Lecture 1 Fundamentals of Mechanics and Mechanisms

Lecture 1 Fundamentals of Mechanics and Mechanisms
ef lucr.dr.ing. Sergiu-Dan Stan
Technical University of Cluj-Napoca

Faculty of Mechanics
Department of Mechanisms, Precision Mechanics and Mechatronics
Lecture 1
Fundamentals of Mechanics and
Mechanisms
ef lucr. dr.ing. Sergiu-Dan STAN
B-dul Muncii 103-105, C 304


References
Vistrian MTIE et al., Tehnologie i educaie
mecatronic, Ed. Todesco, Cluj-Napoca, 2001.
Viorel HANDRA-LUCA, Introducere in teoria mecanismelor
Ed. Dacia, Cluj-Napoca, 1982.
Sergiu-Dan STAN, Optimizare cu algoritmi genetici
aplicaii n mecatronic, Ed. Todesco, Cluj-Napoca, 2007.


Mechatronics is defined as the synergistic integration of mechanical engineering, with electronics and intelligent
computer control in the design and manufacturing of industrial products and processes.
micro electronics
power electronics
sensors
actuators
Mechanics
Electronics
Mechatronics
mechanical elements
machines
mechanisms
precision mechanics
Information
technology system theory
software
automation-technology
Mechatronics


Informatics
Mechanics
STEPPER MOTORS
Parallel robot 3RRR
Mechatronics
Electronics
A mechatronic system: 3RRR parallel robot


Industrial Experience: Complexity is the Problem

Control (read software) is the largest cause of failure in complex
manufacturing machines
Failure to understand the consequences of complexity lead to
unreliable operation, poor performance
Mechanical engineers dont understand software
Software engineers dont understand machines

Mechatronics as Education Environment address all these issues.
Facts:
Processor generation time 18 months
Mechanical generation time 5 20 years
A large portion of mechanical system value is in the software.
Mechatronics as education environment


Integration


IC_engine_4-stroke
Figure 1. Single Cam and Valve

Since the timing of the engine is dependent on the shape of the cam lobes and
the rotational velocity of the camshaft, engineers must make decisions early in
the automobile development process that affect the engines performance.
The resulting design represents a compromise between fuel efficiency and
engine power.
Since maximum efficiency and maximum power require unique timing
characteristics, the cam design must compromise between the two extremes.
New trend: camless engines!


Drive-by-Wire replaces mechanical connections push rods,

rack & pinion, steering columns, overhead cams, cables by
mechatronic connections sensors, actuators, embedded
microprocessors, control software
drive-by-wire
From mechanics, mechanisms toward mechatronics




Contents


Integration Design of Mechanisms for Mechatronics

Introduction
Example of integration of mechanisms into a mechatronic system
Software integration, integrated environment for simulation of
mechatronics systems
Other examples: SolidWorks, MATLAB
Mechatronics systems: robotic mechanisms
Definition
Representation of robotic mechanisms
Degree of freedom
Joints used for robotic mechanisms
Classification of robotic mechanisms
Serial and parallel robots
Examples
Fundamental problems in robotics
Inverse and Direct Kinematics Problem
Examples
Integrated Design of Mechanisms for Mechatronics


Structural Analysis of Planar Mechanisms

Planar Kinematic Pairs (Joints) and Planar Mechanisms
Kinematic Pairs (Joints)
Kinematic Chains and Mechanisms
The Kinematic Diagram of a Mechanism
Definition and Purpose
Representation of a Kinematic Pair
The Representation of a Link in the Kinematic Diagram
Procedures for Drawing the Kinematic Diagram of a Mechanism
Degree of Freedom of a Mechanism
Definition
Structural Formula of a Mechanism
Condition for a Mechanism to have a Determined Motion

The Composition Principle and Structural Analysis
Composition Principle of Mechanisms
Structural Analysis of Mechanisms
Structural Analysis of Planar Mechanisms


SolidWorks environment
for mechanisms
simulation


Matlab environment for

mechanisms simulation


Rigid mechanisms


MOTION STUDY
Study of position, displacement, velocity and
acceleration of different elements of
mechanism.
Given input
Desired output
Motion study is important in Mechanisms and Machine Theory


What is a linkage?


Ubiquitous mechanical modules






Other mechanisms


Engine 4 strike




Linkage components


Linkage classification


Example: 4 bar door damper linkage




DEGREES OF FREEDOM (DOF):

It is the number of independent coordinates required to
describe the position of a body.
Degrees of freedom (DOF)


Degrees of Freedom of a Rigid Body in a Plane

The degrees of freedom (DOF) of a rigid body is defined as the number of independent
movements it has. The following figure shows a rigid body in a plane. To determine the
DOF of this body we must consider how many distinct ways the bar can be moved. In a
two dimensional plane such as this computer screen, there are 3 DOF. The bar can be
translated along the x axis, translated along the y axis, and rotated about its centroid.
Degrees of freedom of a rigid body in a plane
Degrees of Freedom of a Rigid Body


Degrees of Freedom of a Rigid Body in Space

An unrestrained rigid body in space has six degrees of freedom: three translating
motions along the x, y and z axes and three rotary motions around the x, y and z axes
respectively.
Degrees of freedom of a rigid body in space
Degrees of Freedom of a Rigid Body


TYPES OF KINEMATIC PAIRS

Based on nature of contact between elements
(i) Lower pair : The joint by which two members are
connected has surface contact.
Prismatic pair
Revolute pair
Classification: types of kinematic pairs


