Scribd
Upload
36 views

Statement:: PROBLEM 2-29

This document summarizes the solution to a problem about Watt's sun and planet drive mechanism. It includes: 1. A kinematic diagram of the mechanism showing it is a four-bar linkage with 1 degree of freedom. 2. An application of Kutzbach's equation to determine the mechanism has 1 degree of freedom. 3. Confirmation that the mechanism can be classified in Barker's scheme as a type I-4 linkage since it meets the criteria of a Grashof linkage with the shortest link being the output.

Uploaded by

GUSTAVO VINICIUS VIEIRA MELLO
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
36 views

Statement:: PROBLEM 2-29

This document summarizes the solution to a problem about Watt's sun and planet drive mechanism. It includes: 1. A kinematic diagram of the mechanism showing it is a four-bar linkage with 1 degree of freedom. 2. An application of Kutzbach's equation to determine the mechanism has 1 degree of freedom. 3. Confirmation that the mechanism can be classified in Barker's scheme as a type I-4 linkage since it meets the criteria of a Grashof linkage with the shortest link being the output.

Uploaded by

GUSTAVO VINICIUS VIEIRA MELLO
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
You are on page 1/ 1

Kinematics and Dynamics of Machinery SOLUTION MANUAL 2-29-1

PROBLEM 2-29
Statement: Figure P2-10 shows Watt's sun and planet drive that he used in his steam engine. The beam 2 is
driven in oscillation by the piston of the engine. The planet gear is fixed rigidly to link 3 and its
center is guided in the fixed track 1. The output rotation is taken from the sun gear 4. Sketch a
kinematic diagram of this mechanism and determine its DOF. Can it be classified by the Barker
scheme? If so, what Barker class and subclass is it?

Solution: See Figure P2-10 and Mathcad file P0229.


1. Sketch a kinematic diagram of the mechanism. The mechanism is shown on the left and a kinematic model of it
is sketched on the right. It is a fourbar linkage with 1 DOF (see below).

A
2
2 1

3 3

1
B 4
4

1 C

2. Use equation 2.1c to determine the DOF (mobility). There are 4 links, 3 full pin joints, 1 half pin-in-slot joint (at
B), and 1 half joint (at the interface C between the two gears, shown above by their pitch circles). Links 1 and 3
are ternary.

Kutzbach's mobility equation (2.1c)


Number of links L
4
Number of full joints J1 
3
Number of half joints J2 
2

M
 3
( L 1) 2 
J1 J 2 M 1

3. The Barker classification scheme requires that we have 4 link lengths. The motion of link 3 can be modeled by a
basic fourbar if the half joint at B is replaced with a full pin joint and a link is added to connect B and the fixed
pivot that is coincident with the center of curvature of the slot that guides pin B.

L1 
2150 L2 
1250
L3 
1800 L4 
540

This is a Grashof linkage and the Barker classification is I-4 (type 4) because the shortest link is the output.

You might also like