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DESIGN OF MACHINERY SOLUTION MANUAL 3-21-1 AS PROBLEM 3:21 Statement: Figure P3-7 shows a walking-beam transport mechanism thet uses a fourbar coupler curve, replicated with « parallelogram linkage for parallel motion. Note the duplicate crank and coupler shown ghosted in the right half of the mechanism - they are redundant and have been removed from the duplicete fourbar linkage. Using the same fourbar driving stage (inks 1, 2,3, 4 with coupler point P), design a Watt-I sixbar linkage that will drive link8 inthe same parallel motion using two fewer links. Link lengths: Coupler point deta: Ground link Lj:=222 Crank p= 1 AIP:= 3.06) := 31.000-deg Coupler Lg 2.06 Rocker — Ly 233 Solution: See Figure P3-7 and Mathcad file P0321 1, Calculate the length BP and the angle y using the law of cosines on the triangle APR. os BrP (132+ a1 —2-13-A1Pcod81)) BIP = 1.674 1p Bi ai? wanbew as tail aii nee 2L3BIP m = 2. Use the Cayley diagram (see Figure 3-24) to calculate the link lengths of the two cognates. Note thatthe diagram is made up of three parallelograms and three similar triangles 4 Ls = 1.674 1g=—*BIP 1g = 1893 13 2 Lyg:= AIP Lig = 3.60 Lym AIP y= 1485 3 BrP ae 17 = 0812 = 3.461 AIP 7 s Calculate the coupler point data for cognates #2 and #3 ABP = bg ASP = 3.461 A2P = 1.000 iso-deg - (01 + 11)] 2 = -31.000deg 63 = 39.344 deg From the Roberts diagram, calculate the ground link lengths for cognates #2 and #3, 41 uy Lise —-BIP—Lypc= 1.8035 Luce AIP lac = 32977 13 13 3. Using the calculated link lengths, draw the Roberts diagram (see next page). SUMMARY OF COGNATE SPECIFICATIONS: Cognate #1 Copnate #2 Cognate #3 Ground link length Ly = 2.220 Lyac= 3298 Lipc= DESIGN OF MACHINERY (Crank length Coupler length Rocker length Coupler point Coupler angle SOLUTION MANUAL 2-21-2 13= 1.000 119 = 3.060 Ly = 0812 13 2.060 Ly = LABS Lg = 1.893, Is = 1674 A3P = 3.461 83 = 39.344 deg 4, Determine the Grashof condition of each of the two additional cognates. Condition(S ,L, P,Q) == |SL<- 8 +L Cognate #2: Cognate #3) Condition(L9,L3,L10.L14C) POL P+O retun "Grashof* if SL