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Mechanism synthesis
Qualitative synthesis: to create the potential solutions
Some linkage design in the absence of a well-defined
algorithm that predicts the solution
Iteration between analysis and synthesis:
With the help of CAD such as Working Model or
popular programs
Nortons Chap 3 & Chap 5
2
- rocker output
Path generation:
prescribed path; The linkage guides some pt. (coupler pt.) along a desired path
Motion generation: control of a Line in the plane such that it follows some
prescribed set of sequential positions: bucket control on a bulldozer (rigid body
guidance); The linkage guides a body through a specified path with specified
orientation
Mechanism Categories
Function Generation Mechanisms
A function generator is a linkage in which the relative motion between links connected
to the ground is of interest.
Mechanism Categories
Function Generation Mechanisms
A function generator is a linkage in which the relative motion
between links connected to the ground is of interest.
1942: delivered
Fuel capacity:
6,082 Liters
British
Commonwealth
got 675 PV-1 in
WW II
http://en.wikipedia.org/wiki/Lockheed_Ventura
6
http://www.youtube.com/watch?v=9qTAJCgRK04
Mechanism Categories
Function Generation Mechanisms
Mechanism Categories
Path Generation Mechanisms
In path generation, we are concerned only with the path of a
tracer point and not with the motion (rotation) of the coupler link.
Mechanism Categories
Motion Generation Mechanisms
In motion generation, the entire motion of the coupler link is
of interest (rigid body guidance).
Mechanism Categories
Motion Generation Mechanisms
In motion generation, the entire motion of the coupler link is
of interest (rigid body guidance).
Mechanism Categories
Motion Generation Mechanisms
Hood
12
Mechanism Categories
Path Generation Mechanisms
In path generation, we are concerned only with the path of a
tracer point and not with the motion (rotation) of the coupler link.
13
Computer-aided design
synthesis
Design
Specify Function
Iterate
Test
Build
Create Mechanism
- Graphical (chap 3)
- Analytical (chap 5)
- Working model (MECH3030 lab)
14
Pro/Engineer
More CAD programs:
http://www.tenlinks.com/CAE/products/kinematics.htm
Two-Position Synthesis
Rocker output:
- Grashof crank-rocker is desired
- a trivial case of function generator
Coupler output (complex motion)
- more general
- simple case of motion generation
- two positions of a line are defined as O/P
15
Two-Position Synthesis
4-bar Grashof crank-rocker synthesis
Design a 4-bar Grashof crank-rocker to give 45 of
rocker rotation with equal time forward and back,
from a constant speed motor input
16
Two-Position Synthesis
4-bar Grashof crank-rocker synthesis
17
B2
B1
O4
Nortons textbook
Example 3-1, p. 93
B2
O2
B1
O4
Step 4a
Bisect line B1B2 , and draw a circle with that radius about O2.
B2
O2
B1
O4
20
B2
O2
A2
1
O2 A2 (O2 B2 O2 B1 )
2
21
B1
O4
Label the two intersection points of the circle with B1B2 extended: A1 and A2.
Link 2
Link 2
a
a
B2
A1
O2
A2
B1
O4
22
Link 3
Link 2
B2
A1
O2
A2
B1
O4
23
A
A1
O2
B2
B1
Link 1
24
Link 4
O4
Link 3
Link 2
A
A1
O2
B2
B1
Link 1
Link 4
O4
<
L+S = P+Q
>
Link 2
Link 3
B2
O2
Link 4
Link 1
O4
27
In inch
28
29
D1
Step 1
Draw link CD in two
desired positions
Link 4
C1
C2
D2
30
Norton, Ex 3-3
D1
Step 2
Draw construction line
from C1 to C2 and from
D1 to D2
Link 4
C1
C2
D2
31
D1
Step 3
Bisect C1C2 and D1D2 and
extend to intersect at O4
Link 4
C2
C1
O4
32
D2
D1
Step 4:
draw an arc about O4 to
intersect O4C1 and O4C2 at
Link 4
C2
C1
B1 and B2 respectively
B2
B1
O4
D2
D1
Step 5:
Follow Steps 2~8 of previous
example to complete the
C1
linkage
Link 4
C2
B2
B1
O4
34
D2
Link 4
C1
D1
C2
a
B2
O2
A2
B1
O4
35
D2
D1
Link 4
Link 2
C2
C1
Link 3
A1
O2
B1
A2
Link 1
36
B2
O4
D2
37
38
Step 1
Draw link CD in three
desired positions
Step 2
Draw the ground link O2O4
40
41
(b) Position of the ground plane relative to the second coupler position
(arbitrary).
42
(b) Position of the ground plane relative to the second coupler position
(arbitrary).
