V.

Structure decomposion of machanism (Phân tích cấu tạo cơ cấu)

5.1 Struture decomposion of mechanism & Assur group
+Decomposion of mechanism (cấu tạo cơ cấu)

+ Assur group:
- Formula of Assur group: W=3n-2p5 = 0
- Classification of Assur group:
Open-Loop kenematic chain
Closed-Loop kenematic chain
 Open-loop kenematic chain
- Class 2AG -> 2 links with 3 joints.

Figure 1: 2 links 3 joints (R R R)

Figure 2: 2 links 3 joints (R R T)
Figure 3: 2 links 3 joints (R T R)
Figure 4: 2 links 3 joints (R T T)
Figure 5: 2 limks 3 joints (T R T)
 - Class 3 AG -> a link connected with 3 other links

Figure 1: 4 links 6 joints

Figure 2: 4 links 6 joints
Figure 3: 6 links 9 joints

 Closed-Loop kenematic chain: type of this group is the number of single edges to create
closed-loop

Figure 1: 4 links 6 joints

Figure 2: 8 links 12 joints
Figure 3: 8 links 9 joints
Figure 4: 6 links 9 joints

5.2 Types of mechanisms and planar mechanism decomposion

=> Classification: The types of mechanism the maximum type of Assur group in the mechanism.
(loại của cơ cấu là nhóm Atxua lớn nhất trong cơ cấu).
=> Principles for the decomposion of Assur’s group (Nguyên tắc tách nhóm tĩnh định).
1. Determination of driving link and frame
2. The separation of Assur groups begins with links most distant from the driving link.
3. Assur groups of the lowest class are separated. The rest of the mechanism is also a
mechanism.
 Example:
Determine
structural

decomposition and classification of the mechanism

as shown in Fig

3.3

Equivalent linkage of mechanisms

=> change the higher pair by lower pair (thay thế khớp loại cao bằng khớp loại thấp).
- Keep the original DOF unchanged
- Keeo the original motion unchanged (tính chất chuyển động của cơ cấu không đổi).

Example: Fig show that an example of changing the higher pair by lower pair in cam
mechanism.