17728 kinematics fundamentals_lecture 1 uploaded

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Lecture 1
Kinematics Fundamentals
-Rahul Kirti
Astt. Proff
Mechanical Engg.

 Degrees of Freedom
 Types of Motion
 Links, Joints, and Kinematic chains
 Determining Degree of Freedom
 Mechanisms and Structures
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 The system's DOF is
equal to the number of
independent
parameters
(measurements) which
are needed to uniquely
define its position in
space at any instant of
time.
 A rigid body in plane
motion has three DOF.
 Any rigid body in
three-space has six
degrees of freedom
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 A rigid body free to move within a reference
frame will, in the general case, have complex
motion, which is a simultaneous combination of
rotation and translation.
 we will limit our present discussions to the case
of planar (2-D) kinematic systems.
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 Pure rotation
the body possesses one point (center of rotation)
which has no motion with respect to the
"stationary" frame of reference. All other points on
the body describe arcs about that center.
 Pure translation
all points on the body describe linear paths.
 Complex motion
Points on the body will travel nonparallel paths,
and there will be, at every instant, a center of
rotation, which will continuously change location.
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 A link is an (assumed) rigid body which
possesses at least two nodes which are points
for attachment to other links.
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 Some of the common types of links are:
 Binary link - one with two nodes.
 Ternary link - one with three nodes.
 Quaternary link - one with four nodes.
 Pentagonals – one with five nodes.
 Hexagonals – one with six nodes
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 A joint is a connection between two or more links
(at their nodes), which allows some motion, or
potential motion, between the connected links.
Joints (also called kinematic pairs) can be
classified in several ways:
1. By the type of contact between the elements,
line, point, or surface.
2. By the number of degrees of freedom allowed at
the joint.
3. By the type of physical closure of the joint:
either force or form closed.
4. By the number of links joined (order of the joint).
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 1. Classification by the Type of Contact
We can classify Joints by the type of contact as
Lower Pairs or Higher Pairs. If joints have
surface contact, they are called Lower pair (as
with a pin surrounded by a hole). If joints have
point or line contact, they are called Higher
pair.
 The main practical advantage of lower pairs
over higher pairs is their better ability to trap
lubricant between their enveloping surfaces.
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 The six possible lower pairs are: Revolute (R),
Prismatic (P), Screw/Helical (H), Cylindric (C),
Spherical (S), and Flat (F).
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 2. Classification by the Number of Degrees of
Freedom allowed at the joint
We can classify Joints by the number of degrees of
freedom allowed at the joint as One-Freedom
Joints or Full Joints, Two Freedom Joints or Half
Joints and Three Freedom Joints.
 Examples of one freedom joints are : a rotating pin
joint (R) and a translating slider Joint (P).
 Examples of two freedom joints are: link against
plane and a pin in slot.
 Examples of three freedom joints are: a spherical,
or ball-and-socket joints.
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 3. Classification by the Type of Physical Closure of
the Joint
We can classify Joints by the type of physical
closure of the joint as closed pair and Unclosed
pair.
 A closed pair joint is kept together or closed by its
geometry. A pin in a hole or a slider in a two-sided
slot are closed pair. In contrast, a Unclosed pair,
such as a pin in a half-bearing or a slider on a
surface, requires some external force to keep it
together or closed. This force could be supplied by
gravity, a spring, or any external means.
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 Kinematic Chain
 A kinematic chain is defined as:
An assemblage of links and joints, interconnected in a way to
provide a controlled output motion in response to a supplied
input motion.
 A mechanism is defined as:
A kinematic chain in which at least one link has been
"grounded," or attached, to the frame of reference (which
itself may be in motion).
 A machine is defined as:
A combination of resistant bodies arranged to compel the
mechanical forces of nature to do work accompanied by
determinate motions.
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 Ground
Any link or links that are fixed with respect to
the reference frame
 Crank
A link which makes a complete revolution and is
pivoted to ground
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 Rocker
A link which has oscillatory (back and forth)
rotation and pivoted to ground
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 Coupler
A link which has complex motion and is pivoted
to ground
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 Gruebler Condition
 Any link in a plane has 3 DOF. Therefore, a
system of L unconnected links in the same
plane will have 3L DOF. When these links are
connected by a full joint this removes two
DOF, and when these links are connected to
half joint it removes only one DOF from the
system (because a half joint has two DOF). In
addition, when any link is grounded or
attached to the reference frame, all three
of its DOF will be removed.

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 Gruebler’s Equation
 Based on the above reasoning, Gruebler’s Equation is:
 Note that in any real mechanism, even if more than one
link of the kinematic chain is grounded, the net effect
will be to create one larger, higher-order ground link,
as there can be only one ground plane. Thus G is always
one, and Gruebler's equation becomes:
M=3L-2J-3G (2.1a)
where: M = degree of freedom or mobility
L = number of links
J = number of joints
G = number of grounded links
M=3(L-1)-2J (2.1b)

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 Kutzbach’s Modification of Gruebler’s Equation
 Kutzbach’s Modification of Gruebler’s Equation is:
 The value of J1 and J2 in these equations must still be carefully
determined to account for all full, half, and multiple joints in
any linkage.
 Multiple joints count as one less than the number of links joined
at that joint and add to the "full" (J1) category.
M=3(L-1)-2J1-J2 (2.1c)
where: M = degree of freedom or mobility
L = number of links
J1 = number of 1 DOF (full) joints
J2 = number of 2 DOF (half) joints

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 Compute the DOF of the following examples
with Kutzbach's equation.

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 The degree of freedom of an assembly of
links completely predicts its character. There
are only three possibilities. If the DOF is
positive, it will be a mechanism, and the
links will have relative motion. If the DOF is
exactly zero, then it will be a structure, and
no motion is possible. If the DOF is negative,
then it is a super structure.

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