Solutions to hapter Exercise Problems Problem. Find a mechanism as an isolated device or in a machine and make a realistic sketch of the mechanism. Then make a freehand sketch of the kinematic schematics for the mechanism chosen. Typical examples of solutions for this problem are given in the problem definitions of hapter. Some examples are: 0 B A ω.".".88" D." Bicycle suspension ω B A θ D Oscillating fan D ω A Y Door B X Door closing linkage - -
Problem. abinet hinges use various types of linkages for the folding mechanism. Identify three types of cabinet hinges and make a freehand sketch of the kinematic mechanism used. There are a large number of mechanisms that are used to obtain various types of hinge motions. Below are three of them. The first is a -bar Watt s linkage used for chest lids. The hinge guides the chest lid such that no part of the lid crosses the plane of the back of the chest. The second example is a four bar linkage that guides the door from the open to closed position. The hinge is basically hidden when the door is closed. The third uses a -bar Watt s linkage with a slider. The lid glides about the back corner of the box. - -
Problem. The drawings shown below are pictorial representations of real mechanisms that are commonly encountered. Make a freehand sketch of the kinematic schematic representation of each mechanism. A B Pin in a slot (pin attached to seat) Water Pump Folding hair asement window mechanism - -
Solution A B Water Pump Folding hair asement window mechanism - -
Problem. Linkages are often used to guide devices such as computer keyboards in and out of cabinets. Find three such devices, and make a freehand sketch of the kinematic mechanisms used for the devices. Typewriter desk linkage Under drawer swing up mechanism Overhead bin hinge Problem. Fourbar linkages are used in common devices around the home and businesses. Locate six such devices and make a freehand sketch of each device and describe its function. Solution: Sample examples are given in the following: - -
Brake for wheelchair. The mechanism exhibits a toggle motion Walking toy. The fourbar linkage moves the leg and wing. Door closer. The fourbar linkage is connected to a damper mechanism Kickback protector on table saw. The fourbar linkage is a parallelogram linkage. - -
Tree trimmer. The fourbar linkage is a double lever mechanism used to increase the mechanical advantage Vicegrips. The fourbar linkage is a toggle mechanism - -
Problem. alculate the mobility, or number of degrees of freedom, of each of the mechanisms in Problem.. A B n = = M = (n ) + Mobility = = ( ) + = + = Water Pump n = = pin-in-slot oint ( = ) M = ( n ) + Arbitrarily pick link as the frame = ( ) + = Mobility = Folding hair n = = M = ( N L N J ) + = ( ) + = + = Mobility = asement window mechanism - 8 -
Problem. What is the number of members, number of oints, and mobility of each of the planar linkages shown below? n = = f = x = i M = (n ) + i = = ( ) + = + = Mobility = n = = 9 = 9 = 9 M = (n ) + = ( 9 ) + 9 = 9 + 9 = 0 Mobility = 0 n = = = + = M = (n ) + = ( ) + = + = Mobility = - 9 -
Problem.8 What are the number of members, number of oints, and mobility of each of the planar linkages shown below? n = = = x = M = ( n ) + = ( ) + = + = Mobility = 8 n = = 8 f = i 8 x = 8 M = ( n ) + = ( 8 ) +8 = + 8= Mobility = n = 8 = 0 f = i 0 x = 0 i= M = ( n ) + = (8 0 ) +0 = 9 +0 = Mobility = - 0 -
Problem.9 Determine the mobility and the number odle degrees of freedom of each of the planar linkages shown below. Show the equations used and identify the input and output links assumed when determining your answers. 9 8 n =9 = M = ( n ) + = ( 9 ) + = + = 0 Mobility = 0 n = = 9 M = ( n ) + = ( 9 ) + 9 = 9 + 9 = 0 Mobility = 0 8 9 0 n =0 = M = ( n ) + = (0 ) + = 9 + = Mobility = - -