O2
O4
(d) Position of the ground plane relative to the third coupler
position (e) transfer 3rd ground plane position to ref location
at 1st position
44
O4
O2
O2
O2
G
O4
O4
O 2O 4
Quick-return Mechanism
- Used in single point
metal cutting
machine.
- Forward = cutting
48
2, p21 and 2
P1
P2
2
B2
A1
B1
A2
o2
49
If Z = 0, no coupler pont P,
simple 4-bar linkage
o4
50
(5. 1)
s1
Link 3
V1 = Z1 S1
Z1
(5. 2a)
Ground link 1
G1 = W1 + V1 U1
(5. 2b)
V1
W1
u1
G1
W2 + Z2 P21 Z1 W1 = 0
P21
z1
z2
(5.3)
x - component
p21 cos 2
(5.6a)
y - component
p 21 sin 2
W1
W2
(5.6b)
we j ( 2 ) ze j ( 2 ) p 21e j 2 ze j we j 0
j
we e
j
j 2
we (e
ze e
j 2
j 2
p 21e
j
1) ze (e
j 2
j 2
ze j we j 0
1) p 21e
Euler formula
e j cos j sin , j 1
x - component
j 2
p21 cos 2
(5.6a)
y - component
p 21 sin 2
Slide 42,
(5.6b)
Textbook p.213
p21 cos 2
p 21 sin 2
8-3-3=2 (w,z)
(5.7a)
C p 21 cos 2
Aw + Bz = C
Dw + Ez = F
(5.7b)
(5.7c)
Solving simultaneously,
w
55
CE BF
;
AE BD
AF CD
AE BD
(5.7d)
(5.9a)
S1
S2
8-3-3=2 (u,s)
(5.10b)
8 variables: 2, p21, 2 , , 2, , u, s
U1
(5.11a)
C p 21 cos 2
Au + Bs = C
Du + Es = F
(5.11b)
(5.11c)
Solving simultaneously,
u
57
CE BF
;
AE BD
AF CD
s
AE BD
(5.11d)
58
59
left-hand dyad
W2 + Z2 P21 Z1 W1 = 0
(5.19)
W3 + Z3 P31 Z1 W1 = 0
(5.20)
12-6-2=4 (W,Z)=W,,Z,
A2
A3
A1
B2
B3
B1
2 3=free choices
right-hand dyad
U2 + S2 P21 S1 U1 = 0
U3 + S3 P31 S1 U1 = 0
12-6-2=4 (U,S)=U,,S,
(5.28)
2 3=free choices
w cos (cos 2 1) w sin sin 2 z cos (cos 2 1) z sin sin 2 p21 cos 2
w cos (cos 3 1) w sin sin 3 z cos (cos 3 1) z sin sin 3 p21 cos 3
w sin (cos 2 1) w cos sin 2 z sin (cos 2 1) z sin sin 2 p21 sin 2
w sin (cos 3 1) w cos sin 3 z sin (cos 3 1) z sin sin 3 p21 sin 3
12-6-2=4 (w,,z,)
A B
F G
B A
G F
C
H
D
K
D W1x E
W
K 1y L
C Z 1x M
H Z 1 y N
(5.27)
12-6-2=4 (w,,z,)
or W1x W1y Z1x Z1y
A B
F G
B A
G F
C
H
D
K
D U 1x E
U
K 1y L
C S1x M
H S1 y N
(5.31)
12-6-2=4 (u,,s,)
or U1x,U1y, S1x, S1y
64
Eqn. (5.31)
65
66
67
Bulldozer Mechanism
69
http://www.kenkenkikki.jp/special/no02/e_index.htm
http://maeweb.ucsd.edu/~mae3/spring2002/mae3_19/web/load.html
Design_of_machinery_CD\Animations\WM\ch3.html
70
Problem 3.54
71
72
73
74
2.
3.
75
O4
O2
C2
D2
D1
D3
C1
C3
O2
O2
O4
O4
4.
5.
76
O4
C2
D2
D1
O2
D3
C1
C3
O2
O2
O4
O2
O4
O4
7.
8.
9.
Connect O2 to O2 and O2 to
O2 . Draw two midnormals
and locate the intersection,
G.
Connect O4 to O4 and O4 to
O4 . Draw two midnormals
and locate the intersection,
H.
O2G is link 2 and O4H is link
4.
Construct a link (3)
containing GH and CD.
