Chapter 1 Fundamental Concepts F d t lC t

D. B. Wallace, Ph.D., P.E. Brad Hembree, Ph.D.

Kinematics and D Ki ti d Dynamics i

Kinematics

Deals with motion only Position, time, velocity, and P ii i l i d acceleration Deals with forces and resulting motion Force, mass, torque Force mass torque, mass moment of inertia Position, time, velocity, and , , y, acceleration

Dynamics

Machine
Device

to transform or transmit energy gy Usually consists of a number of fixed and moving bodies Bodies are usually connected with joints

Kinematic Di Ki ti Diagram

Machines drawn in skeleton f form

Includes only dimensions relative to the motion Joints connecting bodies are indicated Bodies in contact are indicated

Rigid links have no deformation Frame (or ground)

Stationary portion of the machine which supports moving links.

Kinematic Di Ki ti Diagram E Example l

Mechanism M h i

Kinematic chain

System of links (rigid bodies) Connected with j i C d i h joints Or in contact with one another (direct contact joint) Constrained kinematic chain Single degree of freedom Moves in a predictable manner

Mechanism

Mechanism M h i

Unconstrained kinematic chain

More than one degree of freedom Less than one degree of freedom

Structure or truss

Degrees of f d D f freedom i a plane in l

Links

Each one has three degrees of freedom

Horizontal motion Vertical motion Rotation

Joints

Removes degrees of freedom

Revolute ( l (pin) joints remove 2 ) Prismatic (translational) joints remove 2 Direct contact joints remove 1 Rolling direct contact joints remove 2

Degrees of F d D f Freedom
DF
DF

3 Nl 1 2 Nr Np 1 Ndc 1 Nrdc

3 Nlinks 1 2 Nrevolute Nprismatic 1 Ndirect_contact

1 Nrolling_dc

Must have a fixed (ground) link

TOTAL number of direct contact joints

How many of the direct contact joints are rolling

NOTE: Ndirect_contact Nrolling_dc

Degree of F d D f Freedom E Example l

6 Links: 6 Revolute Joints: 7 Prismatic Joints: 0 5 3 4 2 1 Direct Contact Joints: 0 Rolling D.C. Joints: 0

DF

3 Nl 1 2 Nr Np 1 Ndc 1 Nrdc

DF = 3(6-1)-2(7+0)-1(0)-1(0) = 15-14-0-0 = 1

Multiple Revolute J i t M lti l R l t Joints

1 2 1

Revolute Joints = Links Joined - 1

1 1

No Joints

1 Joint

2 Joints

3 Joints

DF=3(6-1)-2(5+2)-1(0)-1(0) DF= 15 - 14 - 0 - 0 = 1

DF=3(5-1)-2(5+1)-1(0)-1(0) DF= 12 - 12 - 0 - 0 = 0

DF=3(5-1)-2(6+0)-1(0)-1(0) DF= 12 - 12 - 0 - 0 = 0

DF=3(4-1)-2(3+0)-1(2)-1(1) DF DF= 9 - 6 - 2 - 1 = 0 DF=3(5-1)-2(4+1)-1(1)-1(0) DF= 12 - 10 - 1 - 0 = 1 DF=3(7-1)-2(5+3)-1(2)-1(1) DF= 18 - 16 - 0 - 0 = 2

Inversions I i

Fixing different links in a ff mechanism Relative motion b l between the l k is h links not changed The Th appearance of the mechanism f h h i may be quite different

Slider Crank Mechanism

Elliptic T Elli ti Trammel l

Figure 3 37 (pg 66) 3.37

Oldham Coupling Oldh C li

Figure 3 25 (pg 57) 3.25

Scotch Yoke S t hY k

Figure 3 8 (pg 48) 3.8

Inversions of an Offset Slid Crank I i f Off t Slider C k

Offset Slider Crank

Crank Fixed

Slider Fixed

Connecting Rod Fixed

Offset Slider Crank

Crank Fixed

Slider Fixed

Connecting Rod Fixed