Mechanisms Review

Kinematics Fundamentals
Degrees of freedom (DOF)

Degrees of Freedom (DOF)

Number of _____________________ which

are needed to _____________ define the
_____________ of all parts of a system at
any instant of time.
Number of __________________ needed to
give a predictable output if dimensions known

DOF defines gross motions in a rigid body/link

In the ______________________ stage, the
kinematic bodies are assumed _____________ and
____________________
In reality, elastic bodies have __________________
of DOFs, but we often approximate certain parts as
massless elements.
{

3 DOFs

_________________ analysis and reduces the number of

effective DOFs.

Linkages (kinematic chains)

Linkages = __________+ ______________ (kinematic
pair connected to nodes) .
Provide a controlled output motion in response to input
motion.
Linkages are basic building blocks of mechanisms.

________ link - 2 nodes

Ternary link - 3 nodes

Quaternary link - 4 nodes

Joint - 6 basic lower pairs

Revolute (R)

__ DOF

Prismatic (P)

__ DOF

Helical (H)

__ DOF

RP

Cylindric (C)

__ DOF

RP

Spherical (S)

__ DOF

RRR

Planar (F)

__ DOF

RPP

Figure
-3
22-3
Figure2-

Pairing Elements

Courtesy:www.technologystudent.com

x & related by
lead of threads

Kinematic Pairs
Based on the nature of mechanical
constraint
(a) ________ pair
(b) Unclosed or _____________
pair

Physical closure

Form-closed -- joint is closed by its

geometry
{

preferred for ______________________

_______________________

Force-closed -- an external force is

needed to keep joint together
{

preferred for ______________________

Force-Closed Mechanism

Locking out DOF

The spring is _____

a rigid body, _____
a link, and ______
_______ contribute
to the DOF equation

Sometimes an applied force can

_______________________ at a joint
Example: automobile tire
{
{

Normal friction: ____________

Reduced friction: _________________
(locked brakes)
Sudden start: ___________________

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DOF in __________ Mechanisms

Classification of Mechanisms

Kutzbach-Grueblers equation (G=1)

If ______, the mechanism has M DOF

If ______, the mechanism is a ________.

All motion has been constrained.

If M < 0, there are redundant constraints,

and the mechanism is a __________
______________________________ or
preloaded structure.

Planar Mechanisms

Slider-crank mechanism

When all the _________ of a

mechanism move in a plane motion, it
is called a ______________________.
All the links in a planar mechanism
move in planes __________________
to the reference plane.

Single cylinder engine animation:

http://www.keveney.com/otto.html

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Slider-Crank

Slider Crank DOF

M = 3 (L - 1) - 2 J1 - J2

Number of links:
{
{
{
{

____________ = #1
____________ = #2
____________ = #3
____________ = #4

L=

Slider Crank DOF

Slider-Crank
Y

M = 3 (L - 1) - 2 J1 - J2

Number of joints:
{
{
{
{

#1 ___________________________
#2 ___________________________
#3 ___________________________
#4 ___________________________

J1 =

Slider-Crank Analysis

Slider-Crank Analysis

Y
For the typical case where

r
R3

r
R2
Typical knowns are

r
R1

X
Typical input is
Typical outputs are

3 = 90o

Engine Bore & Stroke

Engine cylinders are described by the

bore and stroke.
Bore = diameter of piston
Stroke = ____________

2006 Pontiac Solstice

5.659 in