Lecture 1 Fundamentals of Mechanics and Mechanisms
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Transcript of Lecture 1 Fundamentals of Mechanics and Mechanisms
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8/10/2019 Lecture 1 Fundamentals of Mechanics and Mechanisms
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Technical University of Cluj-Napoca
Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
Lecture 1
Fundamentals of Mechanics andMechanisms
ef lucr. dr.ing. Sergiu-Dan STAN
Department of Mechanisms, Precision Mechanics and Mechatronics
B-dul Muncii 103-105, C 304
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Technical University of Cluj-Napoca
Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
References
Vistrian MTIE et al., Tehnologie i educaiemecatronic, Ed. Todesco, Cluj-Napoca, 2001.
Viorel HANDRA-LUCA, Introducere in teoria mecanismelor
Ed. Dacia, Cluj-Napoca, 1982.
Sergiu-Dan STAN, Optimizare cu algoritmi genetici
aplicaii n mecatronic, Ed. Todesco, Cluj-Napoca, 2007.
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Technical University of Cluj-Napoca
Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
Mechatronics is defined as the synergistic integration of mechanical engineering, with electronics and intelligent
computer control in the design and manufacturing of industrial products and processes.
Mechatronics
Mechanics
Information
technology
Electronicsmechanical elements
machines
mechanisms
precision mechanics
system theory
software
automation-technology
micro electronics
power electronics
sensors
actuators
Mechatronics
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Technical University of Cluj-Napoca
Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
Industrial Experience: Complexity is the Problem
Control (read software) is the largest cause of failure in complexmanufacturing machines
Failure to understand the consequences of complexity lead to
unreliable operation, poor performance
Mechanical engineersdont understand software
Software engineersdont understand machines
Mechatronics as Education Environment address all these issues.
Facts:Processor generation time18 months
Mechanical generation time520 years
A large portion of mechanical system value is in the software.
Mechatronics as education environment
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Technical University of Cluj-Napoca
Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
Integration
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Technical University of Cluj-Napoca
Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
Since the timing of the engine is dependent on the shape of the cam lobes and
the rotational velocity of the camshaft, engineers must make decisions early in
the automobile development process that affect the engines performance.
The resulting design represents a compromise between fuel efficiency and
engine power.
Since maximum efficiency and maximum power require unique timing
characteristics, the cam design must compromise between the two extremes.
Figure 1. Single Cam and Valve
New trend: camless engines!
IC_engine_4-stroke
http://localhost/var/www/apps/conversion/tmp/video%20mechanisms/IC_engine_4-stroke.wmvhttp://localhost/var/www/apps/conversion/tmp/video%20mechanisms/IC_engine_4-stroke.wmvhttp://localhost/var/www/apps/conversion/tmp/video%20mechanisms/IC_engine_4-stroke.wmvhttp://localhost/var/www/apps/conversion/tmp/video%20mechanisms/IC_engine_4-stroke.wmv -
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Technical University of Cluj-Napoca
Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
Drive-by-Wirereplaces mechanical connectionspush rods,
rack & pinion, steering columns, overhead cams, cablesbymechatronic connectionssensors, actuators, embedded
microprocessors, control software
From mechanics, mechanisms toward mechatronics
drive-by-wire
http://localhost/var/www/apps/conversion/tmp/scratch_9/video%20mechanisms/drive-by-wire.flvhttp://localhost/var/www/apps/conversion/tmp/scratch_9/video%20mechanisms/drive-by-wire.flvhttp://localhost/var/www/apps/conversion/tmp/scratch_9/video%20mechanisms/drive-by-wire.flvhttp://localhost/var/www/apps/conversion/tmp/scratch_9/video%20mechanisms/drive-by-wire.flvhttp://localhost/var/www/apps/conversion/tmp/scratch_9/video%20mechanisms/drive-by-wire.flvhttp://localhost/var/www/apps/conversion/tmp/scratch_9/video%20mechanisms/drive-by-wire.flv -
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Technical University of Cluj-Napoca
Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
Structural Analysis of Planar Mechanisms
Structural Analysis of Planar Mechanisms
Planar Kinematic Pairs (Joints) and Planar Mechanisms Kinematic Pairs (Joints)
