machines and mechanisms: applied kinematic analysis, 4/e · 1.4 mechanism terminology mechanism...
TRANSCRIPT
![Page 1: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/1.jpg)
Machines and Mechanisms: Applied
Kinematic Analysis, 4/e
Chapter 1
![Page 2: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/2.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 2
Chap 1 Introduction
![Page 3: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/3.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 3
1.1 INTRODUCTION
Determine appropriate movement
of the wipers
View range
Tandem or opposite
Wipe angle
Location of pivots
Timing of wipers
Wiping velocity
The force acting on the machine
![Page 4: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/4.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 4
1.2 MACHINES AND MECHANISMS
Machine
Devices used to alter,
transmit, and direct forces
to accomplish a specific
objective
Mechanism
Mechanical portion of a
machine that has the
function of transferring
motion and forces from a
power source to an output
![Page 5: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/5.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 5
1.3 KINEMATICS
![Page 6: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/6.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 6
Dynamics
![Page 7: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/7.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 7
Kinematics
Kinematics
Deal with the way things move
Kinematic analysis
Determine
Position, displacement, rotation, speed, velocity, acceleration
Provide
Geometry dimensions of the mechanism
Operation range
Dynamic analysis
Power capacity, stability, member load
Planar mechanism – motion in 2D space
![Page 8: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/8.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 8
1.4 MECHANISM TERMINOLOGY Mechanism
Synthesis is the process of developing mechanism to satisfy a set of performance requirements
for the machine.
Analysis ensures that the mechanism will exhibit motion to accomplish the requirements.
Linkage
Frame
Links– rigid body
Joint
Primary joint (full joint)
Revolute joint (pin or hinge joint)– pure
rotation
Sliding joint (piston or prism joint)– linear
sliding
![Page 9: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/9.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 9
Higher-order joint (half joint)
Allow rotation and sliding
Cam joint
Gear connection
Simple link
A rigid body contains only two joints
Crank
Rocker
Complex link
A rigid body contains more than two joints
Rocker arm
Bellcrank
Point of interest
Actuator
A power source link
![Page 10: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/10.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 10
1.5 Kinematic Diagram
![Page 11: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/11.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 11
Kinematic Diagram
![Page 12: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/12.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 12
![Page 13: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/13.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 13
![Page 14: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/14.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 14
![Page 15: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/15.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 15
1.7 MOBILITY
1.7.1 Gruebler’s Equation
![Page 16: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/16.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 16
Constrained mechanism
one degree of freedom
Locked mechanism
Zero or negative degrees of freedom
Unconstrained mechanism
More than one degree of freedom
![Page 17: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/17.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 17
![Page 18: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/18.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 18
![Page 19: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/19.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 19
![Page 20: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/20.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 20
Actuators and Drivers
Electric motors (AC)
Electric motors (DC)
Engines
Servomotors
Air or hydraulic motors
Hydraulic or pneumatic cylinders
Screw actuators
Manual
1.7.2 Actuators and Drivers
![Page 21: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/21.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 21
![Page 22: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/22.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 22
1.8 COMMONLY USED LINKS AND JOINTS
1.8.1 Eccentric Crank
1.8.2 Pin-in-a-Slot Joint
1.8.3 Screw Joint
![Page 23: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/23.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 23
![Page 24: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/24.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 24
1.9 SPECLAL CASES OF THE MOBILITY EQUATION
1.9.1 Coincident Joints
1.9.2
• One degree of freedom actually if pivoted links are the same size
![Page 25: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/25.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 25
![Page 26: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/26.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 26
1.10 THE FOUR-BAR MECHANISM
![Page 27: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/27.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 27
![Page 28: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/28.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 28
1.10.1 Degree-of-Freedom
s : short link
l : long link
p , q : intermediate link
![Page 29: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/29.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 29
![Page 30: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/30.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 30
1.11 SLIDER-CRANK MECHANISM
![Page 31: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/31.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 31
1.12 SPECIAL PURPOSE MECHANISMS
1.12.1 Straight-Line Mechanisms
![Page 32: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/32.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 32
1.12.2 Parallelogram Mechanisms
![Page 33: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/33.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 33
1.12.3 Quick-Return Mechanisms
![Page 34: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/34.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 34
1.12.4 Scotch Yoke Mechanism
![Page 35: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/35.jpg)
Machines and Mechanisms: Applied Kinematic Analysis,
4/e Chapter 4 Displacement Analysis
![Page 36: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/36.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 36
4.2 POSITION 4.2.1 Position of a Point
4.3 DISPLACEMENT 4.3.1 Linear Displacement
4.3.2 Angular Displacement
![Page 37: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/37.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 37
4.4 DISPLACEMENT ANALYSIS
Locate the positions of all
links as driver link is
displaced
Configuration
Positions of all the links
One degree of freedom
Moving one link will
precisely position all
other links
