146240964 rl norton solutions
TRANSCRIPT
P
l
egree
ard
e
j
a
t
e
e models belo
tomobile hood hinge mechanism.
The hood (3) i linked to the body (1) through two rocker links (
2 and 4) .
The ha
tch ( ) is pivoted on the body (1) and is linked to the body by the li t arm , which can be modeled a
s
two
links (
3
a
Number of ha
he
), and the back (5). Links ,2,4 , and 5 are binary
links.
Num
t
o
ich it is unfolded, an
d
me.
i
e
w
c
etermined by the length of the
hydraulic cylinder that li
k
e
d
orie
n
tati
F a
O
LUT
I
O
he
h
e
w
n
a
a
l
e You
r k
ON
o
pin dot matrix com
r
t
DOF for a total of 10 DOF
.
T
as 2 DO
own, for a
t tal of
3 forc
togeth
e
.
i
r
motion .
a
puter
.
r
th
Complex planar mo
k
Solu
tion:
1
-
S
ectio
e
linkages.
a
Number of half
-
t
,
is is t
joint
s
ave mobi
ism .
y t
ts o
(1). We now
nts
J
l the possible l
erate the solution for valid combinations. N
ote that the number
q
*
-
ement: Find all of the valid isomers of the eightb
ar l-DOF link combinations in Table 2-2 (p. 38) ha
v
ing:
a
p
entagonal
link .
Solution :
SeeM
e
fe
we
r
th
a
n
ks.
(5)
T
hai
ch. Then ind a
anating ro
m eac
the
Draw 2 circles
with valence numbers of 3 in each and one with a valence number of 4
. Then find all unique
ual to
mbina
l
l o 6
mpl m n
1 pe
ntagonal in
F m
joints rom a
F
igure
2
-1
1
e loop.
e
pl
2-3b.
ks 3 and 5 in
such a way that they can not rotate
relative
o
int
hcad fi le P0213.
Number of links L :=
ints remain
i
n the loop. One way to do this is to replace pin jo
in
t
tra
nslat
ombi
Num
b
equal to th
ci
ith large
uited o d
y
n
c
hronous
and
capacitor
a
llower (ha
s
bet
h
ll depend upon the specifi
c mechanism mode led by the student.
BLEM 2-19
Statement: Find an adjustable arm desk lamp of the type sho
wn in F
.
Solution: Solution of this problem will depend upon the spe
ci ic mechanism modeled by the student.
b
ilit
y
y, li
boom
(link
2)
is rotated abo t ixed pivot A by hydraulic cylinder 3-4.
The se
condary boo
s
to
p
link 4. T
e attached to t
T
in at A, and the tp t is the
verti
re
t
he
sa
e cr
re at
ks and 4
joints rom th
Th
e
c
ross -
hatc
hed pivot pin at 02 is attached to the ground lin
k
(1
round link (1).
chani
are redundan
s the redundan
s at
=
ms
ile
P0222.
I
r
m
round lin
k (1).
i
s
l
ink
a
shof,
shor
t
coup
ler,
l
of
r
e
the
Type
(rocker)
is
tpu t
(rocker) is
ut fou
rbar c
(subtract 2 l
sum o
link 4 (slide
a ac
p
d 4
for a
, this is
a Cl
ass I
linkage sinc
tp
u
a
S
7
Since
L
t
mechani
s
m
.
1
c
w
r
o
r
der
2-
D
bars.
a
rna
ink
i
na
e
rn
i
nk
igure P
Numb
i
a
ock ut befor it is
pic d up (ic gr
ounded).
c
.
m
l
rientation abou
t a
nd
riable length link
e
blo
ig
piece.
F
or
(2), a
(3
rew and the body , and pin joint where the a
rm rotat
o
i
ch a
kinematic diag
r
mine its DOF . Can it be classi ied by the
Barker
sch
em
e
fourb
a
e the
DOF (mobility).
c
link leng
lot t
i
l
Determ ine its mobiliy . Hint:
str
aigh
t
the guide provided by the hand le bar so it
c
ing full slider that is supported by the handleba
r (l
v
e
round l nk. It othe
r
j
rd link,
L
2
-31
at w
e brake arm . When the
brake pad
s
ntacts
h
attac
h
e
i
i
nt .
Th
e
N
u
mber
o
f
fu
t
i
ty.
Whe
a
is a thr
le the cabl
Numbe
its motions. D
m
w
ithout the conveyor). The mechanism is shown on the le ft and
a k
inematic model
'
h
av
fourbar w
e
onstant spe
th
e
s
am
has curvilinear mo
ti
on , i.e., it is always parallel to link 1, which is the g
round link.
Link 3
t whil in the posit
ion shown , but it
f
the
d,
eventually,
ill be
ind
er
s
start moving to the let again to com lete their
cy
cle,