(ii) Higher pair:
The contact between the pairing elements

takes place at a point or along a line.
Rolling Bearings
Gears
Types of kinematic pairs


Based on relative motion between pairing elements

(a) Sliding pair [DOF = 1]
(b) Turning pair (revolute pair) [DOF = 1]



(c) Cylindrical pair [DOF = 2]
(d) Rolling pair [DOF = 1]
Rolling bearings
Belt



(e) Spherical pair [DOF = 3]
Eg. Ball and socket joint
(f) Helical pair or screw pair [DOF = 1]


Based on the nature of mechanical constraint

(a) Closed pair
(b) Unclosed or force closed pair


Revolute pair
Prismatic pair
Higher pairs
Symbols of the Kinematic joints


Types of joints


Types of joints


Types of joints


Kinematic joints
f=6-k
f=degree of freedom
k=number of blocked motions
1 DOF (degree of freedom)
Kinematic joints, 1 DOF


f=6-k
f=1=degree of freedom
k=5=number of blocked motions
Symbol
1 DOF (degree of freedom)


Example: Lead Screw, 1 DOF


Example: Gear mechanisms


Example: Gears, three stages

Symbol

f=6-k
2 DOF (degrees of freedom)


f=6-k
2 DOF (degrees of freedom)


f=6-k
Symbol


f=6-k


f=6-k


+ translation
Revolute joint
Universal (Cardan) joint
Spherical joint
Advantages of flexible joints:

- without clearance
- compact
- cheap
New types of joints: compliant mechanisms (flexible joints)








3 DOF Compliant Micro-motion Stages with Flexure Hinges


New types of joints: compliant mechanisms (flexible joints)


GRUBLERS CRITERION
Number of degrees of freedom of a mechanism is given by
F = 3(n-1)-2l-h
Where,
F = Degrees of freedom
n = Number of links in the mechanism.
l = Number of lower pairs, which is obtained by counting the
number of joints. If more than two links are joined together at
any point, then, one additional lower pair is to be considered for
every additional link.
h = Number of higher pairs
Degree of freedom


Examples DOF
Four-bar mechanism
F = 3(n-1)-2l-h
Here, n = 4, l = 4 & h = 0.
F = 3(4-1)-2(4) = 1
i.e., one input to any one link will
result in definite motion of all the
links.

l = Number of lower pairs,
h= Number of higher pairs.
Examples - DOF


Examples DOF
Five-bar mechanism
F = 3(n-1)-2l-h
Here, n = 5, l = 5 and h = 0.
F = 3(5-1)-2(5) = 2
I.e., two inputs to any two links are
required to yield definite motions in
all the links.

Examples - DOF


Five-bar mechanism, 2 DOF
Five-bar mechanism, realized at Dept. of Mechatronics, TU Cluj-Napoca






Examples - DOF
F = 3(n-1)-2l-h
Here, n = 6, l = 7 and h = 0.
F = 3(6-1)-2(7) = 1
I.e., one input to any one link will result in
definite motion of all the links.

Examples 1 DOF


Examples - DOF
F = 3(n-1)-2l-h
Here, n = 6, l = 7 (at the
intersection of 2, 3 and 4, two
lower pairs are to be considered)
and h = 0.
F = 3(6-1)-2(7) = 1
Examples - 1 DOF

Homework!


Homework!



LINK OR ELEMENT
Any body (normally rigid) which has motion
relative to another
Binary link
Ternary link
Quaternary link
Kinematic Link or kinematic element


Types of links

A+

+B

Cone Gears Drive

Outer meshed cylindrical gear drive

Spur gears


Examples of rigid links
Examples of rigid links


KINEMATIC CHAINS
Group of links either joined together or
arranged in a manner that permits them to
move relative to one another.
Kinematic chains


LOCKED CHAIN OR STRUCTURE

Links connected in such a way that no relative
motion is possible.
Locked chains


MECHANISM
A mechanism is a constrained kinematic chain.
Motion of any one link in the kinematic chain
will give a definite and predictable motion
relative to each of the others.
Usually one of the links of the kinematic chain is

fixed in a mechanism.


Open kinematic chains
Closed kinematic chains
Kinematic chains and Mechanisms


MECHANISMS
Common 4-bar linkage types


4-bar pin slider linkages


Examples. Closed kinematic chains


Schematic representation


Examples. Double slider-crank


Example of a kinematic information chain


A Amplifier, Tr Transducer, C
microcontroller, M driving motor,
M1,M2 DC servomotors
Evolution from traditional mechanisms toward

mechanisms for mechatronics


PLANAR MECHANISMS
When all the links of a mechanism have plane
motion, it is called as a planar mechanism. All
the links in a planar mechanism move in
planes parallel to the reference plane.


Examples. Four bar mechanism


Example. Four bar mechanism. Type 1








Linkages are an essential part of many mechanisms. They can be used to

change direction, alter speed and change the timing of moving parts.
Example. Four bar mechanism. Parallelogram


Example. Four bar mechanism. Linear trajectory
























































Differential


























a)
b)
c)
Examples of trajectories obtained using different mechanisms







Lecture 1 Fundamentals of Mechanics and Mechanisms

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Lecture 1 Fundamentals of Mechanics and Mechanisms

ef lucr.dr.ing. Sergiu-Dan Stan

Technical University of Cluj-Napoca