QUESTION 1 (30

(3) points)

For each of the following mechanismss, determine the degree-of-freedom by using

General Degree-of-Freedom (DOF) Equation. If the result given by (DOF) equation is
not correct, discuss why and determine the actual degree of freedom . (Show link
numbers and joint types clearly on the figures) .

"-=-3
{=b
~ ==- (SR-t- 2.f>) = ~
f
~ 1 =- 5 7
I' 1 + 2_y..j =

F=;L (e-~- 1 )-t-L.ft

F=3 (£-1-1)-r- 1
{ F =-~ 1

V engine

b)
/\-= ~
{ ~~
.::. J =(4 fZ -t- 2.f + 1 c.>)"' +
T ~ ~-::: Lt..,.1-r2"-1+1t--2 =8
F=~ (~-d-1)+-~t~
f~ 3 (6-"1-1)+-8
c) CE= 2\
r------c _ r /"l = 3
e~s
d=~~< t-1&·HP =b
z-t~ =- ~-,..1+ 1Y..2.+ i7'-1 == 1-

5
F =1- ( ~- ~- 1 ) + '[ t{
F =- 3 ( s- b-1) +- l-
\F ~1 \
d)

e)
1\.=C
~=4
J=1R-+1~+1(_=~
z f-t. -= +~-1 t- 2.:~3 +1 f-2 == 9
F -;:.'A ( .f_-d- 1) -t- ~ ( ~·
f ::: b ( ~-4-1)t-1
( ~ I "k. 'oc.~o... ..... ~ ) t- =-- .3
5"\~~ -- ·' ,. o-. 1~
.,.~- ~
,:,."c.. J"'"'t
\-\ow c.vu.r +hu-e. o.Ye. +w->
~ fr~~.J ., ....~
Q

A retractable aircraft landing mechanism.

o
jdu.+,·vo-1 c/'l..On~- ~ -
~. ~ c.. ~~~+ ~~~
cf j;:k.s
W I L Q-JI' \ +'-' t.l r OW .r, 0..'1< CW".
2 !:).""J 3
[FM• ~ 0
0-.-- 0:...-"'-"-.j- - - - ,
(30 points)
QUESTION 2 (25) The ''i}o'e
It is required to find planar mechanisms with the following properties:
i) 3 degrees-of-freedom .
ii) Composed of 8 hnks,
iii) Contain revolute jomts and two gear pairs.
iv) Contain at most quarternary links.
Find and sketch 3 mechanisms where number of /4 (querternary link) is different in
each case.
 C'o..s' i.t., f'J ~?...
1 .() 4 4
2 1' 2 5
'- 3 2 0 b

s b

~'l=. o
1 "
eJ, =- 1. ui--k 1\10..({2. ... 4)
(I i.. l.. ,...0/ J I '1, ~ J.. Lt}
.f. = ),
Zz=- "f (i; .. k .....<~ : s-, ,;1-.(-8} t: :;
e =a
6(li.,L ""' ·.~1 '3 1 51 l.,:tJ..a)
QUESTION 3 (25 Points)

For the gear train shown below, the tooth numbers are: T1 = 84, T2 = 10, T3 = 20
(spur), T’3= 24 (bevel), T4 = 30, T5 = 32, T6 = T8 = 14 and T7 = T9 = 12. (Note that the
gears 8 and 9 are kinematically redundant and they are there only for sake of
balancing.)

a) Find the rotational speed and direction of gear 4 when the above sketch is
viewed from the bottom (arrow side), when link 2 is rotating at 30 rpm in
clockwise (CW) direction when the above sketch is viewed from the left hand
side (arrow side).
b) Find the rotational speed and direction of gear 5 when the above sketch is
viewed from the bottom (arrow side).
b) .Uo~ 4 '" ~<M g~ +1-,~ rlc..,,_j. a•~.- ~~;~ J~~J ~ .
. . <, b, +, s ::o..--.J
an
a~Q. J -? .

R{5:: () I S - ('\-1.1, ::. (-1)k. If '1- J{ '>< K : :- (- 1)k_ I{

(\4{- f'\~'1 . fi-,.. )/{ )<. Ts Ts

wh~Y~ "- =:. 2. ( -t.v.JO ~f-<....".,..1 oe...o,- r ..;,J 6~4-u.~<..t-v-, I' g._ T+
a.. ,..j Is l.- h)

"'~s - l2. 'l .g it

= (- 1 ) --:::-32:---
o-o.
B "'.f5 - 4 {, .:::: - 2S 2
QUESTION 4 (25 points)

For the mechanism shown below;

a) Find the number of independent loops.

b) Select the joint(s) to be virtually disconnected in order to write loop closure

equations.

c) Write loop closure equation(s) using point-to-point vectors (i.e.: AB BC etc .. .)

I I

d) Write loop closure equations in Cartesian form.

e) Write the loop closure equation(s) in complex numbers.

f) Make a list of fixed parameters and joint variables that you have

~=J

~~bJ d::. /
~r~ -= btc-f r/J<(-= 1-
L~d-.e-r1 = 1-{,+1 = 2- f::: ?-{ -R-J- ~) -r 7f-t'
2 ,~Nl {ootJ .
1L-= 2
1 1 ~f
 /
1 s-1- ~~r

2~ /o~( ~ B~B c D__,fl-;:,

__.,~ ~ ~
B~f> + r3 c == B ~ o Q t- 0 0 c..

J)

( ;f Jt- "iJ··)
{ 2 ,.J 4 .,.J,·.j