DESIGN OF MACHINERY (LL) >CUSTOM<
6th Edition
ISBN: 9781264095681
Author: Norton
Publisher: MCG CUSTOM
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Textbook Question
Chapter 2, Problem 2.11P
Use number synthesis to find all the possible link Combinations for 2 DOF, up to 9 links, to hexagonal order, using only revolute joints.
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Solve all numbers
(i) Determine binary link, ternary link for the given kinematic chain as shown in figure below and also find the number of degrees of
freedom by using Kutzbach criteria.
For the 3-DOF Industrial manipulator arm as shown in Figure 3, determine
the joint displacements for known position and orientation of the end of the
arm point.
0.
0.
Y1A
Y2 A
Y3
X2
X3
21
22
23
Yo
xo
Figure 3. 3 DOF RRR Industrial manipulator arm
The link transformation matrices are given by
C3 -S3 0 a3C3
S3 C3
1
C2 -S2 0 a,C2
C1
S1
-S1
-C1
d1
S2
C2
2T3
%3D
T2
1
1
1
1
1
S1
C\C2a3+C1a2
C1C2C3 – C1S2S3 -C¡C2S3 – C1S2S3
S,C2C3 – S1S2S3 -SĄC2S3 – S1 S2C3 -C1 SịC2a3+ Sja2
Szaz + d1
1
OT3 =
= °T, 'T2 ?T3
S½C3 + C2S3
- S2S3 + C2C3
Chapter 2 Solutions
DESIGN OF MACHINERY (LL) >CUSTOM<
Ch. 2 - Find three (or other number as assigned) of the...Ch. 2 - How many DOF do you have in your wrist and hand...Ch. 2 - How many DOF do the following joints have? Your...Ch. 2 - How many DOF do the following have in their normal...Ch. 2 - Are the joints in Problem 2-3 force closed or form...Ch. 2 - Describe the motion of the following items as pure...Ch. 2 - Calculate the mobility of the linkages assigned...Ch. 2 - Identify the items in Figure P2-1 as mechanisms,...Ch. 2 - Use linkage transformation on the linkage of...Ch. 2 - Prob. 2.10P
Ch. 2 - Use number synthesis to find all the possible link...Ch. 2 - Prob. 2.12PCh. 2 - Use linkage transformation to create a 1-DOF...Ch. 2 - Use linkage transformation to create a 1-DOF...Ch. 2 - Calculate the Grashof condition of the fourbar...Ch. 2 - Prob. 2.16PCh. 2 - Describe the difference between a cam-follower...Ch. 2 - Examine an automobile hood hinge mechanism of the...Ch. 2 - Find an adjustable arm desk lamp of the type shown...Ch. 2 - The torque-speed curve for a 1/8 hp permanent...Ch. 2 - Find the mobility of the mechanisms in Figure...Ch. 2 - Find the Grashof condition and Barker...Ch. 2 - Find the rotatability of each loop of the...Ch. 2 - Find the mobility of the mechanisms in Figure...Ch. 2 - Find the mobility of the ice tongs in Figure P2-6:...Ch. 2 - Prob. 2.26PCh. 2 - Prob. 2.27PCh. 2 - Find the mobility of the corkscrew in Figure P2-9.Ch. 2 - Figure P2-10 shows Watts sun and planet drive that...Ch. 2 - Figure P2-11 shows a bicycle handbrake lever...Ch. 2 - Figure P2-12 shows a bicycle brake caliper...Ch. 2 - Find the mobility, the Grashof condition, and the...Ch. 2 - The approximate torque-speed curve and its...Ch. 2 - Prob. 2.34PCh. 2 - Prob. 2.35PCh. 2 - Sketch the equivalent linkage for the cam and...Ch. 2 - Describe the motion of the following rides,...Ch. 2 - For the mechanism in Figure P2-1 a, number the...Ch. 2 - Repeat Problem 2-38 for Figure P2-1b.Ch. 2 - Repeat Problem 2-38 for Figure P2-1c.Ch. 2 - Prob. 2.41PCh. 2 - Find the mobility, the Grashof condition, and the...Ch. 2 - Find the mobility, the Grashof condition, and the...Ch. 2 - Figure P2-20 shows a