Problem.0 Determine the mobility and the number odle degrees of freedom of the linkages shown below. Show the equations used and identify any assumptions made when determining your answers. - -
Problem. Determine the mobility and the number odle degrees of freedom associated with the mechanism. Show the equations used and identify any assumptions made when determining your answers. n = = M = (n ) + = ( ) + = + = Mobility = Idle DOF = - -
Problem. Determine the mobility of each of the planar linkages shown below. Show the equations used to determine your answers. Piston Hydraulic ylinder Piston Hydraulic ylinder Bucket 8 9 n = 9 = f = i x = M = (n ) + = ( 9 ) + = 9 + = Mobility = 8 9 0 n = = f = i x = M = (n ) + = ( ) + = + = Mobility = - -
Problem. Determine the mobility and the number odle degrees of freedom of each of the planar linkages shown below. Show the equations used to determine your answers. Pin in slot 0 9 8 n = = M = (n ) + = ( ) += + = Mobility = N = = 9 M = (n ) + = ( 9 ) + 9 = 9 + 9 = 0 Mobility = 0 8 n =8 = 0 M = (n ) + = (8 0 ) +0 = 9 +0 = Mobility = - -
Problem. Determine the mobility and the number odle degrees of freedom of each of the planar linkages shown below. Show the equations used to determine your answers. n = = M = (n ) + = ( ) + = + = Mobility = n = = 9 M = (n ) + = ( 9 ) + 9 = 9 + 9 = 0 Mobility = 0 n = 8 9 0 = M = (n ) + = ( ) + = + = Mobility = - -
Problem. Determine the mobility and the number odle degrees of freedom of each of the planar linkages shown below. Show the equations used to determine your answers. n = 8 9 = M = ( n ) + f 0 i = ( ) + = + = Mobility = 0 8 9 n =0 = M = ( n ) + = (0 ) + = + = Mobility = 8 0 9 n = 0 = M = ( n ) + = (0 ) + = += Mobility = - -
Problem. If position information is available for all points in the planar linkage shown below, can all of the velocities be determined uniquely if the value of is given? Explain your answer. ω n = = 8 M = (n ) + = ( 8 ) +8 = + 8= ω Mobility = Therefore, the answer to the problem is no. The mechanism has two degrees of freedom, and two independent input variables must be specified before all of the velocities must be determined. - 8 -
Problem. Determine the mobility and the number odle degrees of freedom associated with each mechanism. Show the equations used and identify any assumptions made when determining your answers. am oint Rolling oints Pin in Slot Sliders Pin-in-Slot Joint Slider (d) (e) - 9 -
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Problem.8 Determine the mobility and the number odle degrees of freedom associated with the mechanism shown below. The mechanism is a side-dumping car that consists of body and truck connected together by two six-bar linkages, ABDEF and AGHKLMN. Link NM is designed as a latch on its free end (see left drawing). When ack is operated, body is lifted to the dumping position shown in the right-hand drawing. Simultaneously, the six-bar linkage AGHKLMN opens the latch on link NM and raises link GH. Linkage ABDEF swings open side B and the load can be dumped at some distance from the car (see right-hand drawing). Show the equations used to determine your answers. G N H M N G H A F K L D B F K L D M B E E G N A F H M 0 L D 8 K E 9 B n = = M = (n ) + N = ( ) + = + = Mobility = Problem courtesy of Joseph Davidson, Arizona State University - -
Problem.9 Determine the mobility and the number odle degrees of freedom associated with the mechanism below. The round part rolls without slipping on the pieces in contact with it. n = = DF = (n ) + = ( ) + = + = Mobility = - -
