MECE 303 Theory of Machines

Introduction to Theory of Machines

1
An example from real life

3
2

2nd link is the door

Solution:
R 6
j R 9
F   (l  j  1)   f i
P
4
i 1 R

 = 3 (planar mechanism) G
l (number of links) = 9 5
j (number of joints)  8 R (7 R, one of them is a
3 R 7 8
ternary joint), 2 P and 2G R
j = 12 R
G P
𝑓𝑖 = 8 ∗ 1 + 2 ∗ 1 + 2 ∗ 2 = 14
2
R (ternary joint)

F = 3(9-12-1)+14 = 2 1 (fixed link)

Solution:
j
F   (l  j  1)   f i
i 1

 = 3 (planar mechanism)
l (number of links) = 7
j (number of joints)  7 R, 2G and 1C
j = 10

𝑓𝑖 = 7 ∗ 1 + 2 ∗ 2 + 2 ∗ 1 = 13

F = 3(7-10-1)+13 =1
Example 3
Determine the Degree of Freedom for the mechanism shown in the figure.
6
Solution:
P
j R
F   (l  j  1)   f i
i 1

 = 3 (planar mechanism) 4 R
R
l (number of links) = 6 5
j (number of joints)  4 R and 3 P P
j=7

𝑓𝑖 = 4 ∗ 1 + 3 ∗ 1 = 7 3

R
F = 3(6-7-1)+7 = 1
2
1 P
Example 4
Determine the Degree of Freedom for the mechanism shown in the figure.

Solution:
j
F   (l  j  1)   f i
i 1

 = 3 (planar mechanism)
l (number of links) = 3 1
j (number of joints)  1 R and 3Cs
j=4

𝑓𝑖 = 1 ∗ 1 + 3 ∗ 2 = 7

F = 3(3-4-1)+7 = 1
Example 5
Determine the Degree of Freedom for the mechanism shown in the figure.

Solution:
j
F   (l  j  1)   f i R 4 Cs
i 1

3
 = 3 (planar mechanism) R (ternary joint)
l (number of links) = 7
5 R
j (number of joints)  7 R (6 R, one of
them is a ternary joint), 1 P and 1Cs 2
R
P
j=9 7
6
R
1 R
𝑓𝑖 = 7 ∗ 1 + 1 ∗ 1 + 1 ∗ 2 = 10

F = 3(7-9-1)+10 = 1
Example 6
Determine the Degree of Freedom for the mechanism shown in the figure.

Solution:
j
F   (l  j  1)   f i
i 1

 = 3 (planar mechanism)
l (number of links) = 7
j (number of joints)  7 R, 1 P and
1G
j=9

𝑓𝑖 = 7 ∗ 1 + 1 ∗ 1 + 1 ∗ 2 = 10

F = 3(7-9-1)+10 = 1
Example 7
Determine the Degree of Freedom for the mechanism shown in the figure.

Solution:
j
F   (l  j  1)   f i R R
i 1
1
R R
R 13
 = 3 (planar mechanism) R
6
14 R R
2 R
l (number of links) = 14 P 12 R
j (number of joints)  17 R and 2 P R
P 7
j = 19 3 4
11 9
R 8
𝑓𝑖 = 17 ∗ 1 + 2 ∗ 1 = 19 R
5 R
R
R 10
F = 3(14-19-1)+19 = 1 R
Example 8
Determine the Degree of Freedom for the mechanism shown in the figure.

Solution:
j
F   (l  j  1)   f i
i 1

 = 3 (planar mechanism)
l (number of links) = 12
j (number of joints)  15 R and 2 Cs
j = 17

𝑓𝑖 = 15 ∗ 1 + 2 ∗ 2 = 19

F = 3(12-17-1)+19 = 1
Example 9
Determine the Degree of Freedom for the mechanism shown in the figure.

Solution:
j
F   (l  j  1)   f i
i 1

 = 6 (spatial mechanism)
l (number of links) = 6
j (number of joints)  1 R, 2 P, 2S, 2C
j=7

𝑓𝑖 = 1 ∗ 1 + 2 ∗ 1 + 2 ∗ 3 + 2 ∗ 2 = 13

F = 6(6-7-1)+13 = 1
Example 10
Determine the Degree of Freedom for the mechanism shown in the figure.

Solution:
j
F   (l  j  1)   f i
i 1

 = 3 (planar mechanism)
l (number of links) = 5
j (number of joints)  3 R, 2 P, 1Cp
j=6

𝑓𝑖 = 3 ∗ 1 + 2 ∗ 1 + 1 ∗ 2 = 7

F = 3(5-6-1)+7 = 1

(Springs should be disregarded for kinematic analysis, it only exerts force to the mechanism)
Example 11
Determine the Degree of Freedom for the mechanism shown in the figure.

Solution:
j
F   (l  j  1)   f i
i 1

 = 3 (planar mechanism)
l (number of links) = 11
j (number of joints)  12 R and 2 P
j = 14

𝑓𝑖 = 12 ∗ 1 + 2 ∗ 1 = 14

F = 3(11-14-1)+14 = 2

(2 hydraulic actuators can be seen in the figure)