Attribution Non-Commercial (BY-NC)

3 views

Attribution Non-Commercial (BY-NC)

- Sand Drains
- Proceedings of the Fifth World Congress on the Theory of Machines and Mechanisms
- Convertible Automobile Top
- 03-Kinematics
- DTE150-2-150cc
- Design and Fabrication of Mechanical Power Steering
- A New Object-Oriented Finite Element Analysis Program Architecture
- FIITJEE Basic Calculus
- Chapter 5
- prs_09_29_05sol
- i Kinesiology Terminology
- Singularly Useful
- s 0263574715000089 A
- MECHANICAL-ENGINEERING-Curicullum.docx
- Curved Beam With Torque by Mukim
- M97Paral
- SkillsUSA University
- Robotics 8
- HW1c
- Muhamad Azfar Bin Ahmad

You are on page 1of 38

edu

Spring 2009

For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms.

Image removed due to copyright restrictions. Please see http://www.automotive-illustrations.com/img/suspensions/accord-rear-sus.jpg

Source: Fig. 4-31 in Suh, C. H. Computer Aided Design of Mechanisms Part A. Self-published book, 1989. Courtesy of Dr. C. H. Suh. Used with permission.

Todays Agenda

Collect homework #1 Distribute homework #2 Begin mechanisms

Mobility / degrees of freedom Some basic mechanisms Kinematic analysis Mechanism synthesis Solving systems of equations

2D Mechanisms

Where are they found? What do they do?

2D Mechanisms

Where are they found? What do they do?

http://www.mossmotors.com/

2D Mechanisms

Where are they found? What do they do?

2D Mechanisms

Where are they found? What do they do?

Analysis

Given a mechanism, predict its behavior Degrees of freedom Path of motion Dynamics -- velocity, acceleration Force transmission

Synthesis

Given a desired behavior, develop a mechanism

Degrees of Freedom

DOF = the number of independent parameters required to completely define the entitys location and orientation If a body is constrained to a plane, how many DOF does it possess? If a pin joint is added? If a sliding joint is added? If it rolls without slipping?

Types of Joints

How do these attachments affect the degrees of freedom? What about welding / clamping?

Norton, R. L., Design of Machinery

Source: Figure 4 in Suh, C. H. Computer Aided Design of Mechanisms Part B. Self-published book, 1992. Courtesy of Dr. C. H. Suh. Used with permission.

Mobility Criteria in 2D

Kutzbach criterion (to find the DOF) F=3(n-1)-2j

DOF # of bodies # of full pinned joints

Mobility Criteria in 2D

Count the rigid bodies Every rigid body has 3 DOF For the joints

Consider how many degrees of freedom each joint removes Sum up the degrees of freedom removed

Practice Together

Body (assume it is fixed)

Pin joints

Practice Together

Body (assume it is fixed)

The answer is one degree of freedom. Three bodies capable of motion in the plane each with 3 DOF. Four full pin joints each remove 2 DOF. 3*3-4*2=1

Pin joints

3 moving bars

4 Pin joints

Parallelogram Linkage

Where is the parallelogram? What can we say about the resulting motion of the coupler?

Parallelogram Linkage

The resulting motion of the coupler exhibits translation in x and y, but no rotation

Where is the parallelogram? What can we say about the resulting motion of the coupler?

Slider-Crank Mechanism

Kinematically the same (in the limit) as a 4 bar mechanism with a very long output crank

Body (assume it is fixed)

Pin joints

We add the servo, horn, and link NOW how many degrees of freedom?

Body (assume it is fixed)

The answer is one degree of freedom. Two more bodies capable of motion in the plane each with 3 DOF. Three more full pin joints each remove 2 DOF. 2*3-3*2=0 so no net change

Pin joints

We add the servo, horn, and link NOW how many degrees of freedom?

Now You Do It

How many degrees of freedom does this mechanism possess?

Body (assume it is fixed)

1)1 DOF 2)2 DOF 3)3 DOF 4)4 DOF 5)0 DOF

Assume the wheel is fixed to its shaft and suspended over the table for the purpose of this question

How many degrees of freedom does this mechanism possess? 1)1 DOF 2)2 DOF 3)3 DOF 4)4 DOF 5)0 DOF

fixed to its shaft and suspended over the table for the purpose of this question

The answer is two degrees of freedom. Four bodies capable of motion in the plane each with 3 DOF. Five full pin joints each remove 2 DOF. 4*3-5*2=2. One DOF is the desired motion of the link on which the wheel is attached. One DOF is the link in the middle that is free to spin Body (assume the pneumatic is for now until it is fixed) Assume the wheel is attached.

Now You Do It

How many degrees of freedom does this mechanism possess?

