Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

MAAE 3004:
Dynamics of Machinery
Chapter 1: Introduction

Department of Mechanical and Aerospace Engineering

Carleton University

c F.F. Afagh and R.G. Langlois

Sections in text: 1.1–1.9

Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

Outline

Introduction

Definitions

Geometrical Categorization of Mechanisms

Mobility

Kinematic Inversion

Grashof’s Law
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

1.1 Introduction

1.1.1 Objective:

“The theory of machines and mechanisms is an applied science which is used to

understand the relationship between the geometry and motions of the parts of
a machine or mechanism and the forces which produce these motions”

Uicker, Pennock, and Shigley; Theory of Machines and Mechanisms; 3rd edition,
Oxford, 2003.
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

1.1.2 Mechanics:

MECHANICS deals with forces, motion, and time

The subject of this course is dynamics as it applies to mechanisms and

machines
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

1.2 Definitions

a) Machine:
• “a combination of resistant bodies so arranged that by their means the
mechanical forces of nature can be compelled to do work accompanied by
certain determinate motions.”
F. Reuleaux (1829-1905)-grand father of systematic treatment of kinematics.
• “an arrangement of parts for doing work, a device for applying power or
changing its direction.”
Shigley and Uicker; The theory of machines and mechanisms; 3rd edition, Oxford,
2003.

Key concepts: power (work,energy and force)

bodies (physical parts)
motion (kinematics)
Conclusion: Machines are closely associated with Kinetics.
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

b) Mechanism:
• “an assemblage of resistant bodies, connected by moveable joints to form
a closed kinematic chain with one link fixed and having the purpose of
transforming motion.”
F. Reuleaux
• “The predominant idea in the mind of the designer is one of achieving a
desired motion.”
Shigley and Uicker; The theory of machines and mechanisms; 3rd edition, Oxford,
2003.

Key concept: motion

Conclusion: Mechanisms are closely associated with
Kinematics
All machines are mechanisms, but not all mechanisms are machines.
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

c) Link:
A rigid body connecting two or more elements of different kinematic pairs
(essentially joints) with the purpose of keeping a fixed geometric relationship
between the pair elements

• Chains and belts are links when in tension

• Binary links: attached to two kinematic pairs
• Ternary link: attached to three kinematic pairs
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

d) Kinematic Pairs (Joints):

Form the attachment between two bodies. The purpose is to determine the
allowable relative motion between connected links.

Pair variables: The variables used to measure relative motions.

Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

Six lower pairs

Name Description Number of pair

variables (ndof)
Revolute / Turning / Pin permits rotation about 1 1 Rotary
axis
Prismatic / Sliding permits translation along 1 Prismatic
1 axis
Helical / Screw permits 1 coupled trans. 1 Rotary OR
and rotation; related by 1 Prismatic
helix angle
Cylindric permits 1 rotation and 1 Rotary
translation along rotation 1 Prismatic
axis
Spheric permits general rotation 3 Rotary
about a fixed point
Planar / Free permits general planar 1 Rotary
translation and rotation 2 Prismatic
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

Six lower pairs

J J.Uicker.Theory of Machines and Mechanisms. Oxford University Press Inc., New York, New York, United States, 4th edition, 2011.

(a) revolute or pin; (b) prismatic; (c) helical; (d)cylindrical (e) spherical; and
(f) planar
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

e) Kinematic chain:
Several links are connected together but it is not clear where or if any are fixed
to ground

Recall Reuleaux’s definition:

When one body in the closed kinematic chain is fixed such that motion of any
link will result in definite predictable motion of all other links, the kinematic
chain is considered a mechanism.
The fixed link is called ‘the ground link’, ‘base link’, or ‘frame’ and is usually
labelled as link 1.
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

f) Linkage:
A specific term referring to mechanisms containing only lower pairings
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

1.3 Geometrical Categorization of Mechanisms

• Based on possible relative motions within mechanism.

a) Planar:
All particles describe plane curves in space and all these curves lie in parallel
planes

Plane motion ⇒ Translation + Rotation

R.G. Langlois. Preview control algorithms for the active suspension of an off-road vehicle. Master’s thesis, Queen’s University at Kingston,
Kingston,Ontario, Canada K7L 3N6, August 1991.
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

b) Spherical:
Each link has a stationary point as the linkage moves and all these stationary
points lie at a common location
e.g. Universal joint, ball and socket joint.

c) Spatial:
Impose no restrictions on the relative motion of the particles.
e.g. aircraft, amusement rides.

