1.1.

The Subject of Kinematics and Dynamics of Machines

The subject is a continuation of statics and dynamics

Kinematics and Dynamics of Machines 1. Introduction Instructor: S. Farhadi

The objective of kinematics is to develop various means of transforming motion to achieve a specific kind needed in applications. The objective of dynamics is analysis of the behavior of a given machine or mechanism when subjected to dynamic forces.

1.2. Kinematics and Dynamics as Part of the Design Process

The role of kinematics is to ensure the functionality of the mechanism. The role of dynamics is to verify the acceptability of induced forces in parts

1.3. Is It a Machine, a Mechanism, or a Structure?

The term machine is usually applied to a complete product. A car is a machine, as is a tractor, a combine, an earthmoving machine, etc. Each machine may have some devices performing specific functions, like a windshield wiper in a car, which are called mechanisms. A structure does not have moving parts; its function is purely structural, i.e., to maintain its form and shape under given external loads, like a bridge, a building, or an antenna mast.
4

1.4. Examples of Mechanisms; Terminology

Punch Mechanism

Skeleton representation of the punch mechanism

5

Windshield wiper mechanism

Crank: A links which is able to make a complete revolution and may be driven by a motor Rocker: A links which is not able to make a complete revolution Coupler: A link which connects driver and follower

Kinematic chain: an interconnected system of links in which not a single link is fixed. Such a chain becomes a mechanism when one of the links in the chain is fixed. Planar mechanism: a mechanism in which all points move in parallel planes Compound mechanism:

Driver: the input link Slider-crank mechanism: Follower: the output link Four-bar linkage: Frame (base link): The fixed link Binary links: links with two connections to other links Skeleton: A representation of the mechanism (replacing the members with some links which connect essential points)
7

Ternary link: links with three connections to other links.

8

1.5. Mobility of Mechanisms

The mobility of a mechanism is its number of degrees of freedom. This translates into a number of independent input motions leading to a single follower motion. A single unconstrained link has three DOF in planar motion.

If the constraining condition allows only one DOF between the two links, the corresponding joint is called a lower-pair joint. If the constraint allows two DOF between the two links, the corresponding joint is called a high-pair joint.

A low-pair joint reduces the mobility of a mechanism by two DOF. A high-pair joint reduces the mobility of a mechanism by one DOF.

If the two links are welded together, they form a single link having three DOF. A revolute joint in place of welding allows a motion of one link relative to another. Thus, the two links connected by a revolute joint have four DOF. A revolute joint eliminates two DOF.

10

Examples

Kutzbachs criterion of mobility

m = 3(n 1) 2j1 j2 m: DOF n: the number of links, j1 : the number of low-pair joints j2 : the number of high-pair joints. Note that 1 is subtracted from n in the above equation to take into account that the mobility of the frame is zero.
11 12

Example: Mobility of various configurations of connected links:

Effect of additional links on mobility

(a) m = 1,

(b) m = 0,

(a) n = 3, j1 = 3, j2 = 0, m = 0; (b) n = 4, j1 = 4, j2 = 0, m = 1; (c) n = 4, j1 = 4, j2 = 0, m = 1; (d) n = 5, j1 = 5, j2 = 0, m = 2.

(c) m = -1.

13

When a structure has negative mobility, it is called an over-constrained structure.14

Kutzbachs formula for mechanism mobility does not take into account the specific geometry of the mechanism, only the connectivity of links and the type of connections (constraints). Kutzbachs criterion can be violated due to the nonuniqueness of geometry for a given connectivity of links.

In compound mechanisms, there are links with more than two joints. Kutzbachs criterion is applicable to such mechanisms provided that a proper account of links and joints is made.

An example of a compound mechanism with coaxial joints at B.

15 16

1.6. Kinematic Inversion

The process of choosing different links in the chain as frames is known as kinematic inversion. In this way, for an n-link chain n different mechanisms can be obtained.

Four inversions of the slider-crank chain: (a) an internal combustion engine, (b) rotary engine used in early aircraft, quick-return mechanism, (c) steam engine, crank-shaper mechanism, (d) farm hand pump.
17 18

1.7. Grashofs Law for a Four-Bar Linkage

Consider a four-bar linkage as presented. In this figure, s identifies the smallest link, l is the longest link, and p, q are two other links. Grashofs law, states that if the sum of the shortest and longest links is not greater than the sum of the remaining two links, at least one of the links will be revolving. Grashofs law (condition) is expressed in the form:

s + l =< p + q
Inversions of the four-bar linkage: (a) and (b) crank-rocker mechanisms, (c) double-crank mechanism, (d) double-rocker mechanism.

19

20

Rotational Speed Ratio

2 P E O 4 P4 , = 2 4 O 2 P2 P4 F
P2 E P2 S O P = O G , 2 2 2 O 4 P4 O4 H = P4 F P4 S

Constant Rotational Speed Ratio

In order to have a constant rotational speed ratio, the transmitting line should intersect the center-points line in a fixed point This condition is valid for a wheel-belt mechanism, but is not valid for a four-bar mechanism

2 O4 H O4 Q = = 4 O2 G O2 Q

21

22

Sliding Contact

Rolling Contact
In order to have a pure rolling contact, the tangential components of velocity for the contacting points have to be equal and unidirectional. That happens solely when the contact point lies on the centers point line.

VS = P2 L P4 M

23

24