Introduction to Theory of Machines

LECTURE NOTES- MECE 303 Theory of Machines Chapter 1- Introduction to Theory of Machines

Fall Semester 2010/2011 Halil Orhan YILDIRAN, MS

1

Introduction to Theory of Machines

In the mechanism analysis well study Kinematic analysis: motion analysis for position, velocity, acceleration Force analysis: static and dynamic force analysis on the mechanism In these analysis you may use some CAD Tools, and internet to get information and to visualize the subject.

Introduction to Theory of Machines

A machine is an assemblage of rigid bodies that transmits and/or transforms forces, motion and energy in a predetermined manner, to do work. A mechanism is a group of rigid bodies connected to each other by joints, to form a closed kinematic chain with one link fixed, to transmit force and motion A rigid body is a material body in which the distance between any two points remains always constant.
3

Introduction to Theory of Machines Ex. Four bar mechanism

Ex. Slider crank mechanism

Introduction to Theory of Machines Ex. A toggle connections mechanism with non rigid

Introduction to Theory of Machines BASIC CONCEPTS AND DEFINITIONS Kinematic element: is that part of a rigid body, which is used to connect it to another rigid body such that relative motion between the two rigid bodies can occur. Joint (kinematic pair, pair): a connection between rigid bodies, which permits relative motion between them and physically adds some constraint(s) to this relative motion. In other words it is the joining of two kinematic elements.
6

Introduction to Theory of Machines

Open kinematic pair: is a joint for which contact between kinematic elements is maintained only for some possible positions of a mechanism. Closed kinematic pair: is a joint for which contact between kinematic elements is maintained within all possible positions of a mechanism.
a)Form closed kinematic pair: is a joint for which the contact between kinematic elements is maintained due geometry. b)Force closed kinematic pair: is a joint for which some external force (i.e. weight, spring-force) is required to keep the contact between kinematic elements.
7

Introduction to Theory of Machines Lower kinematic pair: is a joint for which the contact between the two kinematic elements is along a surface. Higher kinematic pair: is a joint for which the contact between the two kinematic elements is along a line or at a point. Degree-of-freedom (dof) of a joint: is the number of independent parameters that is required to determine the relative position of one rigid body with respect to the other which is connected by the joint. These independent parameters are called joint or pair variables.
8

Introduction to Theory of Machines Open kinematic pair Closed kinematic pairs: Form closed kinematic pair
(Lower kinematic pairs-Surface contact)

Force closed kinematic pair

(Higher kinematic pairs-Line/point contact)
9

Introduction to Theory of Machines

Table: Frequently used joints

Name

Symbol Joint Relative Motion Lower or DOF Translational Rotational Higher Pair
0 1 1 1 0 2 1 1 1 0 coupled 1 3 1 1 1 L L L L L L H H

Revolute (pin, hinge) R 1 Prismatic (sliding) P 1 Helical H 1 Cylindrical C 2 Spherical S 3 Plane E 3 * Gear pair G 2 * Cam pair Cp 2 * : assuming rolling and sliding occurs

There are only six lower pairs (i.e. R, P, H, C, S, E) others are higher pairs and only two of them (G, Cp) are given in the above table. General point or line contact joints with pure rolling (1 dof), pure sliding (1dof), or rolling-sliding (2-dof) conditions are also common higher pairs. .
10

Introduction to Theory of Machines

Table. Types of joints with lower pairs
Joint Revolute (turning pair) Prismatic s Helical s or Cylindrical s and Spherical , , Plane x, y, 3 2 translational and 1 rotational 3 3 rotational 2 1 translational and 1 rotational 1 1 1 translational 1 translational or 1 rotational, ( s and are dependent, i.e. s ) Illustration Pair variable Degrees of freedom 1 Relative Motion 1 rotational

11

Introduction to Theory of Machines Link: a rigid body that provides connections to other rigid bodies by at least two joints.
Links can be classified according to the number of kinematic elements they contain as
Binary link

Ternary link

Quarternary link

12

Introduction to Theory of Machines

When multiple links are connected the joint order will be as follows
Joint Illustration Joint order

Binary joint

Ternary joint 2

Quarternary joint 3
13

Introduction to Theory of Machines When one of the links of a kinematic chain is held fixed then it is called a mechanism. The fixed link is also called the ground link or frame. A mechanism, which contains only lower pairs is called a linkage. Example: Kinematic chain versus mechanism

Four-bar kinematic chain

Four-bar mechanism (linkage)

14

Introduction to Theory of Machines

If the motion of links of a kinematic chain or mechanism or linkage is: - on a plane or parallel planes then it is a planar kinematic chain, or planar mechanism, or planar linkage -in three dimensional space then it is a spatial kinematic chain, or spatial mechanism, or spatial linkage A spatial linkage may contain any of the six lower pairs (R, P, H, C, S, E). A planar linkage may contain revolute and prismatic joints (R, P). Representation of revolute and prismatic joints in planar chains is illustrated below

