Mechanisms

Ken Youssefi Mechanical Engineering Dept.
1
Mechanism
Machines are mechanical devices used to accomplish
work. A mechanism is a heart of a machine. It is the
mechanical portion of the machine that has the
function of transferring motion and forces from a
power source to an output.
Mechanism is a system of rigid elements (linkages)
arranged and connected to transmit motion in a
predetermined fashion.
Mechanism consists of linkages and joints.
2
Example of Mechanism
Can crusher
Simple press
Rear-window wiper
3
Example of Mechanisms
Moves packages from an assembly
bench to a conveyor
Lift platform
Microwave carrier to assist
people on wheelchair
4
Lift platform
Front loader
Device to close the
top flap of boxes
5
Conceptual design for an
exercise machine
Rowing type exercise machine
6
Extension position
Flexed position
Six-bar linkage prosthetic
knee mechanism
7
Four-Bar Linkage
8
Four-Bar Linkage Categories
9
Four-Bar Linkage Categories
10
4-Bar mechanisms
11
4-Bar mechanisms
S + l > p + q
4 double rocker
mechanisms
12
The Slider-Crank Mechanism
13
The Slider-Crank Mechanism
14
Slider-Crank Mechanism - Inversion
15
Mechanism Categories
Function Generation Mechanisms
A function generator is a linkage in which the relative motion
between links connected to the ground is of interest.
A four-bar hand actuated wheelchair
brake mechanism
16
A four-bar drive linkage for a lawn sprinkler
17
Motion Generation Mechanisms
In motion generation, the entire motion of the coupler link
is of interest (rigid body guidance).
New Rollerblade brake system
18
Four-bar automobile hood linkage design
19
Path Generation Mechanisms
In path generation, we are concerned only with the path of a
tracer point and not with the motion (rotation) of the
coupler link.
Crane straight line motion
20
Primary Joints
21
Higher Order Joints
22
Rotating a monitor into a storage position
Moving a storage bin from an
accessible position to a stored position
23
Lifting a boat out of water
Moving a trash pan from the floor up over
a trash bin and into a dump position
24
Graphical Synthesis Motion Generation Mechanism
Two positions, coupler as the output
A
1
A
2
B
1
O
2
O
4
1. Draw the link AB in its two desired
positions, A
1
B
1
and A
2
B
2
2. Connect A
1
to A
2
and B
1
to B
2
.
3. Draw two lines perpendicular to
A
1
A
2
and B
1
B
2
at the midpoint
(midnormals)
4. Select two fixed pivot points, O
2
and O
4
, anywhere on the two
midnormals.
5. Measure the length of all links,
O
2
A = link 2, AB = link 3,
O
4
B = link 4 and O
2
O
4
= link 1
B
2
Adding a Dyad to a non-Grashof mechanism.
1. Draw the four bar in
both positions
2. Select any point C on
link 2.
3. Connect C
1
to C
2
and
extend.
4. Select any location on
this line for third fixed
pivot, O
6
5. Draw a circle with
radius C
1
C
2
/ 2. The
radius is the length of
the sixth link.
6. Measure O
6
D = link 6,
DC = link 5
O
6
A
1
A
2
B
1
B
2
O
2
O
4
C
1
C
2 D
2
2
3
4
5
6
25
26
Graphical Solution
Two position synthesis (coupler output) with Dyad added.
27
Two positions Grashof 4-Bar mechanism with rocker as the output
1. Draw the link CD in its two desired
positions, C
1
D
1
and C
2
D
2
2. Connect C
1
to C
2
and D
1
to D
2
and
draw two midnormals to C
1
C
2
and
D
1
D
2
3. The intersection of the two
midnormals is the fixed pivot point
O
4
.
4. Select point B
1
anywhere on link
O
4
C
1
and locate B
2
so O
4
B
1
= O
4
B
2
5. Connect B
1
to B
2
and extend. Select
any location on this line for fixed
pivot point O
2
.
6. Draw a circle with radius B
1
B
2
/ 2,
point A is the intersection of the
circle with the B
1
B
2
extension.
D
1
C
1
C
2
D
2
A
2
O
4
O
2
O
2
A = B
1
B
2
/ 2
B
1
B
2
7. Measure the length of all links, O
2
A = link 2,
AB = link 3, O
4
CD = link 4 and O
2
O
4
= link 1
Graphical Solution
Two position synthesis (rocker output) C
1
D
1
and C
2
D
2
28
2 Position Motion rocker output
29
30
Three positions, coupler as the output
Same procedure as for two positions.
1. Draw the link AB in three desired
positions.
2. Draw the midnormals to A
1
A
2
and
B
1
B
2
, the intersection locates the
fixed pivot point O
2
. Same for point
B to obtain second pivot point O
4
.
3. Change the second position of link
AB to vary the locations of the
fixed points
4. Check the accuracy of the
mechanism, Grashof condition and
the transmission angle.
O
4
O
2
A
2
A
3
B
1
B
2
A
1
B
3
31
3 Position Motion
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3 Position Motion
33
3 Position Motion
34
Graphical Solution
Two position synthesis Design a four-bar crank and rocker
mechanism to give 45
o
of rocker rotation with equal time forward and
back, from a constant speed motor input.
1 Draw the rocker O
4
B in both
extreme positions, B
1
and B
2
in
any convenient location with
angle
4
= 45
o
.
2 select a convenient point O
2
on line B
1
B
2
extended.
3 Bisect line B
1
B
2
, and draw a
circle with that radius about O
2
.
4 Label the two intersection of
the circle with B
1
B
2
extended, A
1
and A
2
.
5 Measure O
2
A (crank, link2)
and AB (coupler, link3).
35
Graphical Solution
36
Crank-Rocker Mechanism
37
Slider-Crank Mechanism
The mechanism has a
stroke B
1
B
2
equal twice
the crank length r
2
.
Locations B
1
and B
2
are
called the extreme
positions (limiting) of the
slider
In-line slider crank mechanism
38
Slider-Crank Mechanism
Offset slider-crank mechanism
39
Straight line
Mechanisms
40
Straight Line Mechanism
41
Scotch Yoke Mechanism
42
Geneva Mechanism
43
Linear Geneva Mechanism
44
Ratchet Mechanism
45
Straight Beam Walking Mechanism
46
47
Roller and Flat Follower Cams
48
Cylindrical Cam Mechanism
49
Gears Rack and Pinion
50
Gears
Worm Gear Sets Bevel gears
Planetary Gear set
51
V-8 Engine
52
Type of Motion and Mechanisms
Most power sources that are readily available today are either of the pure
rotational motion type, such as electric motor or hand crank, or of the
pure translational type, such as pneumatic or hydraulic cylinder.
Translation to Translation
53
Rotational to Rotational
54
Rotation to Translation
55
References
Mechanism Design, Analysis and Synthesis by
Erdman and sander, fourth edition, Prentice-Hall,
2001,
Machines and Mechanisms by Uicker, Pennock
and Shigley, third edition, Oxford, 2002.
Machines and Mechanisms by Myszka, Prentice-
Hall, 1999

Mechanisms

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Ken Youssefi Mechanical Engineering Dept.

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