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76
CHAPTER 2
2-10
Use linkage transformation on the linkage of Figure P2-1d (p. 74) to make it a 2-DOF
mechanism.
2-11
Use number synthesis to find all the possible link combinations for 2-DOF, up to 9
links, to hexagonal order, using only revolute joints.
2-12
Find all the valid isomers of the eightbar 1-DOF link combinations in Table 2-2
(p. 38) having:
a.
b.
c.
d.
2-13
Use linkage transformation to create a 1-DOF mechanism with two sliding full joints
from a Stephenson's sixbar linkage in Figure 2-14a (p. 48).
2-14
Use linkage transformation to create a 1-DOF mechanism with one sliding full joint
and a half joint from a Stephenson's sixbar linkage in Figure 2-14b (p. 48).
*2-15
Calculate the Grashof condition of the fourbar mechanisms defined below. Build
cardboard models of the linkages and describe the motions of each inversion. Link
lengths are in inches (or double given numbers for centimeters).
Part 1.
2-16
a.
b.
c.
2
2
2
4.5
3.5
4.0
7
7
6
Part 2.
d.
e.
f.
2
2
2
4.5
4.0
3.5
7
7
7
9
9
2-17
Describe the difference between a cam-follower (half) joint and a pin joint.
2-18
Examine an automobile hood hinge mechanism of the type described in Section 2.14
(p. 57). Sketch it carefully. Calculate its mobility and Grashof condition. Make a
cardboard model. Analyze it with a free-body diagram. Describe how it keeps the
hood up.
2-19
Find an adjustable arm desk lamp of the type shown in Figure P2-2. Measure it and
sketch it to scale. Calculate its mobility and Grashof condition. Make a cardboard
model. Analyze it with a free-body diagram. Describe how it keeps itself stable. Are
there any positions in which it loses stability? Why?
2-20
Make kinematic sketches, define the types of all the links and joints, and determine
the mobility of the mechanisms shown in Figure P2-3.
Problem 2-19
*2-21
* Answers in Appendix F
FIGURE P2-2
2-22
Find the Grashof condition and Barker classifications of the mechanisms in Figure
P2-4a, b, and d (p. 78).
2-23
Find the rotatability of each loop of the mechanisms in Figure P2-4e, f, and g (p. 78).
KINEMATICS FUNDAMENTALS
77
FIGURE P2-3
Problem 2-20 Backhoe and front-end loader Courtesy of John Deere Co.
*2-24
2-25
*2-26
Find the mobility of the automotive throttle mechanism in Figure P2-7 (p. 79).
*2-27
Sketch a kinematic diagram of the scissors jack shown in Figure P2-8 (p. 80) and
determine its mobility. Describe how it works.
2-28
2-29
Figure P2-IO (p. 80) shows Watt's sun and planet drive that he used in his steam
engine. The beam 2 is driven in oscillation by the piston of the engine. The planet
gear is fixed rigidly to link 3 and its center is guided in the fixed track 1. The output
rotation is taken from the sun gear 4. Sketch a kinematic diagram of this mechanism
and determine its mobility. Can it be classified by the Barker scheme? If so, what
Barker class and subclass is it?
2-30
Figure P2-ll (p. 81) shows a bicycle handbrake lever assembly. Sketch a kinematic
diagram of this device and draw its equivalent linkage. Determine its mobility. Hint:
Consider the flexible cable to be a link.
2-31
Figure P2-12 (p. 81) shows a bicycle brake caliper assembly. Sketch a kinematic
diagram of this device and draw its equivalent linkage. Determine its mobility under
two conditions.
a.
b.
