Dyiven

a Cenevally we use S mal pat as a Drive?

Divez. Because of inenta,
T=To
cohen Itstarting Lonque ‘
1f stanting tovque, pouwes loss ell inoease.
neven consideved as khemae Xink as theiy mein obj
Spings nev
-ective is to exevt the vestoyng ovce. (11sprong = 2 Kin: Pairs
) Cytndi cal pair ( C- paiy)
DoF=9
Ex> Shatt ina beoing
2)
DOF=1
slidez in slotted bar

) Revelute Pair R-fei

DoF=1
shaft hawing collay

) Soeo Helx paiy H-Pain

Sy tn (6;) DOF =1

s) alobuen paa-Pav Spheical par

DoF =3
Bal sokt joint
Togsthcs, Sfde
 Dof =3
y
Cahe on asurtac
Note Tluse 6 pairs ale Jower paNs euist in tu sall
then than theye ll ane higher pcns , these
hene ae d
highe pcs eist in 4lu wolk.

te pais cohiah cannot be inveted are knoun as highen pi

andi tu pis cohich an be nverted ae lowen pairs.

. lu mucsian of ighen pcin is ndt passble becau_e cohen cr

pentm ivev sson in ighen pain its Nous oll change
Ale condition of tnvevsi on is ous oill ye main sGme
aften nvevsicn.

Bering pemits tle velat Nemotion of te shatt bet

beary canot transtel y elative motion, hene becve
aye not a kinemetic pcir
No . of possible invensins of a mechanism s equal to
numben f ditferent Anks.
DOF = 3-2j-h
DOF = 3(2-) -2j-h tar mehanim

o make a sìmple mechavi_ , min 4 Anks are vequit d

LynoF
No hghe)pas
No yedumdant inks, pis, msti ons
DOF <O Supe? shu chare
DoF1111
,to trangten
= O Stuchre Fyaetuss loa d
DoF Cons}ained mechanism to trasfey
Rel-motion
DOf >I ncanstwd me chanism

Moditred Kt3back Equ

DoF - 3 n-h,-i? -2{i-5,} -h-fe
G’ input ngle
B
Ø’ presune angle
Mtyans mssian ang k

Jn 4-ban mechaism, Ghen

"In 3 =oci)
o (0°. te Yockes will
be at its extreme positon. ((-R nechanism) em (e-c treck
mechanisms res hensmisian anglelu)
ohen
oill be ryaum e) minimum

Amin
9-18¢

T1T D
B
txtieme posiuns at Recker n (c, e
 e

A7777 D

B
/min
A
7ZTI7I D
men 180

u relate vedoiy oill aloays hove only ong componet

n adretion to tu int

(ormmon
OHa Sink s Yoling oh slipping
tangent
Oven ancther ink, te I-centen
) lie s0mecwhere alorg
COMYmon
notmal

Dovmal at Hu point of contad

"lu point here nertensible rhavd

chovds ente into t plley
thd pomt is an I- centey
centea

Extenston of nks 9, 4 9ves 3

xtersien of nks l3 gres Iy

I24
Cohen ilo olp Snks are
A134
2

(Inl),
) ,=

24

similas AB|) Co)

AB

Sinileny

, W in Same
Drecthon ppasedection

When AB and Bc ore (ie, hey Ce în same lne)

Wy=0 and

PÝ777 77 D
 Ohen BßC and CD are

Smgle Slide Mechanism

Slides

Vshàonz0 'astden=

ohen sliden t B0( (9-8)

Wsiden04 asiden mam

(8=g6)
 Ohen.crank is to couples (/ABC =q0
ohere tan

]u a medhanis, fn cny thce Knks cshih are in

velatve nnotion covto each other, all thvee I-(entens
asso cattd coith them, oill be collinean.

Khevs co ns uction t
Rotate AABP, in
sene of

multtply each side wtty o

and vename p olhc
A cylin
-chis is velocity diagrem
Ve Ves VB
AP BP AB
CYcle ith dius
YG
as
BP

BC as
dia f

B
R

A
uad AB RS is Smi las to ac
Y

AS RS RO A6

at
4a
AB
o SM@ 9= Cont
Agides
(shiden is ct exheny
pesitha)
) ohen BP=0
tonne
Yod
ctsg

) ohen As = o
dc aslider
sltden is d mid point at srelae

(onst

s) RB0
0

(only tronskton)
 pA
on the ltnk
P on thu slide

*)N smgle sliden Crank mechan ism P on

slider
( vank &slotcd leven QRmm) Q onAR

Velecy Diagvom

op

2)) ay s 1 to AR
£ine
3) AQR ane on
a

) B seng wvrto p along .AR

P, Vo is along AR ( P /AR)

absolate velocty of Q
) Trunion Joiunth

Suvtau owtact
 Truni on

a, truni on

2) Ve cvto B is to
BC 9 mtensecti on gves
poim
) Ve coto trumian is, along. BCD
hne
By proporhon V cam be lno caM

Kvématic Dynomic Anadysis

Sng = Sing
n
Strole lengh,
tsplaumet,
 -F-F; fps f= Ettit, Piston
ore Fviction f
piren
A,P - A-
D
Cos(10) tose+
(26) 2n
Sin6+
Sh
analysisAmeximate Alts
cos®) Y(1- A,P=
hormonic simple (A,P)
is oronkpin displaement
ot
4r(Theore
He)l length Shske
=Y (n=-|’ ) cohen casespeial
,
’=Y}n-n-sin
 (omect) Yod f,’
lamis
drhuore.
om pon on
Mome
Sin(904p) - plstan is
Ver
Radial Gronk "Iust fove
nt,: Y
tp
T=
(Thvut (P)Cos (Tust
on)
Tuwing
Etfot
4fort (I80-) Sm tu
on stdes alo
ExY ng
Beavings).
Connechig-fYod
Sn(qo) ylmdo