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Structure
2.1 2.2 2.3 Introduction
Objectives
Classification of Links Grblers Criterion Difference between Machine and Mechanism Summary Key Words Answers to SAQs
2.1 INTRODUCTION
In the first unit, you have studied about link, mechanism, machine, kinematic quantities, different types of motion and planar mechanism. You will study about degree of freedom, kinematic pairs and classification of links in this unit. A moving body has to be assigned coordinates according to the axes assigned. The motion of the bodies is constrained according to the requirement in a mechanism. The links which are the basic elements of the mechanism are connected to form kinematic pairs which are of different types. The links may further be connected to several links in order to impart motion and they are classified accordingly. Objectives After studying this unit, you should be able to determine degrees of freedom for a link and kinematic pair, describe kinematic pair and determine motion, and distinguish and categorise different type of links.
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Basic Concepts
can be resolved along x and y axis. The rotation about z-axis and components of displacement along x and y axes are independent of each other. Therefore, a sliding body on a plane surface has three degrees of freedom. The plane surface imposes constraints on the sliding body. This means application of constraints on the motion of body reduces degrees of freedom. These were the examples of unconstrained or partially constrained bodies. If a cylinder rolls without sliding along a straight guided path, the degree of freedom is equal to one only because rotation in case of pure rolling is dependent on linear motion. This is a case of completely constrained motion. The angle of rotation =
x r
z y x x
x o
SAQ 1
Define completely constrained, partially constrained and unconstrained motion. Also cite two examples for each type of motion.
kinematic pairs. Hence kinematic pair is defined as a joint of two links having relative motion between them. Broadly, kinematic pairs can be classified as : (a) (b) (c) Lower pair, Higher pair, and Wrapping pair.
Prismatic or Sliding Pair As shown in Figure 2.4, a prismatic pair allows only a relative translation between elements 1 and 2, which can be expressed by a single coordinate s, and it has one degree of freedom.
S
Screw Pair As shown in Figure 2.5, a screw pair allows rotation as well as translation but these two movements are related to each other. Therefore, screw pair has one degree of freedom because the relative movement between 1 and 2 can be expressed by a
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Basic Concepts
single coordinate or s. These two coordinates are related by the following relation :
s = 2 L
where, L is lead of the screw.
2 S
Cylindrical Pair As shown in Figure 2.6, a cylindrical pair allows both rotation and translation parallel to the axis of rotation between elements 1 and 2. These relative movements can be expressed by two independent coordinates or s because they are not related with each other. Degrees of freedom in this case are equal to two.
S 1 2
Spherical Pair A ball and socket joint, as shown in Figure 2.7, forms a spherical pair. Any rotation of element 2 relative to 1 can be resolved in the three components. Therefore, the complete description of motion requires three independent coordinates. Two of these coordinates and are required to specify the position of axis OA and the third coordinate describes the rotation about the axis of OA. This pair has three degrees of freedom.
A A
1 o o
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Planar Pair
A planar pair is shown in Figure 2.8. The relative motion between 1 and 2 can be described by x and y coordinates in x-y plane. The x and y coordinates describe relative translation and describes relative rotation about z-axis. This pair has three degrees of freedom.
Z
Follower
Cam
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Basic Concepts
Example 2.1 Determine degrees of freedom for kinematic pairs shown in Figures 2.11(a), (b), (c) and (d) below :
A 1
B 1 2 2 x 2 A B x
(a)
y y A 2
(b)
A B
1 B
C B y
(c)
(d)
Solution (a) In Figure 2.11(a), link A has two round cylindrical turnnions 1 fitting into cylindrical holes 2 of link B. There is turning motion of link A with respect to link B about axis x-x. In this pair, link A has relative turning motion with respect to axis x-x. Only one coordinate for rotation, i.e. is required. Therefore, this kinematic pair has one degree of freedom (Figure 2.11(a)). In Figure 2.11(b), link A is fixed on shaft (or pin) 1 and that fits into holes 2, in link B. There is only turning motion on link A with respect to link B,
(b) 32
about axis x-x. Link A rotates in relation to link B. The relation motion is rotation of link A with respect to B and can be represented by a coordinate . Therefore, this kinematic pair has one degree of freedom (Figure 2.11(b)). (c) In Figure 2.11(c), link A has internal conical surfaces with angle or taper . Link B having the same taper which fits into link A. There is rotary motion of link A with respect to link B. As shown in figure, the link A rotates with respect to B and it can be represented by a rotation coordinate . Therefore, this kinematic pair has one degree of freedom (Figure 2.11(c)). In Figure 2.11(d), link A is rotating about axis y-y and has a flat end 2 resting on ball 1. The ball has freedom of movement in socket C of link B. There is turning motion about axis y-y of link A with respect to link B. Link A rotates on ball 1 which rests on a flat surface in link B. The relative motion of link A with respect to link B can be represented by a coordinate . Therefore, this kinematic pair has one degree of freedom (Figure 2.11(d)).
(d)
Example 2.2 Find degrees of freedom for kinematic pairs shown in Figures 2.12(a) and (b).
