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The 13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011

A21_451

STRAIGHT-LINE MECHANISMS IN THE COLLECTION OF BAUMAN MOSCOW STATE TECHNICAL UNIVERSITY


D. Klyukin1 BMSTU Moscow, Russia M.Shchedrin2 BMSTU Moscow, Russia V. Tarabarin3 BMSTU Moscow, Russia

Abstract. Straight-line mechanisms (SLM) are one of the most specific parts of machines mechanics. It is more than enough to say that BMSTU owns more than 20 models of such mechanisms in its collection of mechanisms models. Lots of famous scientists, such as Watt, Reuleaux, Chebyshev, Peaucellier, were engaged in designing and investigation those mechanisms. However, it is known these mechanisms didnt receive enough application on practice. At present time, even people in mechanics studies dont exactly know where mechanisms were used and how the high interest for them in 18-19 centuries can be explained. This article will look at straight-line mechanisms of BMSTUs collection, the principles of their designing, the history of creation and application of them.
Keywords: Straight-line mechanisms, collection of mechanisms, models of BMSTU, history of machines and mechanisms

this mechanism is known as the Peaucellier-Lipkin mechanism. Later on, other straight-line mechanisms were designed. The fact that Reuleauxs collection was consisted of 38 such mechanisms tells us about high interest for them at that time. There were lots of them in the BMSTUs collection, however only 19 Reuleauxs, 5 Ershov-Redtenbachers, 1 Orlov's and 3 Reshetov's models are left. II. Classification of lever straight-line mechanisms The description and the analysis of SLM is given in projects [1-5]. The principles, on based what close and precision straight-line mechanisms are designed, are explained in more details in the book of Zernov [3]. Here, only 3 main types of close mechanisms are highlighted; they are elliptical, lemniscoidal and conchoidal. The table 1 shows the division of straightline mechanisms models based on types of mechanisms of Reuleauxs and BMSTU's collections. The all Reuleaux's collection models are described by Moon, website [6]. Moreover, there are also names of scientists who have designed the outline of mechanism, defined the optimum ratio of the length of links. The majority of those mechanisms are related to Reuleaux collection. He has developed many of them, has taken part in engineering and construction of models. That's why in case when the original author of mechanism was unknown, it was said to be the Reuleaux's one.

I.

General Introduction

The majority of mathematics curves can be created by using simple hinge-lever mechanisms. Fixing the rod with the use of hinge on the base, we would get a mechanism with all its points moving on precise circles Similarly, the straight line would appear if the rod is attached to the base by translational pair. However, the accuracy of such straight line depends on the precision of manufacturing of the translational pair. The technologies, existed in engineering in 18-19 centuries, couldnt guarantee high accuracy of translational pair, though that rotational pairs were manufactures at a pretty high level of precision. As a result, there was a need in mechanics for a simple hinge mechanism which can provide a straight-line motion of an output link or a point. First mechanisms werent able to ensure a theoretically precision movement on a straight line. They have created that motion approximately with the enough accuracy for the practical application. However, scientists and inventors were still trying to find a type of construction of mechanism which would provide a perfect motion. The first one who has created such mechanism was Peaucellier. However, the mechanism has become famous just after its second independent birth by Lipkin, Chebyshevs student. Thats why now
1 2

M 04

M 05

M 12

M 31

M 34

Fig. 1: Straight-Line Mechanisms of BMSTU collection

Student, amanish@yandex.ru Student, wanksta-91@mail.ru 3 Ass. Prof, docent, vtarabarin@gmail.com

