Kinematics and Dynamics of Machinery SOLUTION MANUAL 2-54-1

PROBLEM 2-54
Statement: Figure P2-1f is an example of a mechanism. Number the links, starting with 1. (Hint: Don't forget
the "ground" link.) Letter the joints alphabetically, starting with A.
a. Using the link numbers, describe each link as binary, ternary, etc.
b. Using the joint letters, determine each joint's order.
c. Using the joint letters, determine whether each is a half or full joint.

Solution: See Figure P2-1f and Mathcad file P0254.

1. Label the link numbers and joint letters for Figure P2-1f.

F
E 5 5
1
G
6

1 H
4

a. Using the link numbers, describe each link as binary, ternary, etc.
C Link No. Link Order
3 1 1 Quaternary
2 Binary
3 Ternary
B 4 Binary
A 2 5 Ternary
1 6 Binary

b,c. Using the joint letters, determine each joint's order and whether each is a half or full joint.

Joint Letter Joint Order Half/Full Joint Classification

A 1 Full Grounded rotating joint
B 1 Full Moving half joint
C 1 Full Grounded translating joint
D 1 Full Moving rotating joint
E 1 Full Moving rotating joint
F 1 Full Grounded rotating joint
G 1 Full Moving half joint
H 1 Full Grounded translating joint