ME321 Kinematics and Dynamics of Machines Introduction Continued - PowerPoint PPT Presentation

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ME321 Kinematics and Dynamics of Machines Introduction Continued

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... be ternary. For a Watt linkage, the two ternary links are ... For a Stephenson linkage, the 2 ternary links are separated by a binary link. 1 1. Stephenson I ... – PowerPoint PPT presentation

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Title: ME321 Kinematics and Dynamics of Machines Introduction Continued


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

2
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
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
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
Four-bar mechanisms
  • By extending the coupler, a four-bar mechanism
    can be used to generate a wide variety of
    functions

6
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
Six-Bar Linkages
  • For a Stephenson linkage, the 2 ternary links are
    separated by a binary link

8
Six-Bar Linkages
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