![Page 38: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/38.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 38
4.5 DISPLACEMENT:GRAPHICAL ANALYSIS
4.5.1 Displacement of a Single Driving Link
4.5.2 Displacement of the Remaining Slave Links
![Page 39: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/39.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 39
4.5.2 Displacement of the Remaining Slave Links
![Page 40: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/40.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 40
![Page 41: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/41.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 41
![Page 42: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/42.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 42
r1
r2
r4
r3 r3 r5
r4
Y
X
X1
Y1
1 2 3 4
3 31 1 2 2
1 1 2 2 3 3
1 1 2 3
3 4 5
3 3 4 4 1
3 3 4 4
1
0
5.30
3.2
3, 30, 4.9, 3.3
0
00.8
10.1
r r r r
r cr s r c
rc r s r s
r r r
r r r
r c r c x
r s r s
r
2 equations for 2 unknows
2 equations for 2 unknows
(1)
(2) 2 3,
4 1and x
4.1 Vector Analysis of Displacement
![Page 43: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/43.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 43
![Page 44: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/44.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 44
1 2 3 4
3 32
2 3 3
2 2 1/2
3
2 3
0
31.6 2.30
1.5 3 0
(3.9 1.2 )
r r r r
r cc
s r s
r
solve for and
X
Y
r1
r4
r3
r2
![Page 45: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/45.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 45
Analysis of Mechanism Position
![Page 46: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/46.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 46
1 2 3
1 2 1
1 2
1 2 1
1
1 2 2
1 2
2 2
1 2
0
50 400
50 40 0
240 ,
15 , 255
50 400
50 40 0
r r r
c c d
s s
solve for and d
when rotate
c c d
s s
solve for and d
d d d
r3
r1
Y
r2
X
![Page 47: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/47.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 47
![Page 48: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/48.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 48
4.6.1 Closed-Form Position Analysis Equations for an In-Line
Slider-Crank
![Page 49: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/49.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 49
4.6.2 Closed-Form Position Analysis Equations for an Offset
Slider-Crank
![Page 50: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/50.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 50
![Page 51: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/51.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 51
1 2 3 4
31 2
1 2 3
1 2 3
1 2 3
0
1512 20 250
12 20 15 0
90 , .
60 , .
r r r r
cc c
s s s
eqs solve for and
eqs solve for and
Calculate the differenc
2 e of in and
r3
r2
Y
X r4
r1
![Page 52: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/52.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 52
![Page 53: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/53.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 53
1 2 3
1 2
1 2
1 2 1 max
1 2 1 min
0
0.5 1.75 10
0.5 1.75
,
,
r r r
c c
s s y
for solve for and y
for solve for and y
r1
r3 r2
X
Y
![Page 54: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/54.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 54
4.7 LIMITING POSITIONS:
![Page 55: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/55.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 55
1 2 3 4
1 2 1 3 max
1 2 1 3 min
0
, )
, )
r r r r
for solve for and
for solve for and
Y
X
r2
r4
r3
r1
![Page 56: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/56.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 56
1 2 3 4
2 3 1 max 2
2 3 1 min
0
,
,
r r r r
for solve for and
for solve for
r1
r2 r4
Y
r3
X
![Page 57: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/57.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 57
4.9 TRANSMISSION ANGLE
![Page 58: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/58.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 58
1 2 3 4
1 2
1 2
1 2
0
0.5 2.00
0.5 0
r r r r
c lc
s ls
given solve for l and
r2
r1
r3
Y
X
![Page 59: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/59.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 59
1 2 3
1 2 3
1 2
0
30, 70, 030
r r r
xr r r
given solve for and x
Y
r1
r2 X
r3
![Page 60: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/60.jpg)
Machines and Mechanisms: Applied Kinematic Analysis,
4/e
Chapter 6 Velocity Analysis
![Page 61: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/61.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 61
6.2 LINEAR AND ANGULAR VELOCITY
6.2.2 Linear Velocity of a General Point
![Page 62: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/62.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 62
cos
sin /( )
A B
AB A
V V along AB link
w V link length
![Page 63: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/63.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 63
1 2 3 4
2 2 3 3 4 4
3 4
0
0
r r r r
r r r
eqs for unknowns and
r2 r1
r3
r4
X
Y
![Page 64: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/64.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 64
6.6 GRAPHICAL VELOCITY ANALYSIS:RELATIVE VELOCITY METHOD
6.6.1 Points on Links Limited to Pure Rotation or Rectilinear Translation
6.6.2 General Points on a Floating Link
![Page 65: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/65.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 65
1 2 3
1 1 2 2
1 2
1 4
1 1 2 4
0
00
5
r r r
r r
eqs for and
r r r
r r r
r1
r2
r3
r4
X
Y
![Page 66: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/66.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 66
1 2 3
1 1 2 2 2
2
1 2
2
2
0
0
5 min ,
r r r
solve for and
r r r
vcrad r
vs
eqs for unknowns and v
Y
X
r3
r2
r1
![Page 67: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/67.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 67
1 2 3
1 1 2 2 2
2
1 2
0
0
0
50
r r r
r r r
r
eqs for unknowns and
r2
r1
r3
X
Y
![Page 68: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/68.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 68
1 2 3
2 2 3
1 1
1 1 2 2 2
2
2
2
1 2
0
16, 340
3
0
8
8
r r r
r r
eqs for unknowns r and
r r r
cr
s
eqs for unknowns and
r1
r3
r2
Y
X
![Page 69: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/69.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 69
6.9 ALGEBRAIC SOLUTIONS
6.9.1 Slider-Crank Mechanism
![Page 70: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/70.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 70
6.9.2 Four-Bar Mechanism
![Page 71: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/71.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 71
6.10 INSTANTANEOUS CENTER OF ROTATION
![Page 72: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/72.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 72
6.11 LOCATING INSTANT CENTERS
6.11.1 Primary Centers
![Page 73: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/73.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 73
6.12 GRAPHICAL VELOCITY ANALYSIS:
INSTANT CENTER METHOD
![Page 74: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/74.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 74
1 2 3 4
1 1 2 2 3 3
3 1 2
0
0
r r r r
r r r
given solve for and
r1
r2 r4
Y
r3
X
![Page 75: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/75.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 75
1 2 3 4
2 2 3 3 4 4
2 3
4 5 6
4 4 5 5
5
0
0
60 .