The 13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011

A21_451

Table 1: Classification Straight-Line Mechanisms Type Inventor Numbers in Numbers in of Mechanisms (Creator) collection collection Reuleaux BMSTU 1. Elliptical Reuleaux S01,S02,S03, Q17,B28, S04,S08,S09, Q04,Q15 S13 Evans S05,S06,S07 Q02, M31 Nehrlich S10,S11,S12 Q13,Q14, M18,M12 Roberts S14,S15 Hypocycloid Watt (Lahire) S16,S17 2. Epicycloid Reuleaux S18 3. Lemniscate Chebyshev S19,S30 B11,Q05 Watt S24,S25 Q10,Q18, M05,M34 Reuleaux S26,S32,S36, Q16,Q19, S37,S38 36 Harwey S31 Q09 Maudslay S33 4. Conchoidal Reuleaux S20 Q07 Reichenbach S21,S22 Q11 5. Cycloid Reuleaux S27,S28,S29 S13 6. Cartwright S34 7. Peaucellier-Lipkin S35 8. Rhombus Reuleaux S39 III. Approximate lever straight-line mechanisms First of all, we would look at three main types of approximate mechanisms. The Cardan's circles mean that there is a pair of centroids in which the largest is motionless, while the smallest is inside the first one. The radius of largest centroid is twice bigger than the smallest. The centre of small centroid is moving around the circle and all its points are making straight lines during the motion of it on large. The Figure 3a shows a scheme of epicyclical notched SLM (the mechanism of Lahire or Watt), where the output link, 3, is fixed at point C of centroid with the use of rotational kinematic pair and creates translational straight-line movement. If the link would be made in the lever form, which joins hinges B and C, we get elliptical SLM (Fig. 3b) with its point S moving approximately on straight line (with small corners movements of rocker 1). Also the lever SLM of Evans can be got by fixing the hinge C on the ending of rocker 3 (Fig. 3c). In this mechanism the length of rocker 3 has to be enough large to make the tiny motion of arc C looks similar to the straight line motion.

S19 (B11)

S38 (36)

S04 (B28)

S30 (Q05)

S20 (Q07)

S11 (Q14)

S13 (Q15)

S26 (Q16)

S03 (Q17)

S12 (M18)

S05 (Q02)

S08 (Q04)

S24 (Q10)

S22 (Q11)

S11 (Q14)

S25 (Q18)

S36 (Q19)

S29 (S13)

Fig. 2: Straight-Line Mechanisms of Reuleauxs collection

The 13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011

A21_451

Reuleaux has made a suggestion of setting points of a connecting rod 3 (S, E and F) not on the straight line, but on isosceles triangle which inscribed in smaller circle of Cardan (Fig. 4a). In this case, points E and F are situated on the equal distance from the diameter SP. The next step is to connect those points by the rotational pairs with sliders 4 and 5, and translational pair Q and K forward in a straight lines ee and ff (radiuses of larger Cardans circle). The models SLM S08 and S09 (Q04) are designed based on this scheme. The Robertss mechanism (S14 and S15) is a elliptical one as well as other. In this kind of mechanisms points E and F are on the same distance from the diameter SP inside the smaller circle (Figure 4b). During the rolling of Cardans circles these points are moving along the arcs of ellipses. The approximated motion of point S along straight ss can be received by approximating those arcs by points E and F of cranks QE and KF.

Fig. 3: Elliptical Straight-Line Mechanisms of Evans Because all points of connecting rod 2 move in ellipses, it is not necessary to choose the middle point BS. It can be chosen at any part of this line. In the case of point A, the length of crank AB is defined by the radius of the curvature of the curve , which approximates the following part of ellipse. There are schemes of 3 types of Evanss mechanisms on the figure 3: the first one is S05, M31 d, the second is S06 e and the last one is S07 f. b

Fig. 5: Conchoidal Straight-Line Mechanisms a Curves drown by points placed at the link 2 of mechanism, which represented at the Fig. 5a, are called conchoids. While S is moving on the straight line ss and point A is fixed, coupling link can slide and roll with a point A as a center. Approximating conchoid pieces by arcs with help of rockers OE, OQ and OK we can receive different types of approximate conchoidal SLM. Reichenbach was the first who offered such kind of mechanisms. There are three types of conchoidal mechanisms in the Reuleauxs collection: the first mechanism is S20 (Fig. 5c), the second model is S21 (Fig. 5d) and the last one is S22 (Fig. 5b).

b Fig. 4: Elliptical Straight-Line Mechanisms of Reuleaux and Roberts

The 13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011

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There are two models of this mechanism in the collection of BMSTU: the first one is the model by Reuleaux-Voigt and the second is model supposedly made by F.E. Orlov. Its wooden model created at the TMM department of BMSTU, and it demonstrates the rolling of centrodes of the connecting rod (Fig. 7). b a

d e Fig. 6: Lemniscoidal Straight-Line Mechanisms Complex line made by points of a connecting rod of a four-hinge mechanism is called lemniscates. Different pieces of this curve are close either to arcs of a circle or to straight lines. This is exactly what Watt has used in his famous parallelogram. Two kind of Watts parallelograms are known: the first is called reduced (Fig. 6a, b) and the other one is full (Fig. 6c). The best approximation to the straight line in the reduced Watts parallelogram ensures by the point of the connecting rod S which divides it into segments inversely proportional to length of links 1 and 3:

