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V3 MechansimOperation

This document discusses geometric inversions, transmission angles, and mechanical advantage of mechanisms. It defines geometric inversion as two alternative configurations for a given input position. It describes issues that can occur at the dead or toggle position where the coupler and output are collinear, such as mechanism lock-up or branching to a different motion. It discusses how transmission angle is the acute angle between the absolute and relative velocities of the output and coupler links, and how values near 0 or 90 degrees are best for pin and slider joints respectively. Mechanical advantage is the ratio of output to input forces and is calculated using instant centers located by Kennedy's rule that three bodies have three instant centers that lie on a line.

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AnshuShukla
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37 views

V3 MechansimOperation

This document discusses geometric inversions, transmission angles, and mechanical advantage of mechanisms. It defines geometric inversion as two alternative configurations for a given input position. It describes issues that can occur at the dead or toggle position where the coupler and output are collinear, such as mechanism lock-up or branching to a different motion. It discusses how transmission angle is the acute angle between the absolute and relative velocities of the output and coupler links, and how values near 0 or 90 degrees are best for pin and slider joints respectively. Mechanical advantage is the ratio of output to input forces and is calculated using instant centers located by Kennedy's rule that three bodies have three instant centers that lie on a line.

Uploaded by

AnshuShukla
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Geometric Inversions

At the end of this video, you should be able to:
• Describe the geometric inversion of a mechanism
• Identify whether the geometric inversions lie on the same branch 
or circuit 
Geometric Inversions
Geometric Inversion: Two alternative 
configurations for a given input position.

b
3
c
2

a
4

c'
d
Dead Center / Toggle Position: 
Coupler and output co‐linear
Issues:
b • Mechanism Lock‐up
3 • Branch to Different 
2
c Motion
a
4

d
Branch / Circuit
All 4‐bars have a geometric inversion
Pass Through Dead Point?

Same Circuit,  Separate Circuits
Separate Branches
Circuits & Branches
• 4‐bar: up to 2 circuits
• 6‐bar: up to 6 circuits
– Each with 1 or 2 branches
– Need to be found with geometry
Transmission Angle
At the end of this video, you should be able to:
• Identify the transmission angle of a fourbar mechanism
• Identify acceptable values of transmission angles for pin and slider 
joints
• Describe the limitations of using transmission angle analysis
Poor Force Transmission Near Dead Pt
b
b
3
c 3
2 2
c
a a
4
4

d d

Transmission Angle (γ):


• Acute angle between the absolute velocity of
the output link and the relative velocity of the
coupler link at point of connection
Transmission Angle: Worst to Best
Pin Joints Slider Joints
0° Worst

30°

60°

90° Best
Limitations of Transmission Angle
• Neglects Dynamic Forces
• Neglects Gravity
• Assumes Coupler is 2 Force Member

Alternative Measure: Joint Force Index
Fij
JFI  max
FL
Fij = force at every joint
FL = external force
Want JFI < 2
Mechanical Advantage
At the end of this video, you should be able to:
• Locate all of the instant centers of a linkage
• Calculate the mechanical advantage of a linkage
Mechanical Advantage
Fout 1
MA 
Fin
4 2
Conservation of Power
Pin  Pout
3
Instant Centers Crash Course
• Instant Center: Point where two bodies have the same 
instantaneous velocity
• Kennedy’s Rule: 3 bodies have 3 instant centers that lie on a line
rin 3
1 MA 
rout 4
4 2

3
Mechanical Advantage: Sliders

2 3
4

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