PinPin--inin--slot joint : higher pairslot joint : higher pair

Screw joint : lower pairScrew joint : lower pair

Hydraulic/Pneumatic CylindersHydraulic/Pneumatic Cylinders

((liftlift tabletable))

: : ((OuttriggerOuttrigger))

>>

Four-Bar Mechanism

: Link 4 : > ground 1 : > pin 4 :> pin 4 : : link :>>>

GRASHOF CONDITION : link 4 :

Four-bar mechanism Four-bar mechanism

S = Link > :>

L = Link >>

P = Link >

Q = Link > :Q = Link > :

GRASHOF CONDITIONClass I case

S + L < P + Q

Four-bar mechanism link 1 : > (rotation)

Class II case

S + L > P + Q S + L > P + Q

Four-bar mechanism (rocker) : (Triple rocker Non-Grashof linkage)

GRASHOF CONDITION

Class III case

S + L = P + Q S + L = P + Q

Special case Grashof : double-cranks

double-rockers

Class I case : Class I case : GrashofGrashof fourfour--bar linkagebar linkage

S + L < P + Q

Crank - rockerCrank - rocker

Shortest Link Ground Shortest Link Link >

Class II case : NonClass II case : Non--GrashofGrashof fourfour--bar linkagebar linkage

S + L > P + Q

Class II case : NonClass II case : Non--GrashofGrashof fourfour--bar linkagebar linkage

Shortest Link ground Shortest Link :> :>

Class III case : SpecialClass III case : Special--GrashofGrashof fourfour--bar linkagebar linkage

S + L = P + Q

2 Link > : 2 Link > :

Class III case : SpecialClass III case : Special--GrashofGrashof fourfour--bar linkagebar linkage

S + L = P + Q

Class III case : SpecialClass III case : Special--GrashofGrashof fourfour--bar linkagebar linkage

Four-bar mechanism

>>

Grashof Condition

S + L < P + QS + L < P + Q

(12 + 32) < (30 + 26)

54 < 56

Crank - rocker Crank - rocker

InversionInversion kinematics chain > ground link

>>>>>>

InversionInversion

InversionInversion

Intermittent MotionIntermittent Motion >> (dwell)

Dwell > output link >> Input link Dwell > output link >> Input link >>>

Intermittent Motion deviceIntermittent Motion deviceGENEVA Mechanism Ratchet and pawl

Intermittent Motion deviceIntermittent Motion device Linear GENEVA Mechanism

Linkages of more than Linkages of more than 44--barbarGeared Five Bar Linkages (GFBM)

Linkages of more than Linkages of more than 44--barbar SixBar Linkages

Watts SixbarWatts Sixbar

Linkages of more than Linkages of more than 44--barbar

Stephensons Sixbar

Linkages of more than Linkages of more than 44--barbarStraight-Line Mechanisms

Linkages of more than Linkages of more than 44--barbar Straight-Line Mechanisms

Linkages of more than Linkages of more than 44--barbar

Theo Jansens Walking Linkage

(Scalar) (Scalar) (Vector)(Vector)

(Scalar) >>

(Length) (Length)

(Time)

(Temperature)

(Vector) > :

(Displacement) (Displacement)

(Force)

(Velocity)

HP HP

c

aA =)sin(

Pythagoras

c

c

bA =)cos(

b

a

A

AA ==

)cos(

)sin()tan(

Pythagoras222bac +=

HPP HPP

sin

cos

Vector (Analytical method)Vector (Analytical method)

Vector

Vector (Graphical method)Vector (Graphical method) (Tip to Tail):

> 1 > (Origin) O

> 2 >> 1 > 2 >> 1

>

Origin (O) >

Vector (Analytical method)Vector (Analytical method)

vector

>

> ()

Vector (Graphical method)Vector (Graphical method)

Vector (Analytical method)Vector (Analytical method) vector

>

> ()

Vector (Analytical method)Vector (Analytical method) vector

Po75=

Vector (Analytical method)Vector (Analytical method)

>

> ()

Vector (Analytical method)Vector (Analytical method)

>

>