Rube Goldberg mechanism that...Ch. 2 - All the eightbar linkages in Figure 2-11 part 2...Ch. 2 - Prob. 2.46PCh. 2 - Prob. 2.47PCh. 2 - Find the mobility of the mechanism shown in Figure...Ch. 2 - Find the mobility of the mechanism shown in Figure...Ch. 2 - Find the mobility of the mechanism shown in Figure...Ch. 2 - Find the mobility of the mechanism shown in Figure...Ch. 2 - Prob. 2.52PCh. 2 - Prob. 2.53PCh. 2 - Repeat Problem 2-38 for Figure P2-1f.Ch. 2 - Repeat Problem 2-38 for Figure P2-1g.Ch. 2 - For the example linkage shown in Figure 2-4 find...Ch. 2 - For the linkage shown in Figure 2-5b find the...Ch. 2 - Prob. 2.58PCh. 2 - Figure P2-21b shows a mechanism. Find its mobility...Ch. 2 - Prob. 2.60PCh. 2 - Figure P2-21 d shows a log transporter. Draw a...Ch. 2 - Figure P2-21e shows a plow mechanism attached to a...Ch. 2 - Figure P2-22 shows a Hart inversor sixbar linkage....Ch. 2 - Figure P2-23 shows the top view of the partially...Ch. 2 - Figure P2-24a shows the seat and seat-back of a...Ch. 2 - Figure P2-24b shows the mechanism used to extend...Ch. 2 - Figure P2-24b shows the mechanism used to extend...Ch. 2 - Figure P2-25 shows a sixbar linkage. Is it a Watt...Ch. 2 - Use number synthesis o find all the possible link...Ch. 2 - Use number synthesis to find all the possible link...Ch. 2 - Prob. 2.71PCh. 2 - For the mechanism in Figure P2-26, number the...Ch. 2 - Figure P2-27 shows a schematic of an exercise...Ch. 2 - Calculate the mobility of the linkage in Figure...Ch. 2 - Calculate the Grashof condition of the fourbar...Ch. 2 - The drum brake mechanism in Figure P2-4g is a...
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Need a deep-dive on the concept behind this application? Look no further. Learn more about this topic, mechanical-engineering and related others by exploring similar questions and additional content below.Similar questions
- Determine binary, ternary link and quaternary link for the given kinematic chain as shown in figure below and also find the number of degrees of freedom by using Kutzbach criteria.arrow_forwardFor the 3-DOF Industrial manipulator arm as shown in Figure 1, determine the joint displacements using inverse kinematics approach for known position and orientation of the end of the arm point. The link transformation matrices are given byarrow_forwardhand written asaparrow_forward
- 6- if A=[ and B is 3x3 uit matrix -2 Pind AB)arrow_forwardWhat is the true answerarrow_forwardYou have been provided with following types of kinematic links. Type of link Binary number = 8 Ternary number = 3 Quaternary = 2 Can you form a kinematic chain by selecting suitable number of links from the available quantity as indicated in the table above? Justify your answer.arrow_forward
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- Define: cartesian space Forward kinematics Matrixarrow_forward4. A general fourbar linkage configuration and its notation are shown in the following figure and table. Find a 3, a 4,A¼, ABA, AB,Ap for open circuit by vector loop method. Row Link 1 Link 2 Link 3 Link 4 02 Rpa 63 6 2 7 9 30 10 6 30 - 12 - 15 7 3 8 85 25 3 10 6 8 45 -10 10 80 d 7 25 24 - 4 45 e 75 -50 10 300 Rp B A 03 2 X 04 NO O55arrow_forwardmechanism technique. please write legibly.arrow_forward
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