MEG 373 CHAPTER – 1 INTRODUCTION 1 Dr. Nabil A.Rahim - MENG 373 9/22/2019 A mechanism is a mechanical device that has the purpose of transferring motion and/or force from a source to an output. A linkage consists of links (or bars) generally considered rigid, which are connected by joints. Kinematic chains, with at least one link fixed, become mechanisms if at least two other links retain mobility, or structures if no mobility remains, in other words, a mechanism permits relative motion between its “rigid” links; a structure does. A large majority of mechanisms exhibit motion of all it’s links in parallel planes which is called two dimensional or planer motion. 2 Dr. Nabil A.Rahim - MENG 373 9/22/2019 THE FOUR-BAR LINKAGE The simplest closed- loop linkage is the four-bar, which has three moving links (plus one fixed link) and four “revolute,” “pivoted,” or “pin” joints. The link that is connected to the power source or prime mover is called the input link (A0A). The follower link connects the moving pivot B to ground pivot B0. The coupler or floating link connects the two moving pivots, A and B, thereby “coupling” the input link to the output link. 3 Dr. Nabil A.Rahim - MENG 373 9/22/2019 The four –bar linkage can be classified into three categories depending on the task that the linkage performs: 1- Function generator : is a linkage in which the relative motion (or forces) between links connected to ground is of interest. 2-Path generation : we are concerned only with the path of a tracer point and not with the rotation of the coupler link. 3-Motion generation : the entire motion of the coupler link is of concern. 4 Dr. Nabil A.Rahim - MENG 373 9/22/2019 5 Dr. Nabil A.Rahim - MENG 373 9/22/2019 6 Dr. Nabil A.Rahim - MENG 373 9/22/2019 7 Dr. Nabil A.Rahim - MENG 373 9/22/2019 8 Dr. Nabil A.Rahim - MENG 373 9/22/2019 9 Dr. Nabil A.Rahim - MENG 373 9/22/2019 10 Dr. Nabil A.Rahim - MENG 373 9/22/2019 JOINTS Joints are the most important aspect of a mechanism to examine during an analysis. They permit relative motion in some directions while constraining motion in others. The types of motion permitted are related to the number of degrees of freedom (dof) of the joint. The number of degrees of freedom of the joint is equal to the number of independent coordinates needed to specify uniquely the position of one link relative to the other constrained by the joint. Theoretically , two element of LOWER PAIR are in surface contact with one another, while the HIGHER PAIR are in point or line contact. 11 Dr. Nabil A.Rahim - MENG 373 9/22/2019 12 Dr. Nabil A.Rahim - MENG 373 9/22/2019 13 Dr. Nabil A.Rahim - MENG 373 9/22/2019 The degree Of Freedom Of Mechanisms Is the number of independent input required to determine the position of all links of the mechanism with respect to ground. How many independent variables will completely specify the position of this link? Two translations and one rotation, xA, yA and θ , ( three independent coordinates) associated with the position of a link in the plane. In other words, an unconstrained rigid link in the plane has three degrees of freedom. 14 Dr. Nabil A.Rahim - MENG 373 9/22/2019 An assembly of n links, possess a total of 3n degrees of freedom before they are joined to form a linkage system. Connections between links result in the loss of degrees of freedom of the total system of links. Each pin connection will remove two degrees of freedom of relative motion between successive links. For an n-link chain connected by pin joints, with ground (the fixed link) considered as one of the links: Gruebler’s equation Number of Mobile links f1 is the number of joints 15 Dr. Nabil A.Rahim - MENG 373 9/22/2019 For Four – link mechanism with 4 pin joints: i.e. a single degree of freedom Six – Bar Chain One degree of freedom 16 Dr. Nabil A.Rahim - MENG 373 9/22/2019 Mobility analysis of a linkage when more than two members come together at a single point location. There are 2 pin joints f1 = m-1 = 3-1 = 2 n=6 f1 = 5 + (3-1) = 7 F = 3(6 – 1) – 2(7) = 1 17 Dr. Nabil A.Rahim - MENG 373 9/22/2019 Example: Determine the mobility of the linkage shown The linkage is planar and not all of the joints have connectivity one. n = 11 f1 = 6+ (4-1) + (3-1)+(3-1) = 13 f2 = 1 F = 3(11– 1) – 2(13) - 1(1) = 3 18 Dr. Nabil A.Rahim - MENG 373 9/22/2019 Example: Determine the degrees of freedom of the mechanism shown n=7 f1 = 7 f2 = 1 F = 3(7-1) – 2(7) – 1(1) = 3 The spring is not counted 19 Dr. Nabil A.Rahim - MENG 373 9/22/2019 Kinematics Inversion It is the process of fixing different links of a chain to create different mechanisms. The relative motions of the links do not change in different inversions. 20 Dr. Nabil A.Rahim - MENG 373 9/22/2019 Hand pump Slider -crank Gnome air craft engine 21 Dr. Nabil A.Rahim - MENG 373 Marine engines 9/22/2019 CLASSIFICATION OF CLOSED PLANAR FOUR-BAR LINKAGES: In four- bar linkages, if one of the links can perform a full rotation relative to the other three links, the linkage is called a GRASHOF MECHANISM. Grashof’s Law: l+s<p+q shortest link s, longest link l, intermediate length links p and q. 22 Dr. Nabil A.Rahim - MENG 373 9/22/2019 23 Dr. Nabil A.Rahim - MENG 373 9/22/2019 Creating momentarily a second degree of freedom when centerline of all links become collinear. Relative motion may depend on inertia, spring force, or other forces at that point. 24 Dr. Nabil A.Rahim - MENG 373 9/22/2019 1986 Ford Mustang rear seat linkage moves through the dead center position in the seat down, to open the seat, push the cover down through the dead center into stable latched position. 25 Dr. Nabil A.Rahim - MENG 373 9/22/2019 Assignment Write a computer program to classify four bar mechanism 26 9/22/2019 27 9/22/2019 28 Dr. Nabil A.Rahim - MENG 373 9/22/2019 TRANSMISSION ANGLE Is the angle between the coupler centerline and the driven crank centerline. To maximize output torque and minimize friction torque, we try to keep transmission angle Φ near 90°. A transmission angle no less than 45° and no greater than 135° is usually satisfactory. Values outside this range may result in binding of the linkage. As link 1 tends to rotate through the position shown, the direction of force transmitted along link 2 to link 3, results in very little torque on link 3 but a high bearing force at 03. Wear would probably be excessive. If friction torque exceeded driving torque, the mechanism would jam and could cause the driven crank to buckle. Dimensional tolerances, including looseness at pins and 29 Dr. Nabil A.Rahimthe - MENG 373 9/22/2019 bearings, often tend to worsen situation. …… (1) …… (2) Rearranging Eq. 2 We are most interested in extreme values of transmission angle Φ. For the crank rocker mechanism, maximum and minimum transmission angles occur when the driver crank and fixed link are collinear. Transmission angle Φ max corresponds to Ld(max) = L1 + L0, and Φ min corresponds to Ld(min) = L0 — L1. 30 Dr. Nabil A.Rahim - MENG 373 9/22/2019 31 Dr. Nabil A.Rahim - MENG 373 9/22/2019 32 Dr. Nabil A.Rahim - MENG 373 9/22/2019 33 Dr. Nabil A.Rahim - MENG 373 9/22/2019 34 Dr. Nabil A.Rahim - MENG 373 9/22/2019