ME-225
(3 + 0)
Department of Mechanical Engineering
Lecture Slides by Dr. Hassan Ejaz
Mechanics (Statics + Dynamics)
Dynamics (Kinematics and Kinetics)
Degree of freedom
Kinematic chains (made of links and joints)
Types of links (link order – binary, ternary, quaternary etc.)
Types of joints (full joints, single joints)
Mechanism – ground one link in kinematic chain
Machine – combination of mechanism
Analysing mechanism to find their DOF – Gruebler’s equation
Improve Gruebler’s equation by accounting for join type – Kutzbasch equation
Desinging mechanics with certain DOF – Number Synthesis
Constraints
Links not more than 8
Link order not more than 6
All joints are revolute joints
We need different mechanisms to achive different goals/tasks
Mechanisms can be made of different number of links and link order
How can go from what we achieved in number synthesis to mechanisms that are more useful?
2
3
Number synthesis techniques give the designer a toolkit for basic linkages of particular DOF
Introduction
Initially only revolute joints were assumed
Linkage Can transform these basic linkages to a wider variety of mechanisms with even greater
Transformation usefulness
Intermittent Several transformation techniques or rules that we can apply to planar kinematic chains
Motion
Grashof
Condition
4
Six Rules for Linkage Transformation (summarised here)
Introduction
Revolute joints in any loop can be replaced by prismatic joints with no change in DOF of the
mechanism, provided that at least two revolute joints remain in the loop
Linkage
Transformation Any full joint can be replaced by a half joint, but this will increase the DOF by one
Intermittent Removal of a link will reduce the DOF by one
Motion
The combination of rules 2 and 3 above will keep the original DOF unchanged
Grashof Any ternary or higher-order link can be partially "shrunk" to a lower-order link by coalescing
Condition nodes. This will create a multiple joint but will not change the DOF of the mechanism
Complete shrinkage of a higher-order link is equivalent to its removal. A multiple joint will be
created, and the DOF will be reduced
5
1. Revolute joints in any loop can be replaced by prismatic joints with no change in DOF of
Introduction mechanism, provided that at least two revolute joints remain in the loop
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
Four-bar Crank-Rocker to Slider-Crank
Crank – any link that can rotate 360°
6
1. Revolute joints in any loop can be replaced by prismatic joints with no change in DOF of
Introduction mechanism, provided that at least two revolute joints remain in the loop
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
Four-bar Crank-Rocker to Slider-Crank
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2. Any full joint can be replaced by a half joint, but this will increase the DOF by one
Introduction
3. Removal of a link will reduce the DOF by one
Linkage
Transformation
Intermittent
Motion
Grashof L=3
L=4
Condition J1 = 3
J1 = 4
J2 = 0
J2 = 0
M = 3(L – 1) – 2J1 – J2
M = 3(L – 1) – 2J1 – J2
M = 3(3-1) -2(3) – 0 = 0
M = 3(4-1) -2(4) – 0 = 1
Structure 8
2. Any full joint can be replaced by a half joint, but this will increase the DOF by one
Introduction
3. Removal of a link will reduce the DOF by one
Linkage
Transformation
Intermittent
Motion
Grashof
Condition L=3
J1 = 2
J2 = 1
M = 3(L – 1) – 2J1 – J2
M = 3(3-1) -2(2) – 1 = 1
9
2. Any full joint can be replaced by a half joint, but this will increase the DOF by one
Introduction
3. Removal of a link will reduce the DOF by one
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
Four-bar Crank-Rocker to Cam-Follower
10
4. Combination of rules 2 and 3 above will keep the original DOF unchanged
Introduction
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
Four-bar Slider to Scotch Yoke
11
4. Combination of rules 2 and 3 above will keep the original DOF unchanged
Introduction
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
Four-bar Slider to Scotch Yoke
12
5. Any ternary or higher-order link can be partially "shrunk" to lower-order link by coalescing
Introduction nodes
This will create a multiple joint but will not change the DOF of the mechanism
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
Partial Shrinkage of Higher Order Link Retains Original DOF 13
6. Complete shrinkage of a higher-order link is equivalent to its removal
Introduction Reduces degree of freedom by one
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
Complete Shrinkage of Higher order Link 14
Intermittent motion is a sequence of motions and dwells
Introduction
A dwell is period in which output link remains stationary while input link continues to move
Linkage Many applications in machinery which require intermittent motion
Transformation
Examples: Geneva Mechanism, Linear Geneva Mechanism, Cam and Follower
Intermittent
Motion
Grashof
Condition
15
Coupler has been replaced by half joint as in four bar mechanism
Introduction
Crank has a pin that enters radial slot and causes the Geneva wheel to turn through a portion
of a revolution
Linkage
Transformation A Geneva wheel needs a minimum of three stops to work
Intermittent
Motion
Grashof
Condition
16
Introduction
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
Carriage of Lathe Machine
17
A variation of the Geneva mechanism which has linear translational output
Introduction
Mechanism is analogous to an open Scotch yoke device with multiple yokes
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
18
A variation of Geneva mechanism which has linear translational output
Introduction