* Answers in Appendix F
DESIGN OF MACHINERY
78
CHAPTER 2
L1 = 174
L2 = 116
X
L3 = 108
L4 = 110
L2 = 19
L3 =70
4=70
L5 = 70
Lt = 162 L2 =40
L4 = 122 L3 = 96
X
L6= 70
(b) Fourbar linkage
LJ=l50 L2=30
L3 = 150 L4 = 30
box
0 2 0 4 =L3 = L5 = 160
0 8 0 4 = L 6 = L7 = 120
X
0 2 A =0 2 C = 20
0 4 B=0 4D = 20
04E=04G = 30
OsF= OgH = 30
L1 =45.8
L2 = 19.8
Lt = 87
L2=49
L3 = 100
L4 = 153
L 5 = 100
L3 =
L4 =
L5 =
L7 =
L8 =
L6 = 153
19.4
38.3
13.3
13.3
19.8
9=19.4
(h)
Symmetrical mechanism
Iall dimensions in mm I
FIGURE P2-4
Problems 2-21 to 2-23 Adapted from P. H. Hill and w. P. Rule. (1960) Mechanisms: Analysis and Design. with permission
KINEMATICS FUNDAMENTALS
79
Link 6 moves
horizontally
in a straight line
Link 8 moves
horizontally
in a straight line
(a)
(b)
FIGURE P2-5
Problem 2-24 Chebyschev (a) and Sylvester-Kempe (b) straight-line mechanism Adapted from Kempe, How to Draw a
Straight Line, Macmillan: London, 1877
F F
2-32
Find the mobility, the Grashof condition, and the Barker classification of the
mechanism in Figure P2-l3 (p. 82).
2-33
2-34
Figure P2-15 (p. 83) shows a power hacksaw, used to cut metal. Link 5 pivots at 0 5
and its weight forces the sawblade against the workpiece while the linkage moves the
blade (link 4) back and forth within link 5 to cut the part. Sketch its kinematic
diagram, determine its mobility and its type (i.e., is it a fourbar, a Watts sixbar, a
Stephenson 's sixbar, an eightbar, or what?) Use reverse linkage transformation to
determine its pure revolute-jointed equivalent linkage.
w
FIGURE P2-6
Problem 2-25
FIGURE P2-7
Problem 2-26. Adapted from P. H. Hill and W P Rule. (1960) Mechanisms: Analysis and Design, with permission
DESIGN OF MACHINERY
80
CHAPTER 2
FIGURE P2-8
Problem 2-27
*2-35
Figure P2-16 (p. 83) shows a manual press used to compact powdered materials.
Sketch its kinematic diagram, determine its mobility and its type (i.e., is it a fourbar,
a Watts sixbar, a Stephenson's sixbar, an eightbar, or what?) Use reverse linkage
transformation to determine its pure revolute-jointed equivalent linkage.
2-36
Sketch the equivalent linkage for the cam and follower mechanism in Figure P2-17 (p. 83)
in the position shown. Show that it has the same DOF as the original mechanism.
2-37
Describe the motion of the following rides, commonly found at an amusement park,
as pure rotation, pure translation, or complex planar motion.
FIGURE P2-9
Problem 2-28
L1 = 2.15
L2 = 1.25
L3
= 1.80
L4 =0.54
Section A-A
FIGURE P2-l 0
* Answers in Appendix F
Problem 2-29
KINEMATICS FUNDAMENTALS
Fcah/e
81
brake lever
cable
handlebar
hand grip
FIGURE P2-11
Problem 2-30
a.
b.
c.
d.
e.
f.
g.
A Ferris wheel
A "bumper" car
A drag racer ride
A roller coaster whose foundation is laid out in a straight line
A boat ride through a maze
A pendulum ride
A train ride
frame
wheel
rim
FIGURE P2-12
Problem 2-31
DESIGN OF MACHINERY
82
CHAPTER 2
Lt = 0.92
L2 = 0.27
L3 = 0.50
L4 =0.60
Fcrimp
FIGURE P2-13
Problem 2-32
2-38
Figure P2-la (p. 74) is an example of a mechanism. Number the links, starting with
1. (Don't forget the "ground" link.) Letter the joints alphabetically, starting with point A.
a.
b.
c.
2-39
Crimping Tool
Using your link numbers, describe each link as binary, ternary, etc.