The vast majority of in-service mechanisms are planer. Reasons include:

• All links can be represented in true size and shape on paper;
• Well developed graphical analysis can be applied;
• Operation can be readily visualized;
• Most practical requirements can be satisfied;
• Most devised prior to sophisticated methods needed for spacial
mechanisms.
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

1.4 Mobility (m):

The number of degrees of freedom in a mechanism,

i.e; the number of kinematic pair variables that must be specified
to determine the configuration of a mechanism

Kutzbach criteria for planer mobility:

m = 3(n − 1) − 2j1 − j2 (1)

where,
n: number of links (including the ground link)
3n: d.o.f. of mechanism (before connecting links)
3(n-1): -1 is to account for the ground link
j1 : number of pairs with 1 d.o.f. (2 constraints)
j2 : number of pairs with 2 d.o.f. (1 constraints)

m > 0 ⇒ m is # of d.o.f. for the mechanism = number of independent inputs

m = 0 ⇒ system is a determinate structure with no rigid body motion
m < 0 ⇒ structure is statically indeterminate
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

Example 1.1
a) n= 3
j1 = 3
m= 3(3-1)-2(3) = 0
= structure

b) n=4
j1 = 4
m = 3(4-1)-2(4) = 1

c) n=5
j1 = 6
m = 3(5-1)-2(6) = 0
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

d) n=6
j1 = 8
m = 3(6-1)-2(8) = -1
⇒statically-indeterminate structure

e) n=5
j1 = 5
m = 3(5-1)-2(5) = 2

f) n=4
j1 = 4
m = 3(4-1)-2(4) = 1
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

g) n=3
j1 = 2
j2 = 1
m = 3(3-1)-2(2)-1 = 1

h) n=5
j1 = 6
m = 3(5-1)-2(6) = 0
m is actually 1!

Note: Some geometric exceptions cause Kutzbach’s criterion to produce

erroneous results - some caution required
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

i) n = 11
j1 = 13
j2 = 1
m = 3(11-1)-2(13)-1
=3
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

Example 1.2
Determine the simplest possible single d.o.f. linkages that use only single
d.o.f kinematic pairs
Solution: j2 = 0 & m = 1
m = 3(n-1)- 2j1 - j2 j1 n
1 = 3n - 3 - 2j1 1 2 Not a mechanism(Kinematic chain not closed)

3n - 2j1 = 4 2 8/3 Not possible (# of link must be integer)

solve for n; 3 10/3 Not possible (# of link must be integer)

n= 4+2j1 4 4 First possible condition

3
Therefore the simplest mechanism must have 4 links and 4 joints
Two configurations possible:

4 bar linkage Slider-crank mechanism

Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

A similar form of the Kutzbach criterion is available for spatial linkages.

m = 6(n − 1) − 5j1 − 4j2 − 3j3 − 2j4 − j5 (2)

where,
n: number of links
j1 : number of pairs with 1 d.o.f.
j2 : number of pairs with 2 d.o.f.
j3 : number of pairs with 3 d.o.f.
j4 : number of pairs with 4 d.o.f.
j5 : number of pairs with 5 d.o.f.
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

1.5 Kinematic Inversion

A kinematic chain becomes a mechanism when one link is fixed to the ground.
• Changing the link that is fixed creates kinematic inversions of the
mechanism
• The number of possible kinematic inversions equals the number of links in
the mechanism.
• Kinematic inversions of a mechanism have the same relative motions
between links. The absolute motions , i.e. those relative to the fixed link,
can be distinctly different.
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

Four inversions of the slider-crank mechanism

Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

Higher Pair Joint Examples

J J.Uicker.Theory of Machines and Mechanisms. Oxford University Press Inc., New York, New York, United States, 4th edition, 2011.
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

1.6 Grashof’s Law

• Important design consideration: The input crank can have a complete

revolution.
• For continuous relative rotations between two members of a 4-bar
mechanism, Grashof’s test can ensure this:

s +l ≤p+q (3)

where
s = length of the shortest link
l = length of the longest link
p,q = lengths of intermediate-length links

It is important to satisfy this condition if the mechanism is to be driven

by a unidirectional rotary actuator (i.e. non-reversing motor).
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

4 possible inversions of the 4-bar linkage satisfying Grashof’s law:

J J.Uicker.Theory of Machines and Mechanisms. Oxford University Press Inc., New York, New York, United States, 3rd edition, 2003.

Four inversions of the Grashof chain: (a,b) crank-rocker mechanisms;

(c) drag-link mechanism; (d) double-rocker mechanism.
Naming Convention:
Name Condition
Crank-Rocker(a,b) s jointed to base link
Drag link / double crank (c) s is the base link
Double rocker (d) s is the coupler link
In all of the above s has a continuous relative rotation
All non-Grashof mechanisms are double rockers
Introduction Definitions Geometrical Categorization of Mechanisms Mobility Kinematic Inversion Grashof’s Law

• If s + l = p + q then it can assume a flattened configuration, which is

called “Grashof’s neutral linkage” or “transition linkage”

• From flattened configuration (ignoring inertia) it can switch between

either of two behaviours (generally undesirable in mechanism design)