Mechanism is analogous to an open Scotch yoke device with multiple yokes
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
19
There are many possible linkages for any situation
Introduction
And those can be arranged in different valid configuration, known as isomers
Linkage Inversion is created by grounding a different link in a kinematic chain
Transformation
Different behavior for different inversion and are as many inversions of a given linkage as it
Intermittent has links
Motion
Grashof
Condition
20
Introduction
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
Inversion: by grounding different links can achieve different motion even though same mechanism
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Introduction
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
22
Gurebler’s equation gave DOF
Introduction For some mechanisms Gruebler’s equation gave DOF of 0 but mechanism was still able to
move
Linkage Initial constraints to design mechanism did not take into account length of links
Transformation
Now let’s account for the lengths of the links and improve our design of mechanisms
Intermittent We can do this by using Grashof’s condition
Motion
Grashof
Condition
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Four Bar Linkage simplest possible pin-jointed mechanism for single degree of freedom
Introduction
Simplicity is one mark of good design
Linkage Four bar linkage should be among the first solutions to motion control problems to be
Transformation investigated
Intermittent Grashof Condition: Predict rotation behavior or rotatability of four-bar linkage's inversions
Motion based only on link lengths
Grashof S = length of shortest link
Condition 𝑆+𝐿 ≤𝑃+𝑄
L = length of longest link
P = length of one remaining link At least one link will be capable of making a full revolution
Q = length of other remaining link with respect to the ground plane
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Inequality Holds 𝑆 + 𝐿 < 𝑃 + 𝑄
Introduction
At least one link will be capable of making a full revolution
Class I kinematic chain
Linkage
Transformation Inequality Fails 𝑆 + 𝐿 > 𝑃 + 𝑄
No link will be capable of a complete revolution, but will be able to rock
Intermittent Class II kinematic chain
Motion
Equality Holds 𝑆 + 𝐿 = 𝑃 + 𝑄
Grashof
Condition
All inversions will be either double-cranks or crank-rockers
Class III kinematic chain
Can be a rocker, rotate, double-crank, double-rocker (both input and output are rocking) as well
25
Ground either link adjacent to the shortest and you get a crank-rocker
Introduction
The shortest link will fully rotate and the other link pivoted to ground will oscillate
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
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Introduction
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
https://www.youtube.com/watch?v=hrvIBtrDNV0
27
Ground the shortest link and you will get a double-crank
Introduction
Both links pivoted to ground make complete revolutions as does the coupler
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
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Introduction
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
https://www.youtube.com/watch?app=desktop&v=9F3RLX4Ps-I
https://www.youtube.com/watch?app=desktop&v=9F3RLX4Ps-I
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Ground the link opposite the shortest and you will get a Grashof double-rocker
Introduction
Both links pivoted to ground oscillate and only coupler makes full revolution
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
https://youtu.be/msSyIEK7k3k?si=vVrIdOO4OlXATUOX&t=52
30
All inversions will be triple-rockers in which no link can fully rotate
Introduction
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
https://youtu.be/msSyIEK7k3k?si=vVrIdOO4OlXATUOX&t=52
31
All inversions will be triple-rockers in which no link can fully rotate
Introduction
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
https://youtu.be/msSyIEK7k3k?si=vVrIdOO4OlXATUOX&t=52
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Introduction
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
https://youtu.be/msSyIEK7k3k?si=vVrIdOO4OlXATUOX&t=52
33
Special-case Grashof all inversions will be either double-cranks or crank-rockers
Introduction
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
Parallelogram Form Anti-parallelogram Form
Double-cranks
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Introduction
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
https://www.youtube.com/watch?v=HmRWj2wQuss
35
Special-case Grashof all inversions will be either double-cranks or crank-rockers
Introduction
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
Anti-parallelogram Form
Crank-rocker
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Introduction
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
https://youtu.be/9IjYJQOBy_E?si=7JsEMwcYqEtIg9Ko&t=49
37
Introduction
Linkage
Transformation
Intermittent
Motion
Grashof
Condition
Barker’s Complete Classification of Planer Four-bar Mechanism 38
Four bar link assembly condition
Introduction
𝐿 < 𝑆+𝑃+𝑄
Linkage
Transformation Links can be assembled but will not move if
Intermittent
𝐿 = 𝑆+𝑃+𝑄
Motion
Grashof
Condition
39
Reduce or tries to reduce the DOF of the mechanism to zero (resists motion)
Introduction
Mechanism can be forced to move again
Linkage Overall does not change DOF of mechanism
Transformation
Spring cannot be considered as a link when calculating DOF
Intermittent
Motion Example: Desk Arm Lamp
Grashof
Condition
40
THANK YOU
Lecture Slides by Dr. Hassan Ejaz 41
