Scribd Logo
Upload

Welcome to Scribd!

  • TM Lecture 3 and 4 PDF

    Uploaded by

    Mohammed Quthah
    27 views9 pages
    The document discusses the Grashof condition for four-bar linkages. It states that the Grashof condition is a simple relationship using the lengths of the four links (S, L, P, Q) to determine if the linkage is type I and capable of a full rotation (S + L ≤ P + Q) or type II and not capable of full rotation (S + L > P + Q). It provides examples of common configurations for type I linkages, and notes all configurations will be triple rockers for type II.

    Original Description:

    Original Title

    TM Lecture 3 and 4.pdf

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    Report this Document
    The document discusses the Grashof condition for four-bar linkages. It states that the Grashof condition is a simple relationship using the lengths of the four links (S, L, P, Q) to determine if the linkage is type I and capable of a full rotation (S + L ≤ P + Q) or type II and not capable of full rotation (S + L > P + Q). It provides examples of common configurations for type I linkages, and notes all configurations will be triple rockers for type II.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    27 views9 pages

    TM Lecture 3 and 4 PDF

    Uploaded by

    Mohammed Quthah
    The document discusses the Grashof condition for four-bar linkages. It states that the Grashof condition is a simple relationship using the lengths of the four links (S, L, P, Q) to determine if the linkage is type I and capable of a full rotation (S + L ≤ P + Q) or type II and not capable of full rotation (S + L > P + Q). It provides examples of common configurations for type I linkages, and notes all configurations will be triple rockers for type II.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 9

    The Grashof condition

    Theory of Machines
    Mechatronics Engineering
    Dr. Mohammad Hayajneh

    Theory of Machines , Dr. Mohammad Hayajneh


    Fourbar linkage

    • The simplest 1 DOF mechanism is four binary • The Grashof condition is very simple
    links. relationship that predicts the rotation
    • The fourbar linkage is the most common behavior or rotatability of fourbar linkage’s
    device used in machinery. inversions based only on the link length.
    • Simplicity is one mark of good design.
    • The fourbar linkage should be among the S + L ≤ P + Q
    first solutions to motion control problems to
    be investigated. S: Length of shortest link
    L: Length of longest link
    P: Length of one remaining link
    Q: Length of other remaining link

    Theory of Machines , Dr. Mohammad Hayajneh


    The Grashof condition
    • If S + L ≤ P + Q, the linkage is Grashof and • If S + L > P + Q, the linkage is called non-
    at least one link capable of making a full Grashof and no link will be capable of making a
    revolution with respect to the ground plane. full revolution with respect to other link.
    • This is called a Class I Kinematic chain • This is called a Class II Kinematic chain

    Theory of Machines , Dr. Mohammad Hayajneh


    The Grashof condition
    • Class I: S + L < P + Q • If the ground link opposite the shortest link 
    • If the link connected with ground is the Grashof Double Rocker
    shortest  Crank Rocker

    • If ground link is the shortest  Double


    Crank

    Theory of Machines , Dr. Mohammad Hayajneh


    The Grashof condition
    • Class II: S + L > P + Q
    • All inversions will be triple rocker

    Theory of Machines , Dr. Mohammad Hayajneh


    Special case Grashof Linkage
    • Class III: S + L = P + Q
    • Special case
    • All inversions will be
    • Double Cranks
    • Crank Rockers
    • Will have, change point,
    twice per revolution when
    the links all become collinear.

    Theory of Machines , Dr. Mohammad Hayajneh


    Classification of the fourbar linkage
    • Each link is given a letter designation based on type of Coupler link
    motion when connected to the other links.
    • Crank (C): if link can make full revolution to the
    other links
    • Rocker (R): if not Output link
    • The motion of the assembled linkage based on its Grashof
    Driving link
    condition and inversion can be given a letter code such as
    GCRR. Ground
    • The motion designators C and R are always listed in order
    of links starting from input linkage to the output linkage.
    • The prefix (G) indicates a Grashof linkage.
    • The prefix (S) indicates for a special case Grashof
    • No prefix means a non-Grashof linkage.

    Theory of Machines , Dr. Mohammad Hayajneh


    Classification of the fourbar linkage

    Theory of Machines , Dr. Mohammad Hayajneh


    Classification of the fourbar linkage 𝑟3

    𝑟4
    Barker’s classification
    𝑟1 𝑟2
    𝜆1 =
    𝑟2
    • In order for four links to be assembled the longest link 𝑟1
    must be shorter than the sum of other three links
    L< (S+P+Q)
    • If L= (S+P+Q) the links can be assembled but will not move

    Theory of Machines , Dr. Mohammad Hayajneh

    You might also like