Professional Documents
Culture Documents
(MEng 3071)
Chapter 1: introduction
By Haile Simachew
machines collectively, or
the components of a machine.
Machine:
Machine is a device which receives energy and
transforms it into some useful work.
A machine consists of a number of parts or
bodies called mechanism.
In this chapter, we shall study about
mechanisms
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Structure
action.
A railway bridge,
a roof truss,
3 of a structure. 01/27/2024
What is the difference between a machine and a
structure?
The following differences between a machine and a structure are
3) The links of a machine may transmit both power and motion, while
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Mechanism
A mechanism is a heart of a machine.
It is the mechanical portion of the machine that has the
function of transferring motion and forces from a
power source to an output.
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Mechanism (Multibody system):
Formed and connected that they may move upon each
other.
Connected by movable joints, with one link fixed and
or pairing elements.
A mechanism is obtained by fixing one of the links of
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Example of Mechanism
Can crusher
Simple press
Rear-window wiper
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Example of Mechanisms
Lift platform
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Example of Mechanisms
Lift platform
Front loader
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Kinematic Link or Element
A link: is a rigid body having two or more pairing elements by
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Kinematic Link or Element
A link, as shown is an (assumed) rigid body which
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Kinematic Link or Element
A link should have the following two characteristics:
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Types of Links
In order to transmit motion, the driver and the follower
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2) Flexible link. A flexible link is one
which is partly deformed in a manner
not to affect the transmission of
motion.
For example, belts, ropes, chains and
wires are flexible links and transmit
tensile forces only.
3) Fluid link. A fluid link is one which
is formed by having a fluid in a
receptacle and the motion is
transmitted through the fluid by
pressure or compression only, as in
the case of hydraulic presses, jacks
and brakes.
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Kinematic chain:
Kinematic chain the arrangement of links in a chain
fashion which permits relative motion between the
links. Kinematic chains are classified into two:
i) open-loop kinematic chains in which the links are
composed without closed branches, and
ii) closed-loop kinematic chains in which the links form
closed loops.
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Kinematic chain:
A mechanism is obtained by fixing one of the links of a kinematic
crank, link 3 the connecting rod and link 4 the slider. The slider
crank mechanism is commonly used in internal combustion engines.
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Kinematic Pair:
A kinematic pair is a pair of elements or rigid bodies,
permanently kept in contact, so that there exists a
three ways:
a) by direct contact between two members;
b) through an intermediate link or a connecting rod;
c) by a flexible connector such as belt or chain.
In the transmission of motion one element of the
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Degree of Freedom (Mobility)
Mobility is one of the most fundamental concepts to the
study of kinematics.
Defined as the number of independent movements
mechanism has.
Is the minimum number of independent parameters
required to specify the location of every link within a
mechanism.
The minimum number of coordinates required to fully
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number of degree of freedom. 01/27/2024
Degree of Freedom
The number of inputs which need to be provided in order to
joints and
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Degree of Freedom
Any link in a plane has 3 DOF.
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Degree of Freedom
If the two links are pinned together at a point by means of a revolute
joint, the two-link system will possess only four degrees of freedom.
Combination of two links by a full joint removes two DOF, leaving four
DOF.
Combination of two links by a full joint removes two DOF, leaving four
DOF.
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Degree of Freedom
The half joint removes only one DOF from the
system (because a half joint has two DOF),
leaving the system of two links connected by a
half joint with a total of five DOF.
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Degree of Freedom
When any link is grounded or attached to the reference
M=3L-2J-3G
L = number of links
J = number of joints
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Degree of Freedom
Note that in any real mechanism, even if more than one link of the
M=3(L-1)-2J
The value of J in the above equations must reflect the value of all
joints in the mechanism. That is, half joints count as ½ because they
M=3(L-1)-2J1 – J2
L = number of links
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Commonly used Joints and their DOF
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Degree of Freedom
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Degree of Freedom
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Degree of Freedom
Car window wiper mechanism.
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Degree of Freedom
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THANK YOU VERY MUCH!
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Quiz 1 (5%)
1) Clearly define what is mechanism?
2) List down the types of links?
3) Calculate the DOF by using Gruebler’s and kutzbach’s
criteria's?
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