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Linkage Analysis

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38 views42 pages

Linkage Analysis

Uploaded by

kefiyalew agegn
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CHAPTER 2 LINKAGE ANALYSIS

2.1.1. Four-Bar Linkage


2.1.2. Slider Crank Mechanism
2.1.3. Scotch Yoke;
2.1. LINKAGES 2.1.4. Quick-Return Mechanism
2.1.5.Toggle Mechanism
2.1.6. Straight Line Mechanisms
2.1.7. Intermittent motion
2.1.8. Steering Gear Mechanisms
LINKAGES

 A linkage is a kinematic chain in which one of the links is fixed to the


ground which usually is the frame.
 A linkage permits relative motion between its links and may have one or
more degrees of freedom.
 A linkage with zero or negative degree of freedom is a structure which does
not allow any relative motion between the links.
2.1.1. Four-bar Linkage

 The four-bar mechanism is another very common linkage. See bellow Figure
Four-bar Linkage ...

 Link 1 is the frame or ground; generally, it is stationary.


 Link 2 is the driver which may rotate or oscillate.
 Link 3 is the coupler, sometimes known as the connecting rod. This link
undergoes general plane motion.
 Link 4 is the follower or driven element, which may rotate or oscillate
depending on the rotary or oscillatory motion of link 2, and on link
dimensions
Four-bar Linkage ...

 A typical analysis involves determining the interior joint angles (θ3, θ4 and γ)

and for known links (L1, L2, L3 and L4) and at a certain crank angle (θ2).

 The interior joint angles (θ3, θ4 and γ) must be determined:

 The angle y between the coupler 3 and the output link 4 (follower) is called
the transmission angle.
Four-bar Linkage ...

 The transmission angle γ:


2.1.2. Slider Crank Mechanism

 A slider-crank mechanism is basically a four-bar mechanism with three


revolute joints, or turning pairs and a prismatic joint or a sliding pair.
2.1.2. Slider Crank Mechanism

 Slider-crank mechanism produces


balanced motion.
2.1.3. Scotch Yoke mechanism
 A scotch yoke mechanism is a common mechanism that converts rotational
motion to linear sliding motion, or vice versa.

 The Scotch-yoke mechanism is widely used as a sine and cosine generator.


2.1.3. Scotch Yoke mechanism ...
 It is used to produce harmonic motion and also used to produce desired
vibrations
2.1.3. Scotch Yoke mechanism ...

 The displacement of the slider x in moving form A to A ' is given by

 Substituting θ = ωt, the displacement is

 The velocity of the follower is

 The acceleration is:


2.1.4. QUICK RETURN MECHANISMS

 Quick return mechanisms are combinations of simple linkages which give a


quick return-stroke of the follower for a constant angular velocity of the driver.
 In the design of quick-return mechanisms, the ratio of the crank angle for the
working stroke to that of the return stroke is known as the time-ratio.
 The time-ratio for quick-return mechanisms is always greater than unity to give
a slower cutting stroke and a faster return stroke.
Crank-shaper mechanism
 Bellow figure shows a schematic
representation of the six-bar crank-shaper
mechanism.
 Links 1 - 4 of this mechanism form a
variation of the slider-crank mechanism in
which the crank is held fixed as given
Figure.
Crank-shaper mechanism ...
Crank-shaper mechanism ...

 The cutting stroke occurs when the crank rotates from O 2A' to O2A" through an
angle α,
 The idle stroke being when the crank moves from O2A" to O2A' ’through the
angle β.
 For constant angular speed of the crank, the time ratio Q is given by:
Crank-shaper mechanism ...

