DESIGN OF MACHINERY

SOLUTION MANUAL 6-13-1

PROBLEM 6-13

Statement:

Find all of the instant centers of the linkages shown in Figure P6-6.

Solution:

See Figure P6-6 and Mathcad file P0613.

a.

This is a fourbar inverted slider-crank with n

1.

Determine the number of instant centers for this mechanism using equation 6.8a.
C

n .( n

1)

C=6

2
2.

4.

Draw the linkage to scale and identify those ICs that can be found by inspection.
2,3

3
3,4 at infinity
1
1,2
4

1
1,4

3.

Use Kennedy's Rule and a linear graph to find the remaining 2 ICs, I1,3 and I2,4
I1,3: I1,2-I2,3 and I1,4-I3,4

I2,4: I1,2-I1,4 and I2,3-I3,4

3,4 at infinity
2,3

2,4
2

1
4

3,4 at infinity
1

1,2
4

1
1,4

1,3

b.

This is a sixbar with slider, n

1.

Determine the number of instant centers for this mechanism using equation 6.8a.
C

n .( n
2

2.

1)

6.

C = 15

Draw the linkage to scale and identify those ICs that can be found by inspection.

2nd Edition, 1999

DESIGN OF MACHINERY

SOLUTION MANUAL 6-13-2

5,6
6
2,3

1,6 at infinity

3,4; 3,5; 4,5

1
4

1,2

1,4

3.

Use Kennedy's Rule and a linear graph to find the remaining 7 ICs.
I1,3: I1,2-I2,3 and I1,4-I3,4

I2,4: I1,2-I1,4 and I2,3-I3,4

I1,5: I1,6-I5,6 and I1,4-I4,5

I4,6: I1,6-I1,4 and I4,5-I5,6

I2,5: I1,2-I1,5 and I2,4-I4,5

I2,6: I1,2-I1,6 and I2,5-I5,6

I3,6: I1,6-I1,3 and I3,4-I4,6

3,6

1,3

1,6 at infinity
2,5

to 2,4

5,6
6
to 2,4

1,5

2,3

1
1,6 at infinity

2
3

1,6 at infinity

3
4

3,4; 3,5; and 4,5

1
4

1,2

1,4

2,6
4,6

1,6 at infinity
1

c.

This is a sixbar with slider and roller with n

1.

Determine the number of instant centers for this mechanism using equation 6.8a.
C

n .( n

1)

C = 15

2
2.

6.

Draw the linkage to scale and identify those ICs that can be found by inspection.
2,5
5,6

1,2

2,3

1,6

4
3,4

2nd Edition, 1999

1,4 at infinity

DESIGN OF MACHINERY

3.

SOLUTION MANUAL 6-13-3

Use Kennedy's Rule and a linear graph to find the remaining 8 ICs.
I1,3: I1,2-I2,3 and I1,4-I3,4
I2,6: I1,2-I1,6 and I2,5-I5,6
I1,5: I1,6-I5,6 and I1,2-I2,5

I2,4: I1,2-I1,4 and I2,5-I2,4

I4,5: I1,4-I1,5 and I2,4-I2,5

I3,5: I3,4-I4,5 and I2,5-I2,3

I3,6: I3,6-I5,6 and I2,3-I2,6

I4,6: I4,5-I5,6 and I3,4-I3,6

3,5
2,5
1,5

4,5

1,4 at infinity
5,6

1,2

2,3

2,6

2,4

1,4 at infinity
5

1,6

4,6
3,6

3,4

1,3

1,4 at infinity

4
1

d.

This is a sixbar with slider and roller with n

1.

Determine the number of instant centers for this mechanism using equation 6.8a.
C

n .( n

1)

6.

C = 15

2
2.

Draw the linkage to scale and identify those ICs that can be found by inspection.
3,4
4
1
1,4
3

5,6
5

1,2

2
1

6
2,3; 2,5; and 3,5

1,6 at infinit

3.

Use Kennedy's Rule and a linear graph to find the remaining 7 ICs.
I1,3: I1,2-I2,3 and I1,4-I3,4

I3,6: I1,6-I1,3 and I3,5-I5,6

I2,6: I1,2-I1,6 and I2,5-I5,6

I1,5: I1,6-I5,6 and I1,2-I2,5

I4,5 : I1,4-I1,5 and I3,5-I3,4

I2,4: I1,2-I1,4 and I2,3-I3,4

I4,6: I1,6-I1,4 and I4,5-I5,6

(See next page)

2nd Edition, 1999

3
4

DESIGN OF MACHINERY

SOLUTION MANUAL 6-13-4

2,4
4,6
3,4
4,5

1,3

1
1

1,4
6
3

1,5

1,6 at infinity

3
4

2,6

5,6
5

1,2

2
1

6
2,3; 2,5; and 3,5

3,6

1,6 at infinity
1,6 at infinity

2nd Edition, 1999