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ME321 – Kinematics and Dynamics of Machines Introduction (Continued)

ME321 – Kinematics and Dynamics of Machines Introduction (Continued). Steve Lambert Mechanical Engineering, U of Waterloo. 2. 1. 2. 1. Simple Mechanisms – 2 links. Consider 2 links: M = 3(2-1) = 3

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ME321 – Kinematics and Dynamics of Machines Introduction (Continued)

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  1. ME321 – Kinematics and Dynamics of Machines Introduction (Continued) Steve Lambert Mechanical Engineering, U of Waterloo

  2. 2 1 2 1 Simple Mechanisms – 2 links • Consider 2 links: M = 3(2-1) = 3 • A single pin or slider joint (or 2 roll-sliding joints) can reduce the mechanism to 1 dof • not very useful

  3. 3 3 1 2 2 1 1 1 Simple Mechanisms – 3 links • Consider 3 links: M = 3(3-1) = 6 • 2 pin/slider joints plus 1 roll-sliding joint are necessary to limit it to 1 dof • Useful as cam mechanisms

  4. 3 3 4 2 2 4 1 1 1 1 Four-Bar Mechanisms • 4 links and 4 pins/sliders gives M = 3(4-1) - 2(4) = 1 dof • This is a particularly useful mechanism

  5. Coupler curve (artist’s impression) 3 4 2 1 1 Four-bar mechanisms • By extending the coupler, a four-bar mechanism can be used to generate a wide variety of functions

  6. 5 6 5 3 3 4 6 4 2 2 1 1 1 Watt II 1 1 Watt I Six-Bar Linkages • Six bars and 7 pin/slider joints give M = 3(6-1) - 2(7) = 1 dof • However, now at least 2 links must be ternary • For a Watt linkage, the two ternary links are adjacent

  7. 6 5 3 4 2 1 1 Stephenson I 6 4 3 5 2 1 1 Stephenson II Six-Bar Linkages • For a Stephenson linkage, the 2 ternary links are separated by a binary link

  8. 5 3 6 4 2 1 1 1 Stephenson III Six-Bar Linkages

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