Fig. 7: Model and scheme cross link SLM of Chebyshev Based on this SLM Chebyshev had developed the original scheme of the steam-engine [9]. The mechanism of this steam-engine ensured movement of the point where connected rod of the piston on a straight line with high accuracy. This steam-engine machine and its model were made at the factory of IMTU. The machine was demonstrated at the exhibition in Paris and was awarded by organization committee. Figure 8 represents the photo of the model of the steam-engine machine and structure scheme of its mechanism. Unfortunately, the dynamical properties of this machine were bad, therefore, only one prototype was released. Nowadays, its kept in the museum of BMSTU.

lCS l AB = . lSB lCD

(1)

Full mechanism of Watt (Fig. 6c) has two links more and these links create the parallelogram BCEF, which point E moving in a straight line parallel to ss. In the Watts steam engine (model M4) point S was connected with the rod of general cylinder and point E was connected with the rod of pumping piston. Point S can divide connecting rod in external way (Fig. 6b) as well, as long as the equation (1) is fulfilled (model S25). P.L. Chebyshev had improved the mechanism of Watt (Fig. 6e). Scheme of mechanism and ratio of dimensions suggested by Chebyshev allowed to decrease deviation of the path of the point S from a straight line to 0.05 mm, while Watts mechanism had deviation of almost 2 mm [7]. Later he suggested another four-linkage SLM [8], where linkages of rockers were crossed, and which guaranteed precision of reproduction of a straight line two times better than reduced parallelogram of Watt (Fig 6d). The ratio of lengths of links defined by proportion (markings by the Fig. 6d):

Fig. 8: Model and scheme of the Chebyshevs steam engine The considerable part of section of collection SLM is made by inverse mechanisms (S10-13, 16-17, 23, 26 and M12). The mechanism rotation is carrying out by the rack change. The straight line moving link or a point as fixed (i.e. transform into a rack), and an old rack is

lAD : lAB : lDC : lCB = 4 : 5 : 5 : 2.

(2)

The 13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011

A21_451

released and connected to new proof forward pair. At the Fig. 9 the transformation of elliptic mechanisms to inverse Nehrlichs SLM is shown.

b b

Fig. 9: Inversion elliptical SLM of Nerlich During the rotation the mechanism structure changes as two new kinematic pairs (E and S) and a link 4 are formed. The general mobility of the flat mechanism changes as well and becomes equal to zero. W p= 3n+2p1= 34+26 =0 Fig. 10: Exact Straight-Line Mechanisms One superfluous connection appears in the mechanism and defines orientation of forward pair in parallel to the trajectory of point S. At the Fig. 9 mechanism 9a is transforming to the mechanism 9b (S11 or Q14, 12), 9c to 9d (S10 or Q13) and 9e to 9f (S12 or 14). IV. Exact straight-line mechanisms To exact SLM we can subsume mechanisms of Reuleaux (S08, 09), Lahire (S16, 17 and N12 last model's photo is shown on Fig. 11), Cartwright (S34), ellipsographs (S02,04) and mechanisms with rack (S2729). But these mechanisms have forward or higher pair, in other words they are not link-jointed mechanisms. Precise SLM were created with basing on inversion. Inversion means transformation on plane which transform every point in such point S, overlaying on the ray , On Fig .10 there are accurate hinge SLM of Peaucellier-Lipkin (S35, M26 Fig. 10a,b) and Gart (photo of model from the [11] is on the Fig. 10c,d ) and notched-lever mechanism N13 (Fig. 10e,f). Peaucellier offered to readers of the magazine Nouvelles Annales de Mathmatiques to make jointed compasses for imaging a straight line [12]. A problem solving was found in 1868 by L.I. Lipkin and published in academy's bulletin in 1870 [13]. Peaucellier published the same solution on his own in 1873 [14]. Finally mechanism (Fig. 10 ,b) received a title of " PeaucellierLipkins mechanism". This mechanism was complicated enough because it had 8 links. In 1874 G. Gart [15] offered more simple six-linkage inversor, which scheme is represented on Fig. 10c,d. Model represented at the Fig. 10 e, f was made in the BMSTUs TMM department. This model ensures straight line motion of the point S placed on the link 2. Model has two levers, connected with stand and among themselves by rotational pairs and . The rotary motion set to the link 1, then motion transfer to the link 2 with help of two bevel gears P1 and P2. The first one has gear ratio u10= 0.5 and the other one u21= 1.

e f

OP OQ = c = l 2 r 2 ,
where center or pole of inversion, coefficient of inversion [ 10 ].

