# MP2002 Kinematics and Dynamics of Machinery Tutorial 2 2009/2010 Sem 2

TUTORIAL 1 MP2002 Kinematics and Dynamics of Machinery
1.1 (Tutoiral) Identify the types of links and joints of the mechanism as shown below and determine its degrees of freedom.

1.2 Sketch the kinematic disgrams of the planar mechanisms and find the mobility. Pin-in-slot joint

1.3

(c) (d) (Homework) The figure below shows the line drawing of a commercially available exercise machine.

(a) Exaplain why the machine can be treated as a planar mechainsm when performing motion analysis.

1

Done by Deng Lixi: deng0030@ntu.edu.sg

sg .24.91) (Tutoiral) For the following two cases : (a) L0 = 4.91) Given L1 = 100 mm. L1 = 1. Additional Questions 1. 2 Done by Deng Lixi: deng0030@ntu.edu. L3 = 2 (i) determine whether the links can actually form a mechanism with the dimensions given. double-rocker. L3 = 1. L1 = 1. (d) change-point mechanism. (c) double-rocker mechanism. identify the type of mechanism (crank rocker.5. Q1. L2 = 2. drag link. (e) Grashof mechanism.20. Sketch the kinematic diagram of the folding mechanism and determine its degrees of freedom. L2 = 2. change-point). find the range of values for the unknown link L0 if the linkage will theoretically act as a : (a) crank rocker mechanism. (ii) if a mechanism exists. (f) triple-rocker mechanism. p.MP2002 Kinematics and Dynamics of Machinery Tutorial 2 2009/2010 Sem 2 (b) Sketch the kinematic drawing of the exercise machine and determine its degrees of freedom. 1.18 & 1.5 (Wilson & Sadler. Q1. (c) If the pin joint at B is moved to the alternate connection B’. will this make the workout harder or easier ? 1. L2 = 280 mm and L3 = 360 mm.4 (Wilson & Sadler. p.5.5 (b) L0 = 2.6 The Figure below shows the folding mechanism of a camera in its opened position. triple-rocker. (b) drag link mechanism.

n’j=5. n’’j=1 DOF=3*(5-1)-2*5=1 1.edu.MP2002 Kinematics and Dynamics of Machinery Tutorial 2 2009/2010 Sem 2 Solutions: 1.1 Hint: DOF=3*(nl-1)-2*n’j-n’’j Solution: nl=5.2 Hint: DOF=3*(nl-1)-2*n’j-n’’j Solution: (a) DOF=3*(9-1)-2*10=4 (b) DOF=3*(7-1)-2*7=1 3 Done by Deng Lixi: deng0030@ntu.sg .

4 Hint: DOF=3*(nl-1)-2*n’j-n’’j And please refer to notes about the definition about different definition of mechanisms.3 Hint: DOF=3*(nl-1)-2*n’j-n’’j Solution: DOF=3*(4-1)-2*4=1 It will be easier.edu. it is a crank rocker 4 Done by Deng Lixi: deng0030@ntu.MP2002 Kinematics and Dynamics of Machinery Tutorial 2 2009/2010 Sem 2 (c) DOF=3*(7-1)-2*9=0 (d) DOF=3*9-2*3=1 1. Solution: (a) Yes. it is a triple rocker (b) Yes. which means smaller force to input. so ø min is larger. Because the crank is shorter.sg . 1.

MP2002 Kinematics and Dynamics of Machinery Tutorial 2 2009/2010 Sem 2 1.edu.5 Hint: DOF=3*(nl-1)-2*n’j-n’’j And please refer to notes about the definition about different definition of mechanisms. please calculate yourself. (d) 180 or 540 (e) 180<L0<540 (f) 20<L0<180 or L0>540 1. Solution: (a) 180<L0<540 (b) 0<L0<20 (c) Think: As L2 is the minimum.sg .6 Hint: DOF=3*(nl-1)-2*n’j-n’’j Solution: DOF=3*(6-1)-2*7=1 5 Done by Deng Lixi: deng0030@ntu.