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Kinematic Pairs and DOF Analysis Homework

This document contains the instructions for Homework I assigned in the ME 301 - Theory of Machines I course for Fall 2015. Students are asked to complete two problems: 1) Identify and categorize the kinematic pairs in various mechanical systems shown in links. 2) For additional mechanical systems, specify the joint types, fill in mobility tables, and calculate the degree of freedom using the Gruebler equation. They are also asked a question about actuation in one of the systems.

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Izzet Alp Gül
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47 views3 pages

Kinematic Pairs and DOF Analysis Homework

This document contains the instructions for Homework I assigned in the ME 301 - Theory of Machines I course for Fall 2015. Students are asked to complete two problems: 1) Identify and categorize the kinematic pairs in various mechanical systems shown in links. 2) For additional mechanical systems, specify the joint types, fill in mobility tables, and calculate the degree of freedom using the Gruebler equation. They are also asked a question about actuation in one of the systems.

Uploaded by

Izzet Alp Gül
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

ME 301 THEORY OF MACHINES I FALL 2015

HOMEWORK I
Prepared by: M.Hilmi Eralp, M. Hakan Kandemir
Room: C-204 Phone: 210 5273
E-mail: ehilmi@metu.edu.tr

Date: 19.10.2015
Due: 26.10.2015, during the
beginning of first lecture

Problem 1: Identify kinematic pairs of each following systems. Categorize kinematic pairs of
mechanisms in terms of (i) form closed or force closed kinematic pair, (ii) lower kinematic pair or
higher kinematic pair. Show the kinematic pairs on the figures.

a) http://makeagif.com/kUJ-gw

b) http://educypedia.karadimov.info/library/rockeranim.gif

Problem 2: For each of the following systems, specify joint types on the sketches, fill in the following
tables and determine the degree of freedom (dof) of the system using the general DOF equation.

a)

j (specify joint types)

fi

DOF

b) Stewart Platform (Check https://www.youtube.com/watch?v=7zgKDgTIfgk)

j (specify joint types)

fi

DOF

c)

j (specify joint types)

fi

DOF

d)

j (specify joint types)

fi

DOF

For the system shown in (d), can we actuate two pistons independent of each other? Why/why not?

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