Chapter 1 : Kinematics
of linkages and mechanism
1 .
1) Introduction
↳ Read
2)
Mobility
1 .
of Mechanisms
-
_
Y. f 4
sf π rj
~
jhas 3DOF (Xi s Y, Gil
Ii
If j
Xi .
word
body
y
>
- ex .
Connected to another a
,
hove
y. not
independentand
sone relation
. -- Cnstäit
¤ i
∞
し
i
here number of constrat eq 2 NCE 2
3-
= = =
=
from the 3 card
,
only
3-NCE = 1
may
be considered independent
に NCE )
allow translation
3-NCE only
L =
indep .
word
.
어
O allev
이
-only
rotation
홉
"T interaction has
force
2 unknown scolos
cop ..
Liz
zodwayscontactpar
allowed
in hat slipping
↳ Assume now
ン
NCE
=
= 2
does not have to
^
be
( ↳
FCD =
slipping
;
fulfilled ?
Note : z =
3 -
c = 3 -
13 -
NCEI =
INCE =
1 = 7 ( = 2 = て = 1
=
) と = NCE
* Consider mechanism , has Connected
a which a links
by means
of p constraints
Coming
constraintsConstraints of Carpet
the
p a
, o unconnected links of mechanisms would have Im DOF
↳ Constraint
each ofClose < take
away
(3-2) DOF
↳ # DOF
left after imposition of
,
the
p contraints is Called
Mobility
&
#1 DOF
juint #2DOF
joint
MO =
3n -
(3 -
1)p -
(3 -
2(pa
#God to determine the the
= Mo =
3 m-2pr-p2 reg .
position of system ?
M20 kinematic chain cannot movs/
over constructed
=> Mox o
?
6
example
~
U an :
C=
C= =A
C <
c = 1
}
3 >
- M =
7 I#links) 3 7 2 3 1
く=^
- -
mo
= . .
2 §
E =Λ 3 => Mo = ·2
~- pe =
c =e c =^
Uㅋ
has 2 DOF)
indept
1 1 k
p2
=
Omi2DOF ?= par
~
Gird to
C
required
l
2
=
mech
.
des cribe motion
of the
le .
g
. 2 , p1
~
for e . remove roller K
6
{
n =
m = 8 =
m0 3 6 2 8 1
c
= = .
- .
-
1 MO Λ
Na = → ) =
-motion be determ word
con
by only 1
=
fu e .
α
=> in
general : set of MO Card
9.19--quo determines
positio of
mechanism
= r =
r191 , 92 .
----
quot ( Position vector
~ See some mix er+ exercise
1 3) .
Applications to Mechanisms
* linear
kinemotice
of slides
first what's the
mobility
? - n = 2
, pr
= 2
; pa
= 0
서
= Mo = 3 . 2 -
2 . 2 -
0 = 2
M ^
↳ 2 cod can describe the mech .
Ot sin L
α
=> α ,
ot
"
"Tacac r = I) -
aii2 + vt(t) + y(a(2 + vt eiG)
C
등옮 α
Vt CosL
> >
->
v
= =
t) - aLax + vGL -
vt] eind)
3) a2imn2
+
-
+ vim + + vt2(x)
of linkages and mechanism
1 .
1) Introduction
↳ Read
2)
Mobility
1 .
of Mechanisms
-
_
Y. f 4
sf π rj
~
jhas 3DOF (Xi s Y, Gil
Ii
If j
Xi .
word
body
y
>
- ex .
Connected to another a
,
hove
y. not
independentand
sone relation
. -- Cnstäit
¤ i
∞
し
i
here number of constrat eq 2 NCE 2
3-
= = =
=
from the 3 card
,
only
3-NCE = 1
may
be considered independent
に NCE )
allow translation
3-NCE only
L =
indep .
word
.
어
O allev
이
-only
rotation
홉
"T interaction has
force
2 unknown scolos
cop ..
Liz
zodwayscontactpar
allowed
in hat slipping
↳ Assume now
ン
NCE
=
= 2
does not have to
^
be
( ↳
FCD =
slipping
;
fulfilled ?
Note : z =
3 -
c = 3 -
13 -
NCEI =
INCE =
1 = 7 ( = 2 = て = 1
=
) と = NCE
* Consider mechanism , has Connected
a which a links
by means
of p constraints
Coming
constraintsConstraints of Carpet
the
p a
, o unconnected links of mechanisms would have Im DOF
↳ Constraint
each ofClose < take
away
(3-2) DOF
↳ # DOF
left after imposition of
,
the
p contraints is Called
Mobility
&
#1 DOF
juint #2DOF
joint
MO =
3n -
(3 -
1)p -
(3 -
2(pa
#God to determine the the
= Mo =
3 m-2pr-p2 reg .
position of system ?
M20 kinematic chain cannot movs/
over constructed
=> Mox o
?
6
example
~
U an :
C=
C= =A
C <
c = 1
}
3 >
- M =
7 I#links) 3 7 2 3 1
く=^
- -
mo
= . .
2 §
E =Λ 3 => Mo = ·2
~- pe =
c =e c =^
Uㅋ
has 2 DOF)
indept
1 1 k
p2
=
Omi2DOF ?= par
~
Gird to
C
required
l
2
=
mech
.
des cribe motion
of the
le .
g
. 2 , p1
~
for e . remove roller K
6
{
n =
m = 8 =
m0 3 6 2 8 1
c
= = .
- .
-
1 MO Λ
Na = → ) =
-motion be determ word
con
by only 1
=
fu e .
α
=> in
general : set of MO Card
9.19--quo determines
positio of
mechanism
= r =
r191 , 92 .
----
quot ( Position vector
~ See some mix er+ exercise
1 3) .
Applications to Mechanisms
* linear
kinemotice
of slides
first what's the
mobility
? - n = 2
, pr
= 2
; pa
= 0
서
= Mo = 3 . 2 -
2 . 2 -
0 = 2
M ^
↳ 2 cod can describe the mech .
Ot sin L
α
=> α ,
ot
"
"Tacac r = I) -
aii2 + vt(t) + y(a(2 + vt eiG)
C
등옮 α
Vt CosL
> >
->
v
= =
t) - aLax + vGL -
vt] eind)
3) a2imn2
+
-
+ vim + + vt2(x)