0
00
r r r r
r r r
rpm solve for and
r r r
r rv
eqs for unknowns and v
r1
r2 r4
r3
r5
r4 X
r6
Y
![Page 76: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/76.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 76
1 2 3 4
1 1 2 2 3 3
1 2 3
0
0
r r r r
r r r
given find and
r1 r2
r3
r4
X
Y
![Page 77: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/77.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
Chapter 7 Acceleration Analysis
![Page 78: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/78.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 78
7.2 LINEAR ACCELERATION
7.2.1 Linear Acceleration of Rectilinear Points
![Page 79: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/79.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 79
1 2 3 4
1 1 2 2 3 3
1 2 3
1 1 1 2 2 2 2 3 3 3 3
2 3
0
0
0
r r r r
r r r
given find and
r r r
solve for and
r2 r1
r3
Y
r4
X
![Page 80: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/80.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 80
pr
r5
1 2 3 5
1 1 2 2 3 3 5
0p
p
p
r r r r r
r r r r r
r
![Page 81: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/81.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 81
1 2 3
1 1 2 2
2
1 1 1 1 2 2 2 2
2
0
00
00
r r r
r rv
solve for and v
r ra
solve for and a
r2 r3
r1 X
Y
![Page 82: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/82.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 82
![Page 83: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/83.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 83
7.8 ALGEBRAIC SOLUTIONS
7.8.1 Slider-Crank Mechanism
![Page 84: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/84.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 84
7.8.2 Four-Bar Mechanism
![Page 85: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/85.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 85
r1
Y
r3
r2 X
![Page 86: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/86.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 86
7.10 ACCELERATION IMAGE ( Useless! )
![Page 87: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/87.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 87
7.11 CORIOLIS ACCELERATION
![Page 88: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/88.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 88
1 2 3
1 2
1 1 2 2 2
2
1 2 2
2
2
1 1 1 2 2 2 2
2
2
0
0
400, ,
0
r r r
solve for and
r r r
vcr solve for and v
vs
acr r
as
solve for and a
r3 r2
r1
Y
X
![Page 89: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/89.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 89
7.12 EQUIVALENT LINKAGES
![Page 90: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/90.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
Chapter 9 Cams
![Page 91: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/91.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 91
9.1 INTRODUCTION
![Page 92: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/92.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 92
Plate cam
Cylindrical cam
Linear cam
![Page 93: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/93.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 93
9.2 TYPES OF CAMS
Follower motion
![Page 94: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/94.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 94
Follower position
![Page 95: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/95.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 95
9.3 TYPES OF FOLLOWERS
![Page 96: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/96.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 96
9.11 THE 4-STATION GENEVA MECHANISM
Constant rotation producing index motion
![Page 97: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/97.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
Chapter 13 STATIC FORCE ANALYSIS
![Page 98: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/98.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 98
13.3 MOMENTS AND TORQUES
![Page 99: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/99.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 99
13.5 FREE-BODY DIAGRAMS
13.5.1 Drawing a Free-Body Diagram
13.5.2 Characterizing Contact Forces
![Page 100: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/100.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 100
13.6 STATIC EQUILIBRIUM
![Page 101: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/101.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 101
13.7 ANALYSIS OF A TWO-FORCE MEMBER
![Page 102: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/102.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 102
![Page 103: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/103.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
Chapter 14 DYNAMIC FORCE ANALYSIS
![Page 104: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/104.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 104
![Page 105: Machines and Mechanisms: Applied Kinematic Analysis, 4/e · 1.4 MECHANISM TERMINOLOGY Mechanism Synthesis is the process of developing mechanism to satisfy a set of performance requirements](https://reader033.vdocuments.us/reader033/viewer/2022051207/601510356b330004a647ce23/html5/thumbnails/105.jpg)
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved. 105