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A THESAURUS OF MECHANISMS
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FIGURE 2.26 Computing mechanisms. These devices are used on mechanical computers for performing mathematical operations. (a) Ball disk integrator; (b) multiplier; (c), (d) adders; (e) epicyclic sine generators; (f) Scotch yoke sine generator; (g) noncircular gears; (h) specialfunction cams.
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Downloaded from Digital Engineering Library @ McGraw-Hill (www.digitalengineeringlibrary.com) Copyright 2004 The McGraw-Hill Companies. All rights reserved. Any use is subject to the Terms of Use as given at the website.
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MACHINE ELEMENTS IN MOTION
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FIGURE 2.27 Speed-changing mechanisms. These devices change the speed of an output shaft while the input shaft has constant speed. (a) Stepped pulleys and flat belt; (b) geared transmission; (c) ball and disk speed changer; (d) to (f) cone drives; (g) sphere drive; (h) toroidal drive; (i) variable-pitch V belt; (j) zero maximum drive.
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A THESAURUS OF MECHANISMS 2.29
A THESAURUS OF MECHANISMS
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FIGURE 2.28 Robots. These are multidegree-of-freedom devices used for positioning or assembly of items.They usually have some degree of machine intelligence and work under computer control. (a) A general 6R robot; (b) to (h) some forms of existing robots; (i) parallel actuation of a planar 3-degrees-of-freedom robot; (j) Stewart platform which uses the 3-degrees-of-freedom principle; (k) Florida shoulder with parallel actuation; (l) general robot with parallel actuation.
Downloaded from Digital Engineering Library @ McGraw-Hill (www.digitalengineeringlibrary.com) Copyright 2004 The McGraw-Hill Companies. All rights reserved. Any use is subject to the Terms of Use as given at the website.
A THESAURUS OF MECHANISMS
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Source: STANDARD HANDBOOK OF MACHINE DESIGN
LINKAGES
Richard E. Gustavson
Technical Staff Member The Charles Stark Draper Laboratory, Inc. Cambridge, Massachusetts
3.1 3.2 3.3 3.4 3.5 3.6 3.7
BASIC LINKAGE CONCEPTS / 3.1 MOBILITY CRITERION / 3.4 ESTABLISHING PRECISION POSITIONS / 3.4 PLANE FOUR-BAR LINKAGE / 3.4 PLANE OFFSET SLIDER-CRANK LINKAGE / 3.8 KINEMATIC ANALYSIS OF THE PLANAR FOUR-BAR LINKAGE / 3.8 DIMENSIONAL SYNTHESIS OF THE PLANAR FOUR-BAR LINKAGE: MOTION GENERATION / 3.10 3.8 DIMENSIONAL SYNTHESIS OF THE PLANAR FOUR-BAR LINKAGE: CRANKANGLE COORDINATION / 3.18 3.9 POLE-FORCE METHOD / 3.20 3.10 SPATIAL LINKAGES / 3.21 REFERENCES / 3.22
Linkages are mechanical devices that appear very straightforward to both analyze and design. Given proper technique, that is generally the case. The methods described in this chapter reveal the complexity (and, I think, the beauty) of linkages. I have gained significant satisfaction during my 20 years of work with them from both theoretical and functioning hardware standpoints.
3.1 BASIC LINKAGE CONCEPTS
3.1.1 Kinematic Elements A linkage is composed of rigid-body members, or links, connected to one another by rigid kinematic elements, or pairs. The nature of those connections as well as the shape of the links determines the kinematic properties of the linkage. Although many kinematic pairs are conceivable and most do physically exist, only four have general practical use for linkages. In Fig. 3.1, the four cases are seen to include two with one degree of freedom (f = 1), one with f = 2, and one with f = 3. Single-degree-of-freedom pairs constitute joints in planar linkages or spatial linkages. The cylindrical and spherical joints are useful only in spatial linkages. The links which connect these kinematic pairs are usually binary (two connections) but may be tertiary (three connections) or even more. A commonly used tertiary link is the bell crank familiar to most machine designers. Since our primary
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