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    Six-Bar Chains:: Six-Bar Linkage Type With Seven Revolute Joints For More Performance

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    Asaduz Zaman
    1) The document discusses six-bar linkages including the Watt chain and Stephenson chain which have one degree of freedom. 2) It describes linkage transformations where revolute joints can be replaced with prismatic joints or full joints can be replaced with half joints, affecting the degrees of freedom. 3) Various mechanisms are presented that generate intermittent motion including cams, Geneva mechanisms, and ratchets. Inversion is described as creating a mechanism by grounding a different link.

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    Six-Bar Chains:: Six-Bar Linkage Type With Seven Revolute Joints For More Performance

    Uploaded by

    Asaduz Zaman
    149 views12 pages
    1) The document discusses six-bar linkages including the Watt chain and Stephenson chain which have one degree of freedom. 2) It describes linkage transformations where revolute joints can be replaced with prismatic joints or full joints can be replaced with half joints, affecting the degrees of freedom. 3) Various mechanisms are presented that generate intermittent motion including cams, Geneva mechanisms, and ratchets. Inversion is described as creating a mechanism by grounding a different link.

    Original Description:

    Six Bar chain

    Original Title

    Mechanism Design 2

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    © © All Rights Reserved

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    1) The document discusses six-bar linkages including the Watt chain and Stephenson chain which have one degree of freedom. 2) It describes linkage transformations where revolute joints can be replaced with prismatic joints or full joints can be replaced with half joints, affecting the degrees of freedom. 3) Various mechanisms are presented that generate intermittent motion including cams, Geneva mechanisms, and ratchets. Inversion is described as creating a mechanism by grounding a different link.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    149 views12 pages

    Six-Bar Chains:: Six-Bar Linkage Type With Seven Revolute Joints For More Performance

    Uploaded by

    Asaduz Zaman
    1) The document discusses six-bar linkages including the Watt chain and Stephenson chain which have one degree of freedom. 2) It describes linkage transformations where revolute joints can be replaced with prismatic joints or full joints can be replaced with half joints, affecting the degrees of freedom. 3) Various mechanisms are presented that generate intermittent motion including cams, Geneva mechanisms, and ratchets. Inversion is described as creating a mechanism by grounding a different link.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 12

    MECHANISMDESIGN170327

    Six-bar Chains : 1 DOF


    Six-bar linkage type with seven revolute joints for more performance
    1) Watt chain : ternary links adjacent

    2) Stephenson chain : ternary links separated by binary links


    MECHANISMDESIGN170327

    ISOMERS
    having equal parts, but interconnected differently

    No. of valid isomers


    MECHANISMDESIGN170327

    ISOMERS eightbar linkages


    MECHANISMDESIGN170327

    Linkage Transformation
    1. revolute joints in any loop can be replaced by prismatic joints
    with no change in DOF of the mechanism, provided that
    at least 2 revolute joints remain in the loop.

    Joint Name Diagram DOF Lower pair with equivalent


    instantaneous velocity
    L = 2 L = 2
    Slider J1 = 1
    J1 = 1
    (prismatic)
    M= 1 M= 1
    MECHANISMDESIGN170327

    Linkage Transformation

    2. any full joint can be replaced by a half joint,


    but this will increase the DOF by one
    3. removal of a link will reduce the DOF by one
    4. the combination of rules 2 and 3 above will keep the original
    DOF unchanged
    MECHANISMDESIGN170327

    Linkage Transformation

    Joint Name Diagram DOF Lower pair with equivalent


    instantaneous velocity
    L = 2 L = 3
    Roll-slide
    J1 = 1 J1 = 2
    contact
    M= 1 M= 2
    MECHANISMDESIGN170327

    Intermittent motion
    a sequence of motions and dwells
    Cam-follower

    Geneva mechanism Ratchet and pawl Linear Geneva mechanism


    MECHANISMDESIGN170327

    Inversion
    Created by grounding a different link in the kinematic chain

    Crank-shaper Hand pump


    Piston engine
    quick-return
    MECHANISMDESIGN170327

    Grashof condition

    Sum of the shortest and longest links of a planar four-bar


    linkage cannot be greater than the sum of the remaining
    two links, if there is to be continuous relative rotation
    between two links

    s+l < p+q

    4R chain : Grashof chain.


    MECHANISMDESIGN170327

    Grashof condition

    Class I s+l < p+q


    MECHANISMDESIGN170327

    Grashof condition
    Class II s+l > p+q
    MECHANISMDESIGN170327

    Grashof condition
    Two change points per revolution
    Class III s+l = p+q of the input crank when the links all
    become colinear

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