15

Introduction to Theory of Machines

Kinematic representations of revolute and prismatic joints
R R

Pin-in-a-slot or slotted cylinder (Cs) joints are also common higher pairs utilized in planar kinematic chains Kinematic equivalence for pin-in-a-slot joint
P Cs R

16

Introduction to Theory of Machines The degree of freedom of space ():The number of independent parameters that should be specified in order to define the position of a rigid body in that space. Spatial space is most general case (=6) 3 rotation, 3 translation In planar space a rigid body has 3 degrees of freedom (=3) : 2 translation (x and y axis) and 1 rotation (z axis). Spherical space: (=3)Three rotation
17

Introduction to Theory of Machines In a planar space the position of a rigid body can be specified by: *2 points on the body (Wrt a fixed ref.) *1 point on the body and angle from this point to the second point (Wrt a fixed ref.) XA, YA and *Radius and angle from origin of fixed ref. to the first point and angle from this point to the second point (r, and )

18

Introduction to Theory of Machines (XA-XB) 2+(YA-YB)2=a2.

19

Introduction to Theory of Machines Degree of freedom of Mechanisms (F):

Is the number of independent parameters that should be specified in order to define position of every link in the mechanism. Consider an l -link mechanism with j joints. If there were no joints we would have l -1 movable links so we would need (l -1) parameters to define the position of those links, ie total dof= (l -1) The joints impose constrains on the motion . Let dof of ith joint be defined as fi. Then the number of constraints imposed by the ith joint is -fi. j The total number of constraints by all joints is i =1 ( fi) . Therefore

i=1 ( fi) = j- i=1 fi (assuming all constraints are independent.)

F= (l -1)- (j- i =1 fi ) F= (l -j-1)+
j

i =1

fi
20

Introduction to Theory of Machines SPECIAL SPACES

*Spatial space is most general case =6 *Planar space is the special case =3 *Spherical space All the links only rotate about a common fixed point The rotation axis of each link intersect at a common point. Since there is no translation =3 Eg Figure 1.50 Hooks universal joint
=3, l =4, j=4,

j i =1

fi =4 There fore F=3(4-4-1)+4=1

21

Introduction to Theory of Machines-Special Spaces

*Nonrotational Planar Space Since there is no rotation =2 In this space there can only be P joints Ex: Wedge mechanism

=2, l =3, j=3,

j i =1

fi =3 There fore F=2(3-3-1)+3=1

22

Introduction to Theory of Machines-Special Spaces

*Screw Space All the links rotate about and /or translate along one axis. =2 The possible joints are H, R, P
=2, l =3, j=3,

i =1

fi =3 There fore F=2(3-3-1)+3=1

23

Introduction to Theory of Machines

It is possible that different part of a mechanism may have different s. Ex Links 1,2,3,4 form a four bar linkage =3 Links 3,5, 6 form a wedge mechanism =2 Four bar, F=1 Wedge mechanism, F=1. So the total degree of fredom is F=2

24

Introduction to Theory of Machines KINEMATIC INVERSION The process of choosing different links of a chain as the fixed link, for generating new mechanisms is called KINEMATIC INVERSION Ex 4 link planar RRRP chain:

25

Introduction to Theory of Machines-Kinematic Inversion

a)Fixing link 1-(Slider crank mechanism, 2 as crank). When translation direction is changed the appearance changes considerably. b)Fixing link 4-(Slider crank mechanism, 3 as crank, slider 1, same as (a) c)Fixing link 3- Swinging block d) Fixing link 2, same as fixing link 3

26

Introduction to Theory of Machines-Kinematic Inversion

Fixing link 3 (at left) Fixing link 4 (at rigth)

27

Introduction to Theory of Machines GRUBLERs Equation General dof eqn: F= (l -j-1)+ ij=1 fi This equation can be simplified for sub-classes of mechanisms. Consider 1 dof planar linkages, which are most common mechanism subclasses. j F=1, =3 and with R,P joints i =1 fi =j 1=3(l -j-1)+j From here we can get the Grublers equation as: 3 l -2j-4=0
28

Introduction to Theory of Machines-GRUBLERs Equation

Conclusions for this class of mechanism(F=1): * l must be even * # of binary links in a mechanism 4 * # kinematic elements of a link l /2

29

Introduction to Theory of Machines

CRITICAL FORM MECHANISMS Sometimes the general dof equation gives incorrect result. This occurs because of special link dimensions. Such mechanisms are called critical form mechanisms. Example: j

=3, l =5, j=6,

i =1

fi =6.

There fore F=3(5-6-1)+6=0, so this is a structure.

30

Introduction to Theory of Machines-Critical Form Mechanisms

But if links 1 and 3 are made parallel and links 2, 4 and 5 are made parallel using special link lengths, the result is a double parallelogram linkage. For this mechanism; Equation gives F=0 but, Factual =1 due to special link lengths.

31