move in 3 dimensions.

Examples of spatial mechanisms

A gear train system (for example) can be a planar or spatial mechanisms depending on the configuration of the system.

Mechanisms Degrees of Freedom

(DOF)

DOF of a System
DOF: Mechanisms (e.g., Robot manipulators and mobile robots) can move in one or more dimensions.

The dimensions in which a mechanism can move are called its Degrees of Freedom (DOF)

NOTE: NOTE: A DOF is any of the minimum number of coordinates required to completely specify the motion of a mechanical system (how many DOF a mechanism such as a robot has is important in determining how it can impact its world, and how well, it can accomplish its task).

Translational and Rotational DOF

General: In general, a free body in 3D space has a total of 6 DOF. 3 of those are called translational DOF as they allow the body to move without turning (rotation), while the other 3 are called rotational as they allow the body to rotate without moving (translation):

Translation DOF: Rotation DOF:

usually labeled x, y and z by convention.

usually labeled roll, pitch and yaw by convention (in robotics)

Examples of robot leg mechanisms with 2 & 3 DOF

Hip abduction angle (U)

U
Hip flexion angle (N)

N 3DOF leg ]
Knee flexion angle (])

m A mammal type leg with tw a two-joint actuator (2D (2DOF leg)

Schematic configuration of for walking machines (3DO

Controllable vs. Uncontrollable DOF

General: If a mechanism has an actuator for every DOF, then all DOF are controllable (this is an ideal scenario but it is not always the case). The DOF that are not controllable are called uncontrollable:

Controllable DOF (CDOF)

: DOF that we can control.

Uncontrollable DOF (UDOF) : DOF that we cannot control.

IMPORTANT NOTE:  Any body in 2D can potentially move in 3 ways but it can only do so if it has actuators that can control those 3 DOF (and cars DO NOT parallel parking is difficult)


This also happens in 3D where bodies can potentially move in 6 ways.

GRUBLERS CRITERION
Number of degrees of freedom of a mechanism is given by

F = 3(n-1)-2l-h
Where, F = Degrees of freedom n = Number of links in the mechanism. l = Number of lower pairs, which is obtained by counting the number of joints. If more than two links are joined together at any point, then, one additional lower pair is to be considered for every additional link. h = Number of higher pairs

Examples - DOF

F = 3(n-1)-2l-h Here, n = 4, l = 4 & h = 0. F = 3(4-1)-2(4) = 1 i.e., one input to any one link will result in definite motion of all the links.

Examples - DOF

F = 3(n-1)-2l-h Here, n = 5, l = 5 and h = 0. F = 3(5-1)-2(5) = 2 i.e., two inputs to any two links are required to yield definite motions in all the links.

Examples - DOF

F = 3(n-1)-2l-h Here, n = 6, l = 7 and h = 0. F = 3(6-1)-2(7) = 1 i.e., one input to any one link will result in definite motion of all the links.

Examples - DOF

F = 3(n-1)-2l-h Here, n = 6, l = 7 (at the intersection of 2, 3 and 4, two lower pairs are to be considered) and h = 0. F = 3(6-1)-2(7) = 1

Examples - DOF

F = 3(n-1)-2l-h Here, n = 11, l = 15 (two lower pairs at the intersection of 3, 4, 6; 2, 4, 5; 5, 7, 8; 8, 10, 11) and h = 0. F = 3(11-1)-2(15) = 0