Kinematic Chains and Mechanisms
The Kinematic Diagram of a Mechanism
Definition and Purpose
Representation of a Kinematic Pair
The Representation of a Link in the Kinematic Diagram Procedures for Drawing the Kinematic Diagram of a Mechanism
Degree of Freedom of a Mechanism
Definition
Structural Formula of a Mechanism
Condition for a Mechanism to have a Determined Motion
The Composition Principle and Structural Analysis Composition Principle of Mechanisms
Structural Analysis of Mechanisms
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Technical University of Cluj NapocaLecture 1 Fundamentals of Mechanics and Mechanisms
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Technical University of Cluj-Napoca
Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
Rigid mechanisms
Technical University of Cluj NapocaLecture 1 Fundamentals of Mechanics and Mechanisms
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Technical University of Cluj-Napoca
Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
MOTIONSTUDY
Study of position, displacement, velocity and
acceleration of different elements ofmechanism.
Given input Desired output
Motion study is important in Mechanisms and Machine Theory
Technical University of Cluj-NapocaLecture 1 Fundamentals of Mechanics and Mechanisms
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Technical University of Cluj-Napoca
Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
What is a linkage?
Technical University of Cluj-NapocaLecture 1 Fundamentals of Mechanics and Mechanisms
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Technical University of Cluj Napoca
Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
Ubiquitous mechanical modules
Technical University of Cluj-NapocaLecture 1 Fundamentals of Mechanics and Mechanisms
http://en.wikipedia.org/wiki/Image:Nockenwelle_ani.gifhttp://en.wikipedia.org/wiki/Image:4-Stroke-Engine.gif -
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Technical University of Cluj Napoca
Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
Technical University of Cluj-NapocaLecture 1 Fundamentals of Mechanics and Mechanisms
http://en.wikipedia.org/wiki/Image:4-Stroke-Engine.gif -
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Technical University of Cluj Napoca
Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
Technical University of Cluj-NapocaLecture 1 Fundamentals of Mechanics and Mechanisms
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y j p
Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
ef lucr.dr.ing. Sergiu-Dan Stan
Other mechanisms
Technical University of Cluj-NapocaLecture 1 Fundamentals of Mechanics and Mechanisms
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y j p
Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
ef lucr.dr.ing. Sergiu-Dan Stan
Engine 4 strike
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Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
ef lucr.dr.ing. Sergiu-Dan Stan
Linkage components
Technical University of Cluj-NapocaLecture 1 Fundamentals of Mechanics and Mechanisms
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Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
ef lucr.dr.ing. Sergiu-Dan Stan
Linkage classification
Technical University of Cluj-NapocaLecture 1 Fundamentals of Mechanics and Mechanisms
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Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
ef lucr.dr.ing. Sergiu-Dan Stan
Example: 4 bar door damper linkage
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Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
ef lucr.dr.ing. Sergiu-Dan Stan
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Technical University of Cluj-Napoca
F lt f M h i
Lecture 1 Fundamentals of Mechanics and Mechanisms
f l d i S i D St
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Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
ef lucr.dr.ing. Sergiu-Dan Stan
Degrees of Freedom of a Rigid Body
Degrees of Freedom of a Rigid Body in Space
An unrestrained rigid body in space has six degrees of freedom: three translating
motions along the x, yand z axes and three rotary motions around the x, yand zaxes
respectively.
Degrees of freedom of a rigid body in space
Technical University of Cluj-Napoca
Faculty of Mechanics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr dr ing Sergiu Dan Stan
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Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
ef lucr.dr.ing. Sergiu-Dan Stan
TYPES OF KINEMATIC PAIRS
Based on nature of contact between elements
(i) Lower pair : The joint by which two members areconnected has surface contact.