3 O B
(a)
B A
1 B S
(c)
Solution 33
Basic Concepts
(a)
Link A has a ball end with sphere at surface 3 and round cylindrical pin 1 sliding along circular groove 2 of width equal to the diameter of pin. There is turning motion about axis y-y of link A with respect to link B and also another turning motion about axis passing through O of the sphere and perpendicular to groove 2 and they are independent. Therefore, this kinematic pair has two degrees of freedom. Link A has a sliding member 1 of rectangular cross-section and it fits in rectangular hole 2 of link B. There is sliding motion along common axis x-x of link A with respect to link B and this can be represented by a coordinate s. Therefore, this kinematic pair has one degree of freedom. For the following pairs describe the motion and determine degrees of freedom.
B 1 2 B
(b)
SAQ 2
(a)
A A O 1 2 x y o S y
(a)
A 1 x 1 x y y
B B 2
(b)
Determine degrees of freedom for the kinematic pairs shown in Figures 2.14(a) and (b).
B 1 A 2 x x B
Figure 2.14(a)
y 1 A
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2 3
Figure 2.14(b)
(c)
The following pairs have single degree of freedom, describe these pairs and the motion shown at Figures 2.15(a) and (b).
B y
1 4 x x x B O
1 4 x
y 3
(b)
(d)
Describe the joint and motion for the joint shown in Figure 2.16 which has two degrees of freedom.
Sy x A C 1 C 3 3 x Sx x Sx 4 B x 2 1
3 x
4 2 y C
Figure 2.16
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Basic Concepts
Binary Link A link which is connected to two other links is called a binary link (Figure 2.18).
2 3
Ternary Link A link which is connected to three other links is called a ternary link (Figure 2.19).
Quarternary Link A link which is connected to four other links is called quarternary link (Figure 2.20).
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The joints or hinges j are simple hinges in Eq. (2.1) because each one of them connect only two links. If mechanism includes higher order hinges which connect more than two links the corresponding number of simple hinges j can be determined by the following equation :
j = j1 + 2 j2 + 3 j3 + 4 j4 + . . . + iji
. . . (2.2)
where number of hinges ji connect (i + 1) links. This means that each hinge connecting 3 links is equivalent to 2 simple hinges. If the mechanism has h number of higher pairs also, the Eq. (2.1) can be modified as follows :
F = 3 (n 1) 2 j h
. . . (2.3)
If F = 0 in Eq. (2.3), the mechanism has no movability and it is a structure. If F = 1, the mechanism has fully constrained motion and this represents a working mechanism which has practical utility. All the working mechanisms have single degree of freedom.
It is not the case with mechanisms. A mechanism is a single system to transfer or transform motion
2.7 SUMMARY
In this unit, you have studied that the degree of freedom depends on the constraints imposed on a moving body. The bodies which have constrained motion have practical utility. In order to form a closed kinematic chain, links are connected with each other. These connections are known as kinematic pairs. There are different types of mechanisms which use different types of kinematic pairs. Their major classification is based on nature
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Basic Concepts
of contact. Those having area contact are lower pairs and those having point contact or line contact are higher pairs. The pairs which provide constrained notion are used in kinematic chain. The mechanisms require links with multiple connections. A kinematic chain which consists of only binary links is termed a simple chain with hinges or joints. The degrees of freedom in a mechanism can be determined by Grblers Criterion to determine whether it is a working mechanism or not.
Resistant Body
Kinematic Chain
Grblers Criterion
(a)
Link A has barrel shaped spherical head 1. It fits into collar 2 of link B. There are three turning motions , and about three perpendicular x, y and z-axes respectively. There is one sliding motion of link A along Y-Y axis. Therefore, this kinematic power has four degrees of freedom. Link A has round cylindrical disc 1. It slides along guide 2. The disc does not have pure rolling motion. There is translatory motion of link A along
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axis y-y and also rotational motion with respect to B about axis x-x. In absence of pure rolling, this kinematic pair has two degrees of freedom. (b) Link A has a sliding member 1 which has triangular cross-section and it fits in a triangular hole 2 of link B. This pair has only sliding motion along axis x-x and, therefore, it has single degree of freedom. Link A has two cylindrical holes 1 in which round cylindrical shaft is mounted. This shaft slides along hole 3 of link B. This kinematic pair has sliding motion along axis y-y and also independent rotational motion about axis y-y, therefore, this pair has two degrees of freedom. (c) Link A has two spherical journals 1 and 4. Journal 1 fits into spherical surface 2 of link B and journal 4 contacts cylindrical surface 3 of link B. There is only turning motion of link A with respect to link B along axis x-x. Link A has spherical pivot and it has contact through spherical surface of link B. There is rectangular lug 2 in the pivot with parallel annular side surfaces that fit in and slide along the cylindrical groove of link B. There is only turning of link A about an axis passing through O and perpendicular to the plane of paper. (d) Link A has prismatic sliding member 1 moving along square guide 2 of link B. Link C has prismatic sliding member 3 moving along guide 4 of link B. This joint has sliding motion Sx, of link A along axis x-x and also sliding motion Sy along axis y-y.
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