Body (assume it is fixed)

1)1 DOF 2)2 DOF 3)3 DOF 4)4 DOF 5)0 DOF

Assume the wheel is fixed to its shaft and suspended over the table for the purpose of this question pneumatic

How many degrees of freedom does this mechanism possess? 1)1 DOF 2)2 DOF 3)3 DOF 4)4 DOF 5)0 DOF

The answer is one degree of freedom. Two more bodies were added, the piston body and the piston rod. Three attachments exist. Sliding motion constrains the piston rod within the piston body (-2DOF). The piston body is attached with a full pin joint to the frame (-2DOF). Body (assumepiston rod is fixedly Finally, the it is fixed) Assume the wheel is attached to the pivot so that they move fixed to its shaft and together (-3DOF) 2*3-2-2-3=-1. suspended over the One DOF is removed from a system that table for the purpose previously had 2 DOF.

of this question pneumatic

How many degrees of freedom does this mechanism possess?

1)1 DOF 2)2 DOF 3)3 DOF 4)4 DOF 5)0 DOF

Source: Fig. 4-31 in Suh, C. H. Computer Aided Design of Mechanisms Part A. Self-published book, 1989. Courtesy of Dr. C. H. Suh. Used with permission.

The answer is one degree of freedom. Six bodies are in the mechanism if we include the block sliding within the window. Sliding motion constrains the block within the window (-2DOF). There How many degrees of freedom are also 7 full pin joints (-2DOF each). Finally, there is traction between the mechanism possess? pinion and the sector gear 6*3-2-7*2-1=1.

does this

1)1 DOF 2)2 DOF 3)3 DOF 4)4 DOF 5)0 DOF

Source: Fig. 4-31 in Suh, C. H. Computer Aided Design of Mechanisms Part A. Self-published book, 1989. Courtesy of Dr. C. H. Suh. Used with permission.

Redundancy

How can I make sense of this?

Courtesy of Design Simulation Technologies, Inc. Used with permission.

http://workingmodel.design-simulation.com/WM2D/simulationlibrary/advmechanisms.php

Degrees of Freedom in 3D

How many degrees of freedom does this mechanism possess?

We wont emphasize 3D mechanisms in this course

Image removed due to copyright restrictions. Please see http://www.automotive-illustrations.com/img/suspensions/accord-rear-sus.jpg

Velocity Analysis

This object is translating and is NOT rotating The velocity if point b is indicated by a green arrow What do we know about the velocity of point e?

Point e must be described by motions which are the superposition of the translation of b and rotation about b.

Velocity Analysis

This object is translating and ALSO rotating about b at rate The velocity if point b is indicated by a green arrow Can we construct the velocity of vector of point e?

b

Velocity Analysis

This object is a rigid body The velocity if point b is indicated by a green arrow The velocity of point e is indicated by a blue arrow Can the vector e take any value, or are there some restrictions on values it might have?

Yes, the tip of the vector must lie on a line.

3 Position Synthesis

Say we want a mechanism to guide a body in a prescribed way Pick 3 positions Pick two attachment points The 4 bar mechanism can be constructed graphically

A Proper Pour

Image removed due to copyright restrictions. Please see Fig. 1 in Ridley, Peter. "Teaching Mechanism Design." Auckland, New Zealand: Australasian Conference on Robotics and Automation, December 2006. (PDF)

Very simple mechanically Nicely compact Springs could allow the servo to be loaded uniformly on the up and down stroke

Image removed due to copyright restrictions. Please see Fig. 8 in Ridley, Peter. "Teaching Mechanism Design." Auckland, New Zealand: Australasian Conference on Robotics and Automation, December 2006. (PDF)

Express the same basic ideas from the graphical construction in mathematical form Computers can easily solve coupled systems of non-linear equations (well, usually they can)

How can we mathematically express the motions of a rigid body?

Translations Rotations Both

cos ( ) sin( ) sin( ) cos ( ) body' := 0 0 0 0

0 x 0 y

body 1 0 0 1

Specify 4 or 5 positions of the body Specify a path rather than body positions (if angle is not important) Maximize objective functions on linkage geometry

