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Kinematic Analysis for Engineers

The document is the first chapter of a textbook on kinematic analysis of machines and mechanisms. It introduces some key concepts in kinematics including: - Machines are devices that transmit and direct forces to accomplish a specific task, while mechanisms are the parts of a machine that transfer motion and forces. - Kinematic analysis determines the position, speed, and acceleration of parts without considering applied forces or masses. This allows understanding how machines will move. - A kinematic diagram is a simplified sketch showing the links, joints, and variables that affect a mechanism's movement. - Gruebler's equation determines a mechanism's degrees of freedom based on the number of links, joints, and joint types. The

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69 views34 pages

Kinematic Analysis for Engineers

The document is the first chapter of a textbook on kinematic analysis of machines and mechanisms. It introduces some key concepts in kinematics including: - Machines are devices that transmit and direct forces to accomplish a specific task, while mechanisms are the parts of a machine that transfer motion and forces. - Kinematic analysis determines the position, speed, and acceleration of parts without considering applied forces or masses. This allows understanding how machines will move. - A kinematic diagram is a simplified sketch showing the links, joints, and variables that affect a mechanism's movement. - Gruebler's equation determines a mechanism's degrees of freedom based on the number of links, joints, and joint types. The

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Maitumelo
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Machines and Mechanisms: Applied

Kinematic Analysis, 4/e

Chapter 1
Chap 1 Introduction

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
2
1.1 INTRODUCTION

 Determine appropriate movement


of the wipers
 View range
 Tandem or opposite
 Wipe angle
 Location of pivots
 Timing of wipers
 Wiping velocity
 The force acting on the machine

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
3
1.2 MACHINES AND MECHANISMS

 Machine
 Devices used to alter,
transmit, and direct forces
to accomplish a specific
objective
 Mechanism
 Mechanical portion of a
machine that has the
function of transferring
motion and forces from a
power source to an output

Interesting Machines and Mechanisms:

1. https://www.youtube.com/watch?v=moXFoWGnL84
2. https://www.youtube.com/watch?v=YcoAlJru6wY
3. https://www.youtube.com/watch?v=DfznnKUwywQ
4. https://www.youtube.com/watch?v=kKSDgIhc8GI

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
4
1.3 KINEMATICS

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
5
Dynamics

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
6
Kinematics

 Kinematics
 Deal with the way things move
 Kinematic analysis
 Determine
 Position, displacement, rotation, speed, velocity, acceleration

 Provide
 Geometry dimensions of the mechanism

 Operation range

 Dynamic analysis
 Power capacity, stability, member load
 Planar mechanism – motion in 2D space

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
7
1.4 MECHANISM TERMINOLOGY
Mechanism
 Synthesis is the process of developing mechanism to satisfy a set of performance requirements
for the machine.

 Analysis ensures that the mechanism will exhibit motion to accomplish the requirements .

 Linkage rigid
rigid parts
movingconnected togethertogether
parts connected

 Frame part with no motion


 Links– rigid body individual
individual parts
moving parts

 Joint moveable connection between links


 Primary joint (full joint)
 Revolute joint (pin or hinge joint)– pure
rotation
 Sliding joint (piston or prism joint)– linear
sliding

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
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 Higher-order joint (half joint)
 Allow rotation and sliding
 Cam joint
 Gear connection

 Simple link
 A rigid body contains only two joints
 Crank simple link, full rotation https://www.freeaptitudecamp.com/crank-rocker-mechanism/

 Rocker simple link, oscillates (not full rotation)


 Complex link
 A rigid body contains more than two
joints
 Rocker arm
 Bellcrank
 Point of interest point where motion is of interest

 Actuator
 A power source link
rocker arm bellcrank

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
9
1.5 Kinematic Diagram

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
10
Kinematic Diagram
stripped down sketch that represent the variables that affect the primary function of the mechanism

1. drawn to scale of the actual


mechanism
2. links are numbered, starting with
frame as link 1
3. joints are lettered

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
11
1. Identify the frame

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
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Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
13
Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
14
1.7 MOBILITY
1.7.1 Gruebler’s Equation

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
15
 Constrained mechanism
 one degree of freedom
 Locked mechanism
 Zero or negative degrees of freedom
 Unconstrained mechanism
 More than one degree of freedom

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
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Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
17
Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
18
Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
19
Actuators and Drivers
 Electric motors (AC)
 Electric motors (DC)
 Engines
 Servomotors actuator that allows for precise control of angular or linear position, velocity and acceleration
 Air or hydraulic motors
 Hydraulic or pneumatic cylinders
 Screw actuators
 Manual manual actuator

1.7.2 Actuators and Drivers screw actuator

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
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Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
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1.8 COMMONLY USED LINKS AND JOINTS
1.8.1 Eccentric Crank

1.8.2 Pin-in-a-Slot Joint

1.8.3 Screw Joint

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
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Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
23
1.9 SPECLAL CASES OF THE MOBILITY EQUATION
1.9.1 Coincident Joints

1.9.2

• One degree of freedom actually if pivoted links are the same size

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
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Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
25
1.10 THE FOUR-BAR MECHANISM

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
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https://www.youtube.com/watch?v=xFg8WQRfHHo&t=20s https://www.youtube.com/watch?v=fCcWGXL-2Z8&t=21s

https://www.youtube.com/watch?v=msSyIEK7k3k
at singulariry, it can become parallelogram, anti-parallelogram, or butterfly
arrangement

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
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1.10.1 Degree-of-Freedom

s : short link
l : long link
p , q : intermediate link

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
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Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
29
1.11 SLIDER-CRANK MECHANISM

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
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1.12 SPECIAL PURPOSE MECHANISMS
1.12.1 Straight-Line Mechanisms

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
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1.12.2 Parallelogram Mechanisms

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
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1.12.3 Quick-Return Mechanisms

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
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1.12.4 Scotch Yoke Mechanism

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
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