Mechanism

Machines are mechanical devices used to accomplish

work. A mechanism is a heart of a machine. It is the
mechanical portion of the machine that has the
function of transferring motion and forces from a
power source to an output.
Mechanism is a system of rigid elements (linkages)
arranged and connected to transmit motion in a
predetermined fashion.

Mechanism consists of linkages and joints.

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Example of Mechanism

Can crusher
Simple press

Rear-window wiper

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Example of Mechanisms
Moves packages from an assembly
bench to a conveyor

Microwave carrier to assist

people on wheelchair

Lift platform
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Example of Mechanisms

Lift platform
Front loader

Device to close the

top flap of boxes

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Example of Mechanisms

Rowing type exercise machine

Conceptual design for an
exercise machine
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Example of Mechanisms

Extension position

Flexed position

Six-bar linkage prosthetic

knee mechanism
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Four-Bar Linkage

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Four-Bar Linkage Categories

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Four-Bar Linkage Categories

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4-Bar mechanisms

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4-Bar mechanisms
S+l>p+q
4 double rocker
mechanisms

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The Slider-Crank Mechanism

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The Slider-Crank Mechanism

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Slider-Crank Mechanism - Inversion

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Mechanism Categories
Function Generation Mechanisms
A function generator is a linkage in which the relative
motion between links connected to the ground is of interest.

A four-bar hand actuated wheelchair brake mechanism

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Mechanism Categories
Function Generation Mechanisms

A four-bar drive linkage for a lawn sprinkler

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Mechanism Categories
Motion Generation Mechanisms
In motion generation, the entire motion of the coupler link
is of interest (rigid body guidance).

New Rollerblade brake system

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Mechanism Categories
Motion Generation Mechanisms

Four-bar automobile hood linkage design

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Mechanism Categories
Path Generation Mechanisms
In path generation, we are concerned only with the path of a
tracer point and not with the motion (rotation) of the
coupler link.

Crane straight line motion

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Primary Joints

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Higher Order Joints

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Motion Generation Mechanisms

Rotating a monitor into a storage position

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Moving a storage bin from an

accessible position to a stored position

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Motion Generation Mechanisms

Moving a trash pan from the floor up over

a trash bin and into a dump position
Lifting a boat out of water
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Function Generation Mechanisms

Graphical Solution
Two position synthesis Design a four-bar crank and rocker
mechanism to give 45o of rocker rotation with equal time forward and
back, from a constant speed motor input.
1 Draw the rocker O4B in both
extreme positions, B1and B2 in any
convenient location with angle 4
= 45o.
2 select a convenient point O2
on line B1B2 extended.
3 Bisect line B1B2 , and draw a
circle with that radius about O2.
4 Label the two intersection of
the circle with B1B2 extended, A1
and A2.
5 Measure O2A (crank, link2)
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and
AB (coupler, link3).

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Function Generation Mechanisms

Graphical Solution

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Crank-Rocker Mechanism

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Motion Generation Mechanisms

Graphical Solution
Two position synthesis C1D1 and C2D2

Draw the link CD in its two desired

positions, C1D1 and C2D2

Connect C1 to C2 and D1 to D2.

Draw two lines perpendicular to

C1 C2 and D1D2 at the midpoint
(midnormals)

Select two fixed pivot points, O2

and O4, anywhere on the two
midnormals.

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Motion Generation Mechanisms

Graphical Solution
Two position synthesis (coupler output) C1D1 and C2D2

The rigid body to be moved from position 1 to 2 is secured to link 3.

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Motion Generation Mechanisms

Graphical Solution
Two position synthesis (coupler output) with Dyad added.
1 Select any point B1 on link
O2C1. Locate B2.
2 Choose O6 anywhere on
B1B2 extension.
3 Draw a circle from O6 with
radius B1B2/ 2. Mark the
intersection with B1B2 extension
as A1 and A2.

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Motion Generation Mechanisms

Graphical Solution
Two position synthesis (coupler output) with Dyad added.

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Motion Generation Mechanisms

Graphical Solution
Two position synthesis (rocker output) C1D1 and C2D2

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2 Position Motion rocker output

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Motion Generation Mechanisms

Graphical Solution
Three position synthesis C1D1, C2D2 and C3D3

Draw the link CD in its three

desired positions.

Follow the same procedure,draw

construction lines, C1C2, C1C3 and
C2C3. Same for point D.

Draw three midnormals for each

point.

Locate the intersection of the three

midnormal, O2 and O4 are the two
fixed pivot points.

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Motion Generation Mechanisms

Graphical Solution
Three position synthesis C1D1, C2D2 and C3D3

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3 Position Motion

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3 Position Motion

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3 Position Motion

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Slider-Crank Mechanism
The mechanism has a
stroke B1B2 equal twice
the crank length r2.
Locations B1 and B2 are
called the extreme
positions (limiting) of the
slider

In-line slider crank mechanism

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Slider-Crank Mechanism

Offset slider-crank mechanism

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Straight line
Mechanisms

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Straight Line Mechanism

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Scotch Yoke Mechanism

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Geneva Mechanism

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Linear Geneva Mechanism

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Ratchet Mechanism

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Straight Beam Walking Mechanism

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Roller and Flat Follower Cams

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Cylindrical Cam Mechanism

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Gears Rack and Pinion

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Gears
Worm Gear Sets

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Bevel gears

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Planetary Gear set

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V-8 Engine

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Type of Motion and Mechanisms

Most power sources that are readily available today are either of the pure
rotational motion type, such as electric motor or hand crank, or of the
pure translational type, such as pneumatic or hydraulic cylinder.

Translation to Translation

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Type of Motion and Mechanisms

Rotational to Rotational

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Type of Motion and Mechanisms

Rotation to Translation

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References
Mechanism Design, Analysis and Synthesis by
Erdman and sander, fourth edition, Prentice-Hall,
2001,
Machines and Mechanisms by Uicker, Pennock
and Shigley, third edition, Oxford, 2002.
Machines and Mechanisms by Myszka, PrenticeHall, 1999

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