Next Steps

Thursday 26 FEB, 11 AM

Lecture on CAD

Tuesday 3 MAR, 11 AM

Another lecture on mechanisms

- Sand DrainsUploaded byChowdhury Priodeep
- Proceedings of the Fifth World Congress on the Theory of Machines and MechanismsUploaded byFilipe_M
- Convertible Automobile TopUploaded bySadDecember
- 03-KinematicsUploaded bysuresh
- DTE150-2-150ccUploaded byAlex GP Scarpazza
- Design and Fabrication of Mechanical Power SteeringUploaded byPriyank Agrawal
- A New Object-Oriented Finite Element Analysis Program ArchitectureUploaded byMehdi Kashani
- FIITJEE Basic CalculusUploaded byShaurya Gupta
- Chapter 5Uploaded byMunif Barghouthi
- prs_09_29_05solUploaded byWalter Olivas Saldaña
- i Kinesiology TerminologyUploaded byRamiz Gashi
- Singularly UsefulUploaded byClayton Button
- s 0263574715000089 AUploaded byaamir
- MECHANICAL-ENGINEERING-Curicullum.docxUploaded byMuhammad Saqib Swati
- Curved Beam With Torque by MukimUploaded byMukim Hossain
- M97ParalUploaded byelvagojp
- SkillsUSA UniversityUploaded byWillian Santos
- Robotics 8Uploaded bysetsindia
- HW1cUploaded byMiguel A. Chávez
- Muhamad Azfar Bin AhmadUploaded bySaiful Azimi
- Physics Experiment 2Uploaded bySasha Gutierrez
- Robust Hybrid Positionforce Control of Redundant Robots 1999Uploaded bySyafri Gt
- 60715137-ExtraUploaded byaghilif
- Diplacemnt Maniforld MethodUploaded byHassen Nigatu
- The Torsional Mesh Stiffness of the Involute Spur Planetary GearUploaded byAman Sharma
- BajaUploaded byTejas Upadhye
- lecture-3.docUploaded bysajeet karkee
- Senent Mollon Jimenez RMMS2013Uploaded byRodrigo Peluci de Figueiredo
- skucuk04.01.2011_16.27.35sci.pdfUploaded byengrode
- ABTAUploaded byHoihogo Hoi

- Theory of Machines and Mechanisms_ ShigleyUploaded byIdul Azharul Hoque
- Shear Force & Bending Moment Diagrams (Ssb)Uploaded byEmperor89
- Research AreasUploaded byEmperor89
- 14M512-Dynamics of MachineryUploaded byEmperor89
- Presentation SkillsUploaded byEmperor89
- Mechanical Engineering syllabusUploaded bysankarsuper83
- 2016-17 III Sem 2015-19 Batch Couse Plan 15MD03Uploaded byEmperor89
- ME2307 Lab ManualUploaded byamit4u1984
- Overall Deparments SubjectsUploaded byEmperor89
- 12m611 Automobile Technology LaboratoryUploaded byEmperor89
- 14M514.Metrology and Measurement Laboratory ManualUploaded byEmperor89
- screw flight development calculationUploaded byEmperor89
- Anna university report formatUploaded bydilip_666
- quality function depolymentUploaded byEmperor89
- screw conveyor catlogueUploaded byEmperor89
- R 2008 AERO SYLLABUS Trichy RegulationUploaded byEmperor89
- Aero (1)Uploaded byrajavel777
- Me Trology 1Uploaded byHussein Hanoura
- ThermodynamicsUploaded bykhubaibalam
- Fmea ProcessUploaded byEmperor89
- Fmea DesignUploaded byEmperor89
- INCOTERMSUploaded byjbconner

- UNIT 2 QUIZUploaded byJonas Pahayag
- AAA 100 - Borlongan v. Pe- ñaUploaded byAlexis Ailex Villamor Jr.
- 4 Multiple ComparisonUploaded byluis d
- TortsUploaded byAnonymous fnlSh4KHIg
- Code for Construction Quality Acceptance and Evaluation of Electric Power Construct-3Uploaded byecsuperal
- The Path of The Righteous Man: Miracles, Prophecy, and Pulp FictionUploaded byAqibha Y Weisinger
- [07] Rafael Reyes Trucking Corp v PeopleUploaded byEva Trinidad
- Macavity NefastuloUploaded byANARIA MEGO
- Annotated Bibliography of Post-Reich Orgonomic JournalsUploaded byLeon Southgate
- 46041652 Naksatra Cintamani by R BhattUploaded byLee C Kooper
- Authentic Du Aas for Istighfaar Seeking ForgivenessUploaded bySIQbal84
- Soalan Ulangkaji SPM Additional Maths TIMES 2010 AnswerUploaded bywaichunko
- Lecture 18 - Transformer Basics Part 3Uploaded byDaniel Cicogna
- Routing by MohandUploaded byMorad Alabsy
- Final Mu0015 Answers Set 2Uploaded bytmsvdc9081
- Lesson 1 - Functions as ModelsUploaded byReylaine Mitz Baldon
- anat phys text.pdfUploaded byAshokkumar Palanisamy
- Blt 2705 BiostabUploaded byrn_svnit
- Resume Ekonometrika Bab 4Uploaded byFirsa Aulia
- #10. IS similarity_ post MAUploaded bydewimachfud
- From Ancient to Postmodern AstrologyUploaded byNabanita Javed
- Problem SolvingUploaded byKrunal Rajyaguru
- The Third wave of CFDUploaded byAmir Hooshang Ghadymi Mahani
- Gag an ResumeUploaded byshivam
- How to make your own Colloidal SilverUploaded byrawzero
- Manaloto vs VelosoUploaded byKeeshia
- Pedia Tickler[1]Uploaded byCeline Villo
- 46788189Uploaded byKurnia Gilang Ramadhana
- lesson plan techUploaded byapi-360239870
- VCATUploaded bybartklim