Lecture_02 - Kinematics and Dynamics of Machines of ENGR...

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Kinematics and Dynamics Kinematics and Dynamics of Machines of Machines ENGR 3270U ENGR 3270U Lecture 2 Lecture 2 Yuping He University of Ontario Institute of Technology September 10, 2008
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1.2 1.1 Planar Linkage 1.1 Planar Linkage (continued) (continued) Linkage = Links + Joints 1) Links binary ternary quaternary 2) Joints lower pair higher pair
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1.3 3) Linkages unconstrained (chaos theory) over-constrained (Truss-CIV E) constrained (unique relative motion) fix one link (which becomes the “frame”) e.g. Scotch Yoke mechanism
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1.4 1.2 Mobility of Planar Linkages 1.2 Mobility of Planar Linkages 1) Formula for Calculating the Mobility DOF of n unconstrained links n 3 one link is fixed to the base frame 3 3 - n one joint (with DOF) formed between two links, the reduction in system mobility i f i f - 3 for j joints (each one formed between two links), the reduction in mobility = = - = - = - + + - + - j i j i i i j f j f f f f 1 1 2 1 3 ) 3 ( ) 3 ( ... ) 3 ( ) 3 ( total mobility (DOF) of the link: = = + - - = - - - = j i i j i i f j n f j n M 1 1 ) 1 ( 3 ) 3 ( 3 3
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1.5
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