The Tripod Joint

The tripod joint is a kinematically flexible shaft coupling that allows limited angular
misalignment between the two shafts in all directions in addition to limited axial
float; plunging. It is a homokinetic joint, meaning that it does not cause velocity
fluctuation when the shafts are run at an operating angle.

Construction:
One of the shafts carries a spider with three cylindrical spigots or pins that project
radially out of a hub, each pin supporting a roller; cylindrical on the inside and
spherical-segment on the outside. The rollers are supported on needle bearings to
freely rotate and radially slide (in/out). The other shaft ends with an enlarged hub
that has three axial partial-cylindrical raceways in which the rollers can roll or slide.
Two drawings are given next for interpretation of the construction.
 Tripod joint details

The tripod joint is an exact-constraint design: number of moving parts = 4,

constraints are due to 3C and 3S/C giving 3x4 + 3x2 = 18. G = 4x6 - 18 = 6.
Anticipated mobility = 3, idle mobilities = 3; that the rollers coutd assume any
angular orientation, unnoticed. Therefore, zero overconstraints.

The tripod joint is almost invariably used in pairs in front-wheel-drive cars to

connect the two gearbox outputs to the two half axles that drive the front wheels.
Each of the two half axles is connected to the wheel through another type of
homokinetic joint called the Rzeppa joint that allows steering at angles up to 45'
while transmitting the drive torque. But it is a pivoting joint, it does not (and is not
required to) provide axial float.
Single-Cylinder Engine Mechanism
The crankshaft is supported to rotate in journal
bearings in the casing (cylinder block); R-joint.
The connecting rod big end is closed around the
crankpin; R-joint.
The piston is connected to the connecting rod
small end by a piston pin (gudgeon pih, fitted
as one piece with the piston) with a small
clearance to both sides; C-joint.
The piston reciprocates in the cylinder block;
C-joint.

Number of moving p?rts = 3

Constraints:2R,2C, givi ng2 x 5 + 2x 4- L8
G=3x6-L8=0
Anticipated mobility: one ; crankshaft rotation
ldle DOF - 0, the piston pin does not rotate.
AMIGO: 1 + 0 - 0 + L One overconstraint.

Note that if no lateral clearance existed between

the piston and the connecting rod small end,
there would be two overconstraints.
Engine connecting rod
A suggested design version of a single-
cylinder engine mechanism with a
different connecting rod is shown,
without the cylinder block in which
the crankshaft is supported to rotate
in its bearings and the piston is guided
to reciprocate in its cylinder.
Requirements:
L. Perform the constraint analysis of
this design to determine whether or
not it is overconstrained.
2. Why do internal combustion engines
not actually make use of this design?
Solution

Take the cylinder block as a fixed reference.

Number of moving parts:
Piston, cross piec€, con-rod first hall second
ha lf, cra n kshaft: 5 pa rts
Constraints:
5R from the drawing, LC piston/cylinde r, giving
5x5 + Lx4 = 29 constraints
G - 5x6 -29 - 1.
I=0
Anticipated mobility = L
AMIGO: L+Q=I+0
The system is exactly constrained.
Engine manufacturers do not make use of this
Design due to its complexity, and the one
overconstraint in conventional engine design
is not that detrimental.
The Neander Engine
A two-cylinder engine mechanism with twin counter-rotating crankshafts is shown
without the cylinder block, of which the two cylinder-inside walls would be in C-
interfaces with the pistons (1, 9) and in which main bearings would support each
crankshaft in an R-joint. Each piston drives the twin crankshafts through two
connectlng rods (3, 5 and 7,8), all in R-joints. The two crankshafts are gear-
meshed to rotate as described. This engine is known as the Neander engine
(DE1 0348345 and WO20050381 97).

Requirements
1. State the advantages of using two connecting rods per piston in symmetry as
shown.
2. With the cylinder block as a fixed reference part, make a 3-D constraint analysis
of this engine to determine whether it is in exact constraint or overconstrained, by
how much. Consider each gear mesh to impose one constraint on the assembly,
as if in point contact.
3. Comment on the accuracy requirements In manufacturing this engine.
n\0
Solution to the Neander Engine
1. Advantages are (1) to cance! out the side thrust of the pistons on the cylinder
wall, thereby reducing wear and extending the life expectancy of the engine, and
(2) to make the dynamic balancing necessary only in the vertical direction.

2. Number of moving parts: 2 pistons, 4 connecting rods, 2 crankshafts, giving 8.

Constraints are due to: 2 C-interfaces between the pistons and cylinders, I R-
joints of the connecting rods, 2 R-joints of the crankshafts in their bearings, and 2
point contacts between the gear teeth, giving 2x4 + 10x5 + 2 = 60 constraints.
G=6x8-60=-12
l=0
AM=1
AMIGO: 1+0=-12+13
This engine mechanism is highly overconstrained, by 13.

3. The parts and components of this engine have to be manufactured with utmost
accuracy.
Stewart PlatforlTl, Description
A photograph of a six-DOF Platform of a wide range of motion is shown,
which is also known as the hexapod or the Stewart platform.
Stewart Platfonn, Analysis

The moving platform is connected to the fixed base plate through six
identical actuating struts to be extended and retracted by hydraulic or
electro-mechanical means. The struts should not allow relative rotation,
and are arranged in a sextuple triangular array as shown. Their ends are
connected to the base and the platform by the 12 yokes of universaljoints.
It is required to investigate these connections, rigid or rotatable, in order
for the assembly to be exactly constrained.

Solution

Assuming rigid connections:

Number of moving parts = L3
Constraints: 5 struts x 5 and 12 universaljoints x 4 giving 78
G=13x6-78=0
AMIGO:6+0=0+5
The assembly has 6 overconstraints.
Remedy is to relieve these overconstraints by making the uppermost yokes,
say, of the universaljoints support the platform through bearings (R-joints).
(Other yokes could be chosen for the same purpose). Then,
Number of moving parts (now increased by the 6 uppermost yokes) = 19
Constraints: 5 struts x 5, 12 U-joints x 4, and 6 R-joints x 5, giving 108
G=19x6-108=6
AMIGO: 6 + 0 = 6 + 0, an exactly constrained assembly.
Orthogonal Tri pteron
The drawing shows a parallel-kinematic manipulator which is known as the
orthogonal Tripteron. lt is driven by three motors that move three sliders with P-
interfaces on three Gartesian-coordinate guideways x, y, z. All other joints of the
mechanism are revolute joints. The moving platform is the triangular member seen
in the middle.

Requirements
1. Determine the number and nature of the degrees of freedom of this manipulator.
2. Perform a constraint analysis to determine whether the mechanism is exactly
constrained or overconstrained, by how much.
3. What is the important advantage of such a configuration regarding the
relationships between the input and output displacement components?
Solution to the Tripteron
1. Three translatory DOF. lt is seen why the moving platform cannot tilt in any
direction.
2. Number of moving parts: 3 sliders, 6 links, one moving platform, giving 10 parts.
Constraints are due to 3 P-joints and g R-joints, giving 3x5 + 9x5 = 60 constraints.
G=6x10-60=0
l=0
AM=3
AMIGO: 3+0=0+3
The manipulator conceals 3 overconstraints.
3. The one-to-one relationship between the output displacement components in x,
y, z, and the input displacements to the sliders. Programming the motion is
straightforward.