Problem.0 Determine the mobility and the number odle degrees of freedom for each of the mechanisms shown. Show the equations used to determine your answers. am ontact Pin in Slot Pin in Slot Pin in Slot am ontact 9 8 0 Pin in slot n = = M = (n ) + Mobility = Idle DOF = = ( ) + = + = 9 0 8 Pin in slot n = = M = (n ) + = ( ) + = + = Mobility = 9 8 Pin in slot n =9 = M = (n ) + Mobility = = (9 ) + = + = - -
Problem. Determine the mobility and the number odle degrees of freedom for each of the mechanisms shown. Show the equations used and identify any assumptions made when determining your answers. am ontact Rolling ontact am ontact Pin in Slot Pin i Slot 8 9 0 n = = M = (n )+ = ( )+= += Mobility = Idle DOF = 8 9 0 8 9 0 n = = M = (n )+ Mobility = n = = M = (n )+ i = = ( )+ () + () = +8= = ( )+= += Mobility = Idle DOF = - -
Problem. Determine the mobility and the number odle degrees of freedom associated with the mechanism below. The figure is a schematic of the entire linkage for a large power shovel used in strip mining. It can cut into a bank 0 m high and can dump to a height of. m. Link is connected to link 8 with a revolute oint. 8 0 9 8 n = 8 8 0 = M = ( n ) + N = (8 ) + = + = Mobility = 9 8 Problem courtesy of Joseph Davidson, Arizona State University - -
Problem. In the figure is a portion of the support mechanism for the dipper on a large earth-moving machine used in removing overburden in strip mining operations. The fixed centers for the portion of the mechanism really move, but useful information can be obtained by observing the dipper motion relative to the "frame" as shown in the sketch. Both links and are mounted at O. Links and are parallel and of equal length. The dipper is moved by a hydraulic cylinder driving crank about its fixed cylinder. Determine the number of degrees of freedom of the mechanism. O O Dipper O Dipper O n = = M = (n ) + = ( ) + = + = Mobility = - -
Problem. What is the number of members, number of oints, mobility, and the number odle degrees of freedom of each of the spatial linkages shown below? n = = = () + () = M = (n ) + Mobility = 0 = ( ) + = + = 0 n = = = () +( ) = M = (n ) + Mobility = = ( ) + = + = - -
Problem. Determine the mobility and the number odle degrees of freedom of the spatial linkages shown below. Show the equations used to determine your answers. n = = M = (n ) + = ( ) + (+ + + ) = + 9 = Mobility = Idle DOF = n = = M = (n ) + = ( ) +( ++ ++ ) = + = Mobility = Idle DOF = n = = 9 M = (n ) + = 8 + = Mobility = Idle DOF = = ( 9 ) + () + () + () - 8 -
Problem. Determine the mobility and the number odle degrees of freedom of the spatial linkages shown below. Show the equations used to determine your answers. n = = M = (n ) + = ( ) +( ++ + + + ) = + = Mobility = Idle DOF = n = = M = (n ) + = ( ) +( ++ ++ ) = + = Mobility = Idle DOF = 8 n = 8 = 0 M = (n ) + = (8 0 ) + = 8 + = Mobility = Idle DOF = () + () + () - 9 -
Problem. Determine the mobility and the number odle degrees of freedom for each of the mechanisms shown. Show the equations used to determine your answers. n = = M = (n ) + = ( ) + () + + = + = Mobility = Idle DOF = n = = M = (n ) + = ( ) +(+ + ++ ) = + = Mobility = - n = = M = (n ) + Mobility = 0 Idle DOF = = ( ) + () + + = + = 0-0 -
Problem.8 Determine the mobility and the number odle degrees of freedom associated with each mechanism. Show the equations used to determine your answers. R H P P H H P S H S P S (d) (e) (f) S S S R (g) P R H (h) R (i) R R n = = M = (n ) + = + = Mobility = = ( ) + () + Problem based on paper entitled "A Number Synthesis Survey of Three-Dimensional Mechanisms" by L. Harrisberger, Trans. ASME, J. of Eng. for Ind., May, 9, pp. -0. - -
H n = = M = (n ) + = ( ) + () + = + = Mobility = P n = = M = (n ) + = + = Mobility = = ( ) + () + (d) P P S n = = M = (n ) + = + = Mobility = = ( ) + + + + (e) H H S n = = M = (n ) + = + = Mobility = = ( ) + + + + - -