Classification: types of kinematic pairs
Prismatic pair Revolute pair
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Technical University of Cluj-Napoca
Faculty of Mechanics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr dr ing Sergiu-Dan Stan
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Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
ef lucr.dr.ing. Sergiu-Dan Stan
Based on relative motion between pairing elements
(a) Sliding pair [DOF = 1]
(b) Turning pair (revolute pair)[DOF = 1]
Types of kinematic pairs
Technical University of Cluj-Napoca
Faculty of Mechanics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr dr ing Sergiu-Dan Stan
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Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
ef lucr.dr.ing. Sergiu Dan Stan
Based on relative motion between pairing elements
(c) Cylindrical pair[DOF = 2]
(d) Rolling pair[DOF = 1]
Types of kinematic pairs
BeltRolling bearings
Technical University of Cluj-Napoca
Faculty of Mechanics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
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Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
ef lucr.dr.ing. Sergiu Dan Stan
Based on relative motion between pairing elements
(e) Spherical pair [DOF = 3]
Eg. Ball and socket joint
(f) Helical pair or screw pair [DOF = 1]
Types of kinematic pairs
Technical University of Cluj-Napoca
Faculty of Mechanics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
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Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
ef lucr.dr.ing. Sergiu Dan Stan
Based on the nature of mechanical constraint
(a) Closed pair
(b) Unclosed or force closed pair
Types of kinematic pairs
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Technical University of Cluj-Napoca
Faculty of Mechanics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
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y
Department of Mechanisms, Precision Mechanics and Mechatronics
g g
Types of joints
Technical University of Cluj-Napoca
Faculty of Mechanics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
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Department of Mechanisms, Precision Mechanics and Mechatronics
Types of joints
Technical University of Cluj-Napoca
Faculty of Mechanics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
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Department of Mechanisms, Precision Mechanics and Mechatronics
Types of joints
Technical University of Cluj-Napoca
Faculty of Mechanics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
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Department of Mechanisms, Precision Mechanics and Mechatronics
Kinematic joints, 1 DOF
Kinematic joints
f=6-k
f=degree of freedom
k=number of blocked motions
1 DOF (degree of freedom)
Technical University of Cluj-Napoca
Faculty of Mechanics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
-
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Department of Mechanisms, Precision Mechanics and Mechatronics
f=6-k
f=1=degree of freedom
k=5=number of blocked motions
1 DOF (degree of freedom)
Symbol
Kinematic joints, 1 DOF
Technical University of Cluj-Napoca
Faculty of Mechanics
Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
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Department of Mechanisms, Precision Mechanics and Mechatronics
Example: Lead Screw, 1 DOF
Technical University of Cluj-NapocaFaculty of Mechanics
D f M h i P i i M h i d M h i
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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Department of Mechanisms, Precision Mechanics and Mechatronics
Example: Gear mechanisms
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Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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Department of Mechanisms, Precision Mechanics and Mechatronics
Symbol
2 DOF (degrees of freedom)
f=6-k
f=2=degree of freedom
k=4=number of blocked motions
Kinematic joints, 2 DOF
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Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
-
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Department of Mechanisms, Precision Mechanics and Mechatronics
Symbol
Kinematic joints, 3 DOF
f=6-k
f=3=degree of freedom
k=3=number of blocked motions
Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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Department of Mechanisms, Precision Mechanics and Mechatronics
Kinematic joints, 4 DOF
f=6-k
f=4=degree of freedom
k=2=number of blocked motions
Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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Department of Mechanisms, Precision Mechanics and Mechatronics
Kinematic joints, 5 DOF
f=6-k
f=5=degree of freedom
k=1=number of blocked motions
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Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
-
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3 DOF Compliant Micro-motion Stages with Flexure Hinges
Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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New types of joints: compliant mechanisms (flexible joints)
Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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GRUBLERSCRITERION
Number of degrees of freedom of a mechanism is given by
F = 3(n-1)-2l-h
Where,
F = Degrees of freedom
n = Number of links in the mechanism.
l = Number of lower pairs, which is obtained by counting the
number of joints. If more than two links are joined together atany point, then, one additional lower pair is to be considered forevery additional link.
h = Number of higher pairs
Degree of freedom
Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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ExamplesDOF
Four-bar mechanism
F = 3(n-1)-2l-h
Here, n = 4, l = 4 & h = 0. F = 3(4-1)-2(4) = 1
i.e., one input to any one link will
result in definite motion of all the
links.
