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SUPPLEMENTAL EXERCISE PROBLEMS
for Textbook
Kinematics, Dynamics, and Design of
Machinery
by
K. J. Waldron and G. L. Kinzel
©199697 by K. Waldron and G. Kinzel
Department of Mechanical Engineering
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 1 
Supplemental Exercise Problems
for
Kinematics, Dynamics, and Design of Machinery
by
K. J. Waldron and G. L. Kinzel
Supplemental Exercise Problems for Chapter 1
Problem S1.1
What are the number of members, number of joints, and mobility of each of the planar linkages
shown below?
(a)
(b)
(c)
AAA
AAAA
AAAA
AA
A
A
A
A
A
A
A
Problem S1.2
Determine the mobility and the number of idle degrees of freedom of each of the planar linkages
shown below.
Show the equations used to determine your answers.
(a)
(b)
(c)
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Problem S1.3
Determine the mobility and the number of idle degrees of freedom of the linkages shown below.
Show the equations used to determine your answers.
(a)
(b)
Problem S1.4
Determine the mobility and the number of idle degrees of freedom associated with the mechanism.
Show the equations used to determine your answers.
2
3
4
Problem S1.5
If the link lengths of a fourbar linkage are
L
1
= 1 mm,
L
2
= 3 mm,
L
3
= 4 mm, and
L
4
= 5 mm
and link 1 is fixed, what type of fourbar linkage is it?
Also, is the linkage a Grashof type 1 or 2
linkage?
Answer the same questions if
L
1
= 2 mm.
Problem S1.6
You are given two sets of links.
Select four links from each set such that the coupler can rotate
fully with respect to the others.
Sketch the linkage and identify the type of fourbar mechanism.
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This note was uploaded on 02/20/2011 for the course MEC 411 taught by Professor Shudong during the Winter '11 term at Ryerson.
 Winter '11
 Shudong
 Mechanical Engineering

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