(f) P H n = = M = (n ) + S = ( ) + + + + = + = Mobility = (g) S R P n = = M = (n ) + = + = Mobility = = ( ) + + + + (h) R S H n = = M = (n ) + = + = Mobility = = ( ) + + + + (i) R S R n = = M = (n ) + = + = Mobility = = ( ) + + + + - -
Problem.9 Determine the mobility and the number odle degrees of freedom for each of the mechanisms shown. Show the equations used to determine your answers. For the idle degrees of freedom, identify the input and output links assumed. - -
Problem.0 Determine which (if either) of the following linkages can be driven by a constant-velocity motor. For the linkage(s) that can be driven by the motor, indicate the driver link..0".0".".".0".0".".".0".0"."." s + l <p + q Grashof type s =.0; l =.; p =.; q =.0.0 +. <. +.0. <. Grashof type The mechanism is a crank rocker if the " crank is the driver..0".0"."." s + l <p + q Grashof type s =.0; l =.; p =.; q =.0.0 +. <. +.0. <. Grashof type The mechanism is a crank rocker if the " crank is the driver. - -
Problem. Assume that you have a set of links of the following lengths: in, in, in, in, 9 in. Design a - bar linkage that can be driven with a continuously rotating electric motor. Justify your answer with appropriate equations, and make a scaled drawing of the linkage. Label the crank, frame, coupler, and rocker (follower)..0" rank oupler.0".0" Rocker.0" Frame s + l < P + q Grashof type + < + 8 < 9 Therefore the linkage is a type linkage and a crank rocker Problem. Assume that you have a set of links of the following lengths: 0 mm, 0 mm, mm, mm, mm. Design a four-bar linkage that can be driven with a continuous-rotation electric motor. Justify your answer with appropriate equations, and make a freehand sketch (labeled) of the resulting linkage. Label the crank, frame, coupler, and rocker (follower). s + l < p + q Grashof type linkage 0 + < + 9 < 0 0 mm rank oupler mm mm Rocker mm Frame - -
Problem. For the four-bar linkages below, indicate whether they are Grashof type or and whether they are crank-rocker, double-crank, or double-rocker mechanisms. 8" " " " " 8" " " " " " " a) s + l < p + q Grashof type s + l > p + q nongrashof type s = ; l = ; p = ; q = + < + 0 < Grashof type Since the shortest member is connected to the frame, the linkage is a crank rocker b) s + l < p + q Grashof type s + l > p + q nongrashof type s = ; l = 8; p = ; q = + 8 > + > nongrashof type All Grashof type linkages are double rockers c) s + l < p + q Grashof type s + l > p + q nongrashof type s = ; l = 8; p = ; q = + 8 < + < Grashof type Since the shortest member is the frame, the linkage is a double crank or drag link mechanism - -
Problem. You are given a set of three links with lengths. in,. in, and. in. Select the length of a fourth link and assemble a linkage that can be driven by a continuously rotating motor. Is your linkage a Grashof type or Grashof type linkage? (Show your work.) Is it a crank-rocker, double-rocker, or double-crank linkage? Why? Let: l =. in s =. in p =. in q = x in oupler.0"." rank." Rocker." Frame s + l < p + q Grashof type linkage. +. <. + x 9. <. + x. < x Let x =. This is a crank-rocker because the shortest link is the driver. - 8 -
Problem. You have available a set of eight links from which you are to design a four-bar linkage. hoose the links such that the linkage can be driven by a continuous-rotation motor. Sketch the linkage and identify the type of four-bar mechanism resulting. L =, L =, L =, L =, L =, L = 9., L =, and L 8 = 9 Let: l = 9. in s =.0 in p = 9.0 in q =.0 in s + l <p + q Grashof type 9. + < 9 +. = oupler 9.0".0" rank.0" Rocker 9." Frame Since the shortest link is the driver, the mechanism is a crank-rocker. - 9 -
