Chapter - 1
Chapter - 1
Chapter - 1
Terminology
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2 3 4-link mechanism
1. Separation of dynamics into kinematics and kinetics :
Rigid body assumption (Euler) 1
2. Actual shape does not matter
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Screw pair
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∆θ1
∆θ1 ∆θ2
Ground Link : Fixed wrt reference frame ∆θ2
Links pivoted to ground: By connecting two previously disconnected links by a revolute joint, two DOF
− Crank : Makes complete revolutions are eliminated.
− Follower : crank/rocker (Oscillatory motion)
Coupler : complex motion, not attached to ground
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Kutzbach equation
Quick-return mechanism
(Shaper)
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R
R
R
R
R R2
a
R R
b
R
R
R2
R R
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R R
R
R
R R
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Exercise : Excavator
BITS Pilani
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Introduction to Kinematics
Lecture – 2
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Kinematic Inversion
Limitation : Kutzbach equation
1. Different mechanisms behavior can be obtained by fixing different
links of the same kinematic chain.
2. The process of choosing different links in the chain as frames known
as Kinematic inversion.
coupler
Follower
crank
No consideration given to lengths of links or specific geometry.
Kutzbach criterion can be violated due to non-uniqueness of geometry for a
given connectivity of links. Inversions result from grounding different links in the chain.
So, there are as many inversions as links.
Not all inversions will have unique kinds of motion.
A Four-bar has only 3 distinct inversions, 2 crank-rockers, 1 double-crank,
and 1 double-rocker.
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Double crank
Otherwise the linkage is non-Grashof : No link is capable of making a complete (if shortest link is grounded) Double rocker if link opposite
to shortest is grounded
revolution (class II kinematic chain)
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Grashof’s inversions 28
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Four inversions result in mechanisms similar to those obtained when S+L < P+Q Case 2: Deltoid form
L
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All inversions will be double rockers Check Grashof’s condition and identify the mechanism.
No link can fully rotate
Grashof If SL < PQ
Special Grashof If SL = PQ
Non- Grashof Otherwise
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4-bar mechanism :
2 R- 2 P
Oldham’s coupling
1. The Oldham Coupler is named for Irish engineer John Oldham who invented the three
disc coupler in 1821, to resolve a paddle placement problem in a paddle steamer design.
2. Used where
high accuracy and zero back lash are not so important
parallel misalignment
Ideal for many light duty industrial and motion control applications
Oldham coupling acts as a torque limiter during overload. When the disk fails, it
breaks cleanly and does not allow any transmission of power.
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