BASICS OF MECHANISMS
Basic Mechanisms and its terminologies – Degree of freedom – Mobility – Kutzbach criterion – Grubler’s criterion for Planar Mechanisms – Grashof’s law – Kinematic inversions of Four bar chain – Single slider – Double slider Crank Chains – Quick Return Mechanisms – Mechanical advantage – Classification of Mechanisms.
2. Differences
• Kinematics describes the motion of the bodies
and deals with finding out velocities or
accelerations for various objects.
• Kinetics explains how a body responds when a
force or torque is applied to it.
• Dynamics deals forces and their effects while
acting upon machine parts in motion
• Statics deals forces and their effects while the
machine parts at rest.
38. 2.Ternary joint
If three links are connected at the
same joint, it is called a ternary joint.
For the given Diagram, Apply Kline’s Criterion,
Number of Joints , j = Number of binary joints + 2 ( Number of
Ternary Joints)
= 3 + ( 2 x 2)
= 7
39. 3.Quaternary Joint
Number of Joints ,
j = Number of binary joints + 2 ( Number of Ternary joints) + 3 ( Quaternary
Joints)
40. DEGREES OF FREEDOM (DOF):
It is the number of inputs (number
of independent coordinates)
required to describe the
configuration or position of all the
links of the mechanism, with respect
to the fixed link at any given instant.
Degrees of freedom / mobility of a mechanism:
41. DEGREE OF FREEDOM OR MOBILITY
Degree of Freedom for plane Mechanism m (mobility):
It is defined as the no of input motions, which must be
independently controlled in order to bring mechanism into
useful engineering purpose.
42. Grueblers criteria – Constrained motion
F = 3(n-1) - 2l - h
Where, F = Degrees of freedom
n = Number of links = n2 + n3 +……+nj,
where, n2 = number of binary links,
n3 = number of ternary links…etc.
l = Number of lower pairs,
which is obtained by counting the number of joints. If
more than two links are joined together at any point,
then, one additional lower pair is to be considered for
every additional link.
h = Number of higher pairs
43.
44.
45. kutzbach criterion
n=3(l−1)−2j−h
Where
l= no. of links
j=no. of binary joints
This equation is called kutzbach criterion for
determining the number of degrees of
freedom of movability (n) of a plane
mechanism.
46. INVERSION MECHANISM
• Inversion of a kinematic linkage or mechanism is observing the
motion of the members of the mechanism with fixing different
links as reference frame. Each time when a different link is
chose as the frame link the mechanism shows different
characteristics of the motion.
• KEEPING ANY ONE OF THE LINK FIXED AND
ROTATING OR OSCILLATING OTHER LINKS-
THIS RESULTS DIFFERENT FORM OF MOTION OUTPUT FOR
DIFFERENT USAGE
49. .
How to use
• Drag the red point.
• The red point moves on a line when "Line"
option is selected.
• The red point moves on a circle when "Circle"
option is selected.
87. Limit Position
It’s the position of mechanism in which the interior angle
between the coupler and crank link is either 180o or 360o
88. MECHANICAL ADVANTAGE OF
MECHANISM
-------- a quality measure
• Due to more usage of 4 bar mechanism, its necessary to study
some of the advantages of mechanisms.
• Which tell whether the mechanism is good one or not.
• It’s a quality measure of all mechanism
89. MECHANICAL ADVANTAGE
• It’s the ratio of output torque to the input torque
• M.A(ideal) =
• M.A (Actual) =
TA = Driving link torque
TB = Driven link Torque
A
B
A
B
T
T
A
B
A
B
T
T