Examples - DOF
n = Number of links in the mechanism.
l = Number of lower pairs,
h= Number of higher pairs.
Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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ExamplesDOF
Five-bar mechanism
F = 3(n-1)-2l-h
Here, n = 5, l = 5 and h = 0.
F = 3(5-1)-2(5) = 2
I.e., two inputs to any two links are
required to yield definite motions in
all the links.
Examples - DOF
n = Number of links in the mechanism.
l = Number of lower pairs,
h= Number of higher pairs.
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Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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Five-bar mechanism, realized at Dept. of Mechatronics, TU Cluj-Napoca
Five-bar mechanism, 2 DOF
Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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Five-bar mechanism, realized at Dept. of Mechatronics, TU Cluj-Napoca
Five-bar mechanism, 2 DOF
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Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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Examples - DOF F = 3(n-1)-2l-h
Here, n = 6, l = 7 (at the
intersection of 2, 3 and 4, twolower pairs are to be considered)
and h = 0.
F = 3(6-1)-2(7) = 1
Examples - 1 DOF
Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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Homework!
Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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Homework!
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Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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Types of links
Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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The Representation of a Link in the Kinematic Diagram
BA
A+ + B
Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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The Representation of a Link in the Kinematic Diagram
Cone Gears Drive Outer meshed cylindrical gear driveSpur gears
Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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Examples of rigid links
Examples of rigid links
Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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KINEMATIC CHAINS
Group of links either joined together or
arranged in a manner that permits them to
move relative to one another.
Kinematic chains
Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
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LOCKED CHAIN OR STRUCTURE
Links connected in such a way that no relative
motion is possible.
Locked chains
Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
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MECHANISM
A mechanism is a constrained kinematic chain.
Motion of any one link in the kinematic chainwill give a definite and predictable motionrelative to each of the others.
Usually one of the links of the kinematic chain isfixed in a mechanism.
Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
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Kinematic chains and Mechanisms
Open kinematic chains Closed kinematic chains
Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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Common 4-bar linkage types
MECHANISMS
Technical University of Cluj-NapocaFaculty of Mechanics
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4-bar pin slider linkages
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Schematic representation
Technical University of Cluj-NapocaFaculty of Mechanics
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Examples. Double slider-crank
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Example of a kinematic information chain
Technical University of Cluj-NapocaFaculty of Mechanics
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Evolution from traditional mechanisms toward
mechanisms for mechatronics
AAmplifier, TrTransducer, Cmicrocontroller, Mdriving motor,
M1,M2DC servomotors
Technical University of Cluj-NapocaFaculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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PLANAR MECHANISMS
When all the links of a mechanism have planemotion, it is called as a planar mechanism. All
the links in a planar mechanism move in
planes parallel to the reference plane.
Technical University of Cluj-NapocaFaculty of Mechanics
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Examples. Four bar mechanism
Technical University of Cluj-NapocaFaculty of Mechanics
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Lecture 1 Fundamentals of Mechanics and Mechanismsef lucr.dr.ing. Sergiu-Dan Stan
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Example. Four bar mechanism. Type 1
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Example. Four bar mechanism. Type 2
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Example. Four bar mechanism. Type 3
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Example. Four bar mechanism. Type 4
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Example. Four bar mechanism. Linear trajectory
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Lecture 1 Fundamentals of Mechanics and Mechanisms
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Differential
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Examples of trajectories obtained using different mechanisms
a) b)
c)
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