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Introduction toRobotics_Chapter2

The document provides an introduction to the theory of machines and mechanisms, focusing on kinematics and kinetics. It discusses the concepts of degrees of freedom, types of motion, and methods for analyzing linkages, particularly four-bar mechanisms. Additionally, it outlines approaches for finding acceleration and position using both graphical and analytical methods.

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5 views

Introduction toRobotics_Chapter2

The document provides an introduction to the theory of machines and mechanisms, focusing on kinematics and kinetics. It discusses the concepts of degrees of freedom, types of motion, and methods for analyzing linkages, particularly four-bar mechanisms. Additionally, it outlines approaches for finding acceleration and position using both graphical and analytical methods.

Uploaded by

sarakharfan1234
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Introduction to Robotics

Dr. Hassan SHRAIM


hassan.shraim@gmail.com
Outlines

In This Chapter:

• Introduction to Theory of Machines and Mechanisms


• Kinematic Analysis of Mechanisms
• How to find the acceleration
Definitions
Kinematics and Kinetics:

Kinematics: is the study of motion without regard to the forces


Kinetics: the study of forces on systems in motion.

These two concepts are not physically separable. We arbitrarily separate them
for instructional reasons in engineering education.

Mechanism is a device that transforms motion to some desirable pattern and


typically develops very low forces and transmits little power.

A machine typically contains mechanisms that are designed to provide significant


forces and transmit significant power.
Mechanisms and machines
Four-bar Mechanism
In the range of planar mechanisms, the simplest group of lower pair mechanisms
is four-bar linkages. A four-bar linkage comprises four bar-shaped links and four
turning pairs as shown
Kinematics Fundamentals
The system’s DOF is equal to the number of independent parameters
(measurements) which are needed to uniquely define its position in the space at any
instant of time.
The DOF is defined with respect to a selected frame of reference.

Gruebler's equation to find the degrees of freedom:


M=3L-2J-3G
where:

M = degree of freedom or mobility


L = number of links
J = number of joints
G = number of grounded links

A rigid body in plane motion has three DOF.


Kinematics Fundamentals
Types of Motion
A link is an (assumed) rigid body which possesses at least two nodes which are points for
attachment to other links.

•Binary link - one with two nodes.


•Ternary link - one with three nodes.
•Quaternary link - one with four nodes.

A joint is a connection between two or more links (at their nodes), which allows some
motion, or potential motion, between the connected links.
Types of Motion
A rigid body free to move within a reference frame will, in the general case, has complex
motion, which is a simultaneous combination of rotation and translation. We will define
these terms as follows for our purposes, in planar motion:

Pure rotation
The body possesses one point (center of rotation) which has no motion with respect to
the "stationary" frame of reference. All other points on the body describe arcs about that
center.

Pure translation
All points on the body describe parallel (curvilinear or rectilinear) paths.

Complex motion
A simultaneous combination of rotation and translation. Points on the body will travel
nonparallel paths, and there will be, at every instant, a center of rotation, which will
continuously change location.
How to find the acceleration
To find the acceleration,

• We need to find the position.


• Then differentiate the position to get the velocity
• Then differentiate the velocity to get the acceleration

To find the position we have two approaches :

We should find
Trivial Graphicalapproach
Graphical approach Analytical approach the
mathematical
equations
Coordinate systems
• Polar coordinates
• Cartesian form

Complex numbers as vectors:


Coordinate systems It is called imaginary because
of the use of the notation j
to represent th square root of -1

One advantage of using this complex notation to represent planar vector comes
from Euler Identity:
Remark
Algebraic position analysis of linkages
Given: a,b,c,d,

Find:

B is the intersection of two circles then:


Algebraic position analysis of linkages

Subtracting the two equations :

Substituting Bx in one of the circles equations, gives a quadratic equation in By which has
two solutions

This can be solved with the familiar expression for the roots of a quadratic equation:

Solutions are real or imaginary, if imaginary then it means that at the given angle theta
2 we cannot connect the links.
Algebraic position analysis of linkages
Algebraic position analysis of linkages
• The directions of the position vectors are chosen so as to define their angles where we desire them
to
be measured.
• The angle of a vector is always measured at its root, not at its head.
• We would like angle theta 4 to be measured at the fixed pivot O4, so vector R4 is arranged to have its
root at that point. We would like to measure angle theta 3 at the point where links 2 and 3 join.
Algebraic position analysis of linkages

eal part =0

Imaginary part =0
The vector loop Equation for a Fourbar
linkage
Rewrite the preceding equations:

Square both sides of these equations and add them:


The vector loop Equation for a Fourbar
linkage
Rewrite the preceding equations:

Where:
Remark:
The vector loop Equation for a Fourbar
linkage
Then

The solutions are:

To find Theta 3:
The vector loop Equation for a Fourbar
linkage
Where:

The solutions are:

Where:

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