77
O4
O2
O4
C2
D1
O2
C1
D2
H
D3
G
O2
C3
O4
78
79
A1
O4
P21
x
A2
B2
B1
2
A1x=0.0, B1x=1.721, A2x=2.656, B2x=5.065
A1y=0.0, B1y=-1.75, A2y=-0.751, B2y=-0.281
O2
80
A B1 y
A B2 y
56.519
tan 1 1 y
2 tan 2 y
A1x B1x
A2 x B2 x
1
P21 y
2 tan
P21x
1
15.789
(5.7a)
(5.7b)
Aw + Bz = C
Dw + Ez = F
w
82
CE BF
4 .000
AE BD
(5.7c)
AF CD
0 .000
AE BD
O4
A1
P21
x
A2
B2
B1
(5.11a)
Au + Bs = C
Du + Es = F
(5.11b)
(5.11c)
Solving simultaneously,
CE BF
u
4 .000
AE BD
84
AF CD
2 .455
AE BD
V1 = Z1 S1
Ground link 1
V1 y
V1x
3 tan 1
45.479
(5. 2b)
G1 y
75.123
G1x
1 tan 1
Determine the initial & final value of the input crank wrt vector G
2i = - 1=19.271, 2f = 2i + 2 = -21.095
input link W
Determine the coupler point wrt point A and the vector V
rp = z = 0.0, p = - 3 = 0
85
2i
G
1 tan 1
R1 = (A1x, A1y)
R1 = 0
O2
O4
O4
O4 y O2 y
75.123
O4 x O2 x
O O tan 1
2
86
O2
O2O4
g = 6.447, 1 = 75.123
Link 2 :
w = 4.000, = 94.394
Link 3 :
v = 2.455, 3 = -45.479
Link 4 :
u = 4.000, = -93.449
Coupler :
rp = 0, p = 0
2f = -21.095
87
A1
P21
v
x
A2
B2
B1
G1 = W1 + V1 U1
O2
88
A1
P21
v
O2
89
B1
x
A2
B2
O4
u
A1
P21
x
A2
v
B1
w
O2
90
B2
quick-return mechanism
http://kmoddl.library.cornell.edu/model_metadata.php?m=681
Whitworth Slider-Crank, Quick-Return Mechanism
Norton: 3.5
91
Used shaper machine tools for cutting metals. Joseph Whitworth was a 19th century
British engineer and inventor.
http://www.youtube.com/watch?v=3dvSOYRz3do
B1
B2
4
3
2
A2
A1
O2
O4
B1
B2
A2
A1
O4
93
1.
2.
3.
4.
5.
6.
94
180
180
B1
B2
O2
X
O4
8.
9.
Y
2r2
A1
O2
X
O2
A2
O4
r2
B1
X
O4
D2
C2
D1
C3
D3
96
D2
C2
D1
C3
O4
D3
O2
D2
D1
C3
O4
D3
C1
D3
C2
O2
O4
C3
99
D1
C1
O2
O2
100
O4
O4 O4
O2
101
O4
D1
D2
C1
C2
O2
102
D3
O4
O4
O4
O2
O4
C3
104
D3
O4 O4
O4
O4 O4
O4
O4 O4
D1
O2
C1
O2
O2
108
O4
O4 O4
D3
C2
O2
O4
C3
109
# of Scalar
unknowns
# of Free
Choices
# of
Solutions
Solution
Technique
5 (W,Z, 2)
O(infinity)^3
So Easy!
6 (W,Z, 2, 3)
O(infinity)^2
Straight forward
7 (W,Z, 2, 3)
O(infinity)
Mediumdifficulty
(Linear equations in
general)
(Burmester)
110
8 (W,Z, 2, 3,
4)
Finite
Hard
Analytically (but
not impossible)
111
Body Guidance
Given:
P1-P3, 2, 3
P1-P3, 2, 3
Free Choices:
2, 3 (for lh dyad)
2, 3 (for rh dyad)
2, 3 (for lh dyad)
2, 3 (for rh dyad)
Solution:
Linear equations,
solve using linear
algebra techniques.
Linear equations
b. Review defects
Primary types of defects:
112
a.
Branch defect
b.
Grashoff defect
c.
Order defect
d.
Branch def.: Angle b/n coupler and output is always < 180
deg. Or > 180 deg.
e.
Grashoff: at least one link can rotate fully (s+l <= p+q)
f.
Notes:
1. there are 4 infinities of solutions
corresponding to choosing the circle
points, A & B.
2. Choosing the 3 body positions to
represent the task presents an
iteration
3. Once OA and OB are chosen, check
for defects.
113
Section A-A
at least 45
(up to 75)
displacement
< 1 cm
up to 25 cm
http://www.youtube.com/watch?v=OU1F35b5f3c
114
115
3
5
4
2
3
3
5
5
3
117
B1
A2
A3
B2
A1
B3
118
B1
A2
A3
A1
B2
B3
U3
U2
U1
119
A2
A3
120
A1
B1
B2
B3
A2
A3
121
A1
B2
B3
B1
Graphical
122
Analytical
124