Machines and Mechanisms: Applied Kinematic Analysis, 4/e

1 Machines and mechanisms : Applied Kinematic Analysis, 4/e Chapter 1 Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 2 Chap 1 Introduction Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 3 INTRODUCTION Determine appropriate movement of the wipers View range Tandem or opposite Wipe angle Location of pivots Timing of wipers Wiping velocity The force acting on the machine Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 4 Machines AND mechanisms machine Devices used to alter, transmit, and direct forces to accomplish a specific objective Mechanism Mechanical portion of a machine that has the function of transferring motion and forces from a power source to an output Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458.

2 All Rights Reserved. 5 KINEMATICS Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 6 Dynamics Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 7 Kinematics Kinematics Deal with the way things move Kinematic analysis Determine Position, displacement, rotation, speed, velocity, acceleration Provide Geometry dimensions of the mechanism Operation range Dynamic analysis Power capacity, stability, member load Planar mechanism motion in 2D space Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 8 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements for the machine .

3 Analysis ensures that the mechanism will exhibit motion to accomplish the requirements. Linkage Frame Links rigid body Joint Primary joint (full joint) Revolute joint (pin or hinge joint) pure rotation Sliding joint (piston or prism joint) linear sliding Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 9 Higher-order joint (half joint) Allow rotation and sliding Cam joint Gear connection Simple link A rigid body contains only two joints Crank Rocker Complex link A rigid body contains more than two joints Rocker arm Bellcrank Point of interest Actuator A power source link Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 10 Kinematic Diagram Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458.

4 All Rights Reserved. 11 Kinematic Diagram Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 12 Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 13 Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 14 Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 15 MOBILITY Gruebler s Equation Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 16 Constrained mechanism one degree of freedom Locked mechanism Zero or negative degrees of freedom Unconstrained mechanism More than one degree of freedom Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458.

5 All Rights Reserved. 17 Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 18 Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 19 Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 20 Actuators and Drivers Electric motors (AC) Electric motors (DC) Engines Servomotors Air or hydraulic motors Hydraulic or pneumatic cylinders Screw actuators Manual Actuators and Drivers Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 21 Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458.

6 All Rights Reserved. 22 COMMONLY USED LINKS AND JOINTS Eccentric Crank Pin-in-a-Slot Joint Screw Joint Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 23 Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 24 SPECLAL CASES OF THE MOBILITY EQUATION Coincident Joints One degree of freedom actually if pivoted links are the same size Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 25 Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 26 THE FOUR-BAR MECHANISM Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458.

7 All Rights Reserved. 27 Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 28 Degree-of-Freedom s : short link l : long link p , q : intermediate link Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 29 Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 30 SLIDER-CRANK MECHANISM Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 31 SPECIAL PURPOSE mechanisms Straight-Line mechanisms Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458.

8 All Rights Reserved. 32 Parallelogram mechanisms Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 33 Quick-Return mechanisms Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 34 Scotch Yoke Mechanism Machines and mechanisms : Applied Kinematic Analysis, 4/e Chapter 4 Displacement Analysis Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 36 POSITION Position of a Point DISPLACEMENT Linear Displacement Angular Displacement Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 37 DISPLACEMENT ANALYSIS Locate the positions of all links as driver link is displaced Configuration Positions of all the links One degree of freedom Moving one link will precisely position all other links Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458.

9 All Rights Reserved. 38 DISPLACEMENT:GRAPHICAL ANALYSIS Displacement of a Single Driving Link Displacement of the Remaining Slave Links Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 39 Displacement of the Remaining Slave Links Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 40 Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 41 Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 42 r1 r2 r4 r3 r3 r5 r4 Y X X1 Y1 ,30, , sr cr cr sr srrrrrrrcrcxr sr sr 2 equations for 2 unknows 2 equations for 2 unknows (1) (2) 23, 41and x Vector Analysis of Displacement Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458.

10 All Rights Reserved. 43 Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 44 123433223322 1/ ( )rrrrrccsr srsolve forand X Y r1 r4 r3 r2 Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 45 Analysis of Mechanism Position Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458. All Rights Reserved. 46 12312112121112212221205040050400240 ,15 ,2555040050400rrrccdsssolve forand dwhen rotateccdsssolve forand dddd r3 r1 Y r2 X Machines and mechanisms : Applied Kinematic Analysis, 4/e David Myszka 2012, 2005, 2002, 1999 Pearson Higher Education, Upper Saddle River, NJ 07458.