P0321 - Kinematics and Dynamics of Machinery SOLUTION...

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Kinematics and Dynamics of Machinery SOLUTION MANUAL 3-21-1 PROBLEM 3-21 Statement: Figure P3-7 shows a walking-beam transport mechanism that uses a fourbar coupler curve, replicated with a parallelogram linkage for parallel motion. Note the duplicate crank and coupler shown ghosted in the right half of the mechanism - they are redundant and have been removed from the duplicate fourbar linkage. Using the same fourbar driving stage (links 1, 2, 3, 4 with coupler point P), design a Watt-I sixbar linkage that will drive link 8 in the same parallel motion using two fewer links. Given: Link lengths: Coupler point data: Ground link L 1 2.22  Crank L 2 1  A1P 3.06  31.000 deg  Coupler L 3 2.06  Rocker L 4 2.33  Solution: See Figure P3-7 and Mathcad file P0321. 1. Calculate the length BP and the angle  using the law of cosines on the triangle APB . B1P L 3 2 A1P 2 2 L 3 A1P cos   0.5  B1P 1.674 acos L 3 2 B1P 2 A1P 2
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