 For a constant angular velocityω2 of link 2

Where,
and

 Length of stroke of the tool holder C is given by


Drag link mechanism
 The drag link mechanism is developed by connecting two four-bar linkage in
series.
Drag link mechanism ...
2.1.5.Toggle Mechanism
 A toggle mechanism is a mechanical linkage that is used to convert a
linear motion into a reciprocating motion or vice versa.
 It typically consists of two arms connected by a pivot joint, with one arm
connected to the input and the other connected to the output.
 When the input arm is moved, it causes the output arm to move in a
reciprocating motion.
2.1.5.Toggle Mechanism ...

 a toggle mechanism at work in a rock-


crushing machine, the numbered links are pin-
connected at A, B, C, D, and E.
 Rotation of link 1 about the fixed pivot A causes
the block to slide back and forth.
 The relation between the force in link 2 acting
at C and the force W exerted on the block at D.
2.1.5.Toggle Mechanism ...
 The mechanical advantage of the simple toggle is the velocity ratio of the input
point C to the output point D.

 The example of Toggle Mechanisms are


 Rock Crushers,
 Truck Tailgates,
 Vacuum Circuit Breakers,
 Pneumatic Riveters,
 Punching Machines, etc.
2.1.6. Straight Line Mechanisms
 Straight-line mechanism is a mechanism that converts any type of rotary or
angular motion to perfect or near-perfect straight-line motion, or vice versa.
 Some examples of straight line mechanisms are:
 Watt mechanisms
 Tchebichef’s mechanism
 Peaucillier inversor, etc.
Watt Mechanisms

 Watt's mechanism (the parallel linkage) is a type of mechanical linkage in


which the central moving point of the linkage is constrained from traveling on
an approximation to a straight line.
Tchebichef’s mechanism

 The tracing point P occupies P ' when link 2 is in the vertical position if
Peaucillier inversor
 This is another mechanism that produces a straight line.
 Peaucellier inversor is a mechanical linkage that converts rotary motion into
perfect straight-line motion.
 The tracing point P moves in a straight line.
Peaucellier inversor ...

 The geometry of the mechanism is given by:


AB = BC = CP = PA
O2A=O2C and

O2O4 = O4B.

 Points O2, B and P always lie on a straight line. Under these conditions:

(O2B) *(O2P) is a constant.


Intermittent Motion Mechanisms

 These mechanisms convert continuous motion into intermittent


motion.
 Common examples of intermittent motion mechanisms are:
 Geneva wheel and
 Ratchet mechanism
Geneva mechanism
 During one revolution of the crank the Geneva wheel rotates through a
fractional part of a revolution.
 The circular segment attached to the crank locks the wheel against rotation
when the roller is not engaged.
Geneva mechanism ...

 Angle β is half the angle subtended by adjacent slots:

where n = number of slots


 Letting a= r2 = the crank radius, the center-distance C between the center of the
locking device and the Geneva wheel is given by:
Ratchet and Pawl Mechanism

 A ratchet mechanism is based on a wheel that has teeth cut out of it and a
pawl that follows as the wheel turns.

 Studying the diagram you will see that as the ratchet wheel turns and the
pawl falls into the 'dip' between the teeth.
Ratchet and Pawl Mechanism ...

 The ratchet wheel can only turn in one direction - in this case anticlockwise.
PARALLEL MECHANISMS
 These mechanisms are employed for producing parallel motions and
reproducing motions at different scales.
 Common examples of parallel mechanisms are:
 Pantograph and
 Drafting machine
 The pantograph is used to enlarge or reduce trajectories to different scales.
 They are commonly used in cutting tools to duplicate complicated shapes to
desired scales.
PARALLEL MECHANISMS
PARALLEL MECHANISMS
Steering Gear Mechanisms
(Reading Assignment)
Rectangular Coordinate (XYZ)

 In mathematical terms, a point P in a typical three-dimensional Cartesian


coordinate system.
Cylindrical coordinate System
Cylindrical coordinate System

 Cylindrical coordinates are basically "polar coordinates with altitude."


 The cylindrical coordinates (r, θ, z) specify the point P that is z units above the
point on the xy–plane whose polar coordinates are r and θ
spherical coordinate System

 The spherical coordinate system locates a point P in space using a distance and
two angles,
 Note that ρ (rho) is the distance between the origin and P.
 The angle θ is the same angle from cylindrical coordinates, and ϕ (phi)
represents the angle between the positive z-axis and the line segment .

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