The 13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011

A21_451

[3]

V. Straight-line mechanisms of BMSTU. The models of mechanisms shown before present the bigger part SLM's collection of TMM BMSTU department. There are no some models of XX century middle, repeated ones, which were described. Part of the mode was made in department's workshops or in demonstration plant IMTU - these are models from Fig. 1, 7, 8, 10 b, e and 11, another one was bought in XIX Fig. 11: Model SLM Ph. de Lahire century in Germany (Fig. 1). Unfortunately, this section of BMSTU's collection is not saved fully. Some of them were lost recently. There was an influence on Reuleaux -Voigt's models safety of this part of collection because of its using by students on laboratory researches with structural analysis study on L.V. Assur's classification. Whereby models were partly changed: displaced forward pairs, halfway taken away members. It can be seen by models comparison on Fig. 1 with analogous ones, which are shown on site [6]. VI. Conclusions As D.S. Zernov noticed in [3], "practical importance is shown by not many mechanisms of this type". SLM were used in steam-engines on first stages of its development, nowadays they are applied in different apparatus and instruments, machines and tools. Large number of hinges makes these mechanisms not hard and not accurate (because of looseness in steams). In fact, sensitive mechanisms can provide a straight-line path with a less accuracy then approximate ones. However, problem of its invention has consolidated many famous mathematics and mechanics: Chebyshev, Watt, Reuleaux, etc. It has promoted rise and development of mathematic part such as functional approximation or inversion. That's why study of this mechanisms working out history and its appearance principles, saving SLM models is an important aim of modern machine science. Acknowledgments. Authors thank creators of the kmoddl.library.cornell.edu web-site for information about models and history of development of straightline mechanisms. References
[1] Golovin A., Tarabarin V. Russian Models from the Mechanisms Collection of Bauman University. History of Mechanisms and Machines Science. Vol.5. Edited M. Ceccarelli. Springer. 2008. 238pp. Dobrovolskiy V.V. Theory of mechanisms. Moscow: Mashgiz. 1946. 447pp. (in Russian) [4]

Zernov D.S. Applied mechanics. Part1. Moscow-Leningrad, The merged scientific and technical publishing house, 1937. 343pp. Taimina Daina How to Draw a Straight Line. Kinematic Models for Design. Degital Library. Cornell University College of Engineering (kmoddl.library.cornell.edu). Kempe A. B. How to Draw a Straight Line. A lecture on linkages. London, Macmillan and Co., 1877. 51pp. Kinematic Models for Design. Degital Library. Cornell University College of Engineering (kmoddl.library.cornell.edu). Chebyshev P.L. About some modification of cranked parallelogram Watt (1861). The collected works, vol.1, St.Peterburg, 1899. pp. 512-528 (in Russian). Chebyshev P.L. About one mechanism (1868). Proceedings of Emperors Academy of Science.vol.15, 1868 pp. 38-46 (in Russian). Chebyshev P.L. About parallelograms (1870). The collected works, vol.1, St.-Peterburg, 1907. pp. 85-106 (in Russian).

[5] [6] [7]

[8]

[9]

[10] Kaazik Ju.A. Mathematic dictionary. Tallin, Valgus, 1985. 293pp. (in Russian) [11] Artobolevskiy I.I. Theory mechanisms and machines. MoscowLeningrad, Gostechizdat, 1940. - 762pp. (in Russian) [12] Bogoliubov A.N. Theory mechanism and machines in history evolution its ideas. Moscow, Publish house Science, 1976. 465pp. (in Russian) [13] Veber eine gelenkgeaef hrung von L. Lipkin. Mlanges math matiques de IAcademie lmp riale a St-Ptesbourg. 1870. [14] Peaucellier C-N. Note sur un question du gometrie de compass. Nouvelles Annales de Mathmatiques. 1873, 2 s., vol. 12, pp. 71-78. [15] On certain conversion of motion. Messenger of Mathematics, 1874, vol. 4, pp. 82-86, 116-120. Report of the 44 Meeting of British Association for the Advancement of Science. Meeting of Belfast, 1874.

[2]

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