Problem. Determine the number of fully rotating cranks in the planar mechanisms shown below. Show your calculations.."." " " mm mm 0mm 0mm "." "." l =.0 in s =. in p =.0 in q =. in s + l < p + q Grashof type +. < +.. <. hoosing l as the frame results in a double rocker with two fully rotating cranks. hoosing l, p or q as the frame results in a crank rocker of double rocker with one or zero rotating cranks, respectively. l =.0 mm s = 0.0 mm p =.0 mm q = 0.0 mm s + l < p + q Grashof type +0 < + 0 < hoosing l as the frame results in a double rocker with two fully rotating cranks. hoosing l, p or q as the frame results in a crank rocker or double rocker with one or zero rotating cranks, respectively. l =.0 in s =.0 in p =. in q =. in s + l < p + q Grashof type.0 +.0 >. +..0 >. No link can rotate fully. The mechanism is a type double rocker. - 0 -
Problem. If the link lengths of a four-bar linkage are L = mm, L = mm, L = mm, and L = mm and link is fixed, what type of four-bar linkage is it? Also, is the linkage a Grashof type or linkage? Answer the same questions if L = mm. a) b) s+ l < p + q Grashof type s+ l > p + q nongrashof type s =; l = ; p = ; q = + < + < Grashof type Since the shortest member is connected to the frame, the linkage is a crank rocker s+ l < p + q Grashof type s+ l > p + q nongrashof type s = ; l = ; p = ; q = + < + = Transition linkage This is a transition linkage. The driver can rotate by 0, but at the dead center position, the linkage must be "helped" to continue the rotation. - -
Problem.8 You are given two sets of links. Select four links from each set such that the coupler can rotate fully with respect to the others. Sketch the linkage and identify the type of four-bar mechanism. a) L =, L = 8, L =, L = 9, and L = 8 b) L =, L =, L =, L =., and L =. Let: l = 8.0 in s =.0 in p = 9.0 in q =.0 in 9.0" oupler.0".0" Frame s + l < p + q Grashof type + 8 <9 + < 8.0" Since the shortest link is the coupler, the mechanism is a type double-rocker. Let: l =.0 in s =.0 in p =.0 in q =. in.0" oupler.0"." Frame.0" s + l p + q Grashof type + <.+ <. Since the shortest link is the coupler, the mechanism is a type double-rocker. - -
Problem.9 The mechanisms shown below are drawn to scale. Sketch kinematic schematics showing the relationships between the members and oints. Determine the Grashof type of each four-bar linkage in each mechanism. l = 0.9 in s = 0. in p = 0. in q = 0.89 in Driver B 0." 0." Frame A 0.9" s + l < p + q Grashof type D 0. + 0.9 < 0. + 0.89.0 <. 0.89" The mechanism is a crank rocker if link or link is fixed and link is the driver. Links --- Links --- l =.9 in a = 0. in s = 0. in b =. in p =. in c = 0.88 in q =. in - -
0. B...9 A Frame Driver D E 0.88 0.. F s + l <p + q Grashof type Links --- 0. +.9 <. +..90 <. Links ---. > 0. b > a. 0. < 0.88 b a < c The mechanism containing links --- is a crank-rocker mechanism because link is the driver. The mechanism containing links --- is a non Grashof, slider-crank mechanism. The crank cannot make a continuous rotation relative to the other links. - -
Problem. Determine the mobility and the number odle degrees of freedom for each of the mechanisms shown. Show the equations used to determine your answers. am ontact am ontact Pin in Slot 8 9 0 n = = M = (n ) + = ( ) + = + = Mobility = Idle DOF = 8 9 0 n = = M = (n ) + Mobility = Idle DOF = n = = M = (n ) + = ( ) + () + + = + = = ( ) + = + = Mobility = Idle DOF = - -
Problem. Determine the mobility and the number odle degrees of freedom associated with each mechanism. Show the equations used to determine your answers. am oints Pin in Slot Sliders Pin-in-Slot Joint Slider (d) (e) n = am oints = M = ( n ) + = ( ) + 8 = + 8 = Mobility = Idle DOF = n = Pin in slot =9 M = ( n ) + = ( 9 ) + 0 = 9+ 0 = Mobility = - -
Sliders 0 9 8 n = = M = (n ) + = ( ) + = + = Mobility = 8 (d) n =8 =0 M = (n ) + = ( 8 0 ) + 0 = 9 + 0 = Mobility = (e) Pin-in-slot oint Slider n = = 8 M = (n ) + = ( 8 ) +9 = +9 = Mobility = - -