Using your joint letters, determine each joint's order.
Using your joint letters, determine whether each is a half or full joint.
Figure P2-lb (p. 74) is an example of a mechanism. Number the links, starting with
1. (Don't forget the "ground" link.) Letter the joints alphabetically, starting with A.
a.
b.
c.
Using your link numbers, describe each link as binary, ternary, etc.
Using your joint letters, determine each joint's order.
Using your joint letters, determine whether each is a half or full joint.
product
0204 = 108
02A = 40
L3 = 108
L4=40
0206 = 200
028 = 32
L 5 =260
06C = 96
c
Section A-A
FIGURE P2-14
Problem 2-33 Walking-beam indexer with pick-and-place mechanism Adapted from P. H. Hill and
Mechanisms: Analysis and Design. with permission
w. P. Rule. (7960).
KINEMATICS FUNDAMENTALS
83
,I
L2 =75 mm
L3 =170 mm
Ws
workpiece
FIGURE P2-15
Problem 2-34 Power hacksaw Adapted from P. H. Hill and W P Rule. (7960). Mechanisms: Analysis and Design, with permission
2-40
Figure P2-lc (p. 74) is an example of a mechanism. Number the links, starting with
I. (Don't forget the "ground" link.) Letter the joints alphabetically, starting with A.
a.
b.
c.
Using your link numbers, describe each link as binary, ternary, etc.
Using your joint letters, determine each joint's order.
Using your joint letters, determine whether each is a half or full joint.
follower
\
3
powder
di e
FIGURE P2 - 16
FIGURE P2-17
Problem 2-35 Powder compacting press Adapted from P. H. Hill and w P. Rule. (7960).
Problem 2-36
DESIGN OF MACHINERY
84
2-41
Figure P2-ld (p. 74) is an example of a mechanism. Number the links, starting with
I . (Don't forget the "ground" linlc) Letter the joints alphabetically, starting with point A.
a.
b.
c.
Using your link numbers, describe each link as binary, ternary, etc.
Using your joint letters, determine each joint's order.
Using your joint letters, determine whether each is a half or full joint.
2-42
Find the mobility, the Grashof condition, and the Barker classification of the oil field
pump shown in Figure P2-18.
2-43
Find the mobility, the Grashof condition, and the Barker classification of the aircraft
overhead bin shown in Figure P2- 19. Make a cardboard model and investigate its
motions.
2-44
Figure P2-20 shows a "Rube Goldberg" mechanism* that turns a light switch on
when a room door is opened and off when the door is closed. The pivot at 02 goes
through the wall. There are two spring-loaded piston-in cylinder devices in the
assembly. An arrangement of ropes and pulleys inside the room (not shown)
transfers the door swing into a rotation of link 2. Door opening rotates link 2 CW,
pushing the switch up as shown in the figure, and door closing rotates link 2 CCW,
pulling the switch down. Consider the spring-loaded cylinder at the switch to be
effectively a single variable-length binary link. Find the mobility of the linkage.
2-45
Use Working model to create and animate the mechanism in Figure P2-14 (p. 82).
2-46
Use Working model to create and animate the mechanism in Figure P2-15 (p. 83).
2-47
Use Working model to create and animate the mechanism in Figure P2- 18.
2-48
Find the mobility of the mechanism shown in Figure 3-33 (p. 142).
2-49
CHAPTER 2
Find the mobility of the mechanism shown in Figure 3-34 (p. 143).
2-50
Find the mobility of the mechanism shown in Figure 3-35 (p. 143).
2-51
Find the mobility of the mechanism shown in Figure 3-36 (p. 144).
76
12
FIGURE P2-18
KINEMATICS FUNDAMENTALS
85
6.95
9.17
9.17
---~
FIGURE P2-19
2-52
Find the mobility of the mechanism shown in Figure 3-37b (p. 144).
FIGURE P2-20
A 'Rube Goldberg" light switch actuating mechanism (Courtesy of Robert Taylor, WPI)