Transcription of Topic 4 Linkages - DSpace@MIT Home
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Topic 4 Linkages - DSpace@MIT Home
2000 Alexander Slocum4-1 Topic 4 LinkagesTopics History Definitions Links Joints Instantaneous Center of Rotation 3-Bar Linkages 4-Bar Linkages 5-Bar Linkages 6-Bar Linkages Extending Linkages Compliant Mechanisms Manufacturing & Robust Design Mechanism Mania! 2000 Alexander Slocum4-2 History The weaving of cloth gave rise to the need for more complex machines to convert rotary motion from waterwheels to complex motions The invention of the steam engine created a massive need for newmechanisms and machines Long linear motion travel was required to harness steam power, and machine tools ( , planar mills) did not exist James Watt(1736-1819) applied thermodynamics (though he did not know it) and rotary joints and long links to create efficient straight line motion Watt also created the flyball governor, the first servomechanism, which made steam engines safe and far more useful Leonard Euler(1707-1783) was one of the first mathematicians to study the mathematics of linkage design (synthesis) Most Linkages are planar, their motion is confined to a plane The generic study of linkage motions, planarand spatial, is called screw theory Sir Robert Stawell Ball (1840-1913)
• Washers make great thrust bearings • Snap rings keep it all together •A rolling contact joint also counts as a one-degree-of-freedom revolute joint Prismatic (P) • Also called a slider or sliding joint, beware Saint-Venant! – Helical (H) • Also called a screw, beware of thread strength, friction and efficiency t dD ε δ L
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