Kinematics and Dynamics of Machinery SOLUTION MANUAL 2-8-1

PROBLEM 2-8
Statement: Identify the items in Figure P2-1 as mechanisms, structures, or preloaded structures.
Solution: See Figure P2-1 and Mathcad file P0208.

1. Use equation 2.1c (Kutzbach's modification) to calculate the mobility and the definitions in Section 2.5 of the
text to classify the linkages.

6
a. Number of links L
6
3
Number of full joints J1 
7
Number of half joints J2 
1 5
2
M
 3
( L 1) 2 
J1 J 2 4
1
M 0 Structure (a)
1

b. Number of links L
3
1
Number of full joints J1 
2
Number of half joints J2 
1

M
 3
( L 1) 2 
J1 J 2 2

M 1 Mechanism 1
(b)
4
c. Number of links L
4 1

Number of full joints J1 

4
Number of half joints J2 
0 3

M
 3
( L 1) 2 
J1 J 2
2
M 1 Mechanism
(c)
1

7 1
d. Number of links L
7
Number of full joints J1 
7
Number of half joints J2 
1 6
5
M
 3
( L 1) 2 
J1 J 2
1 2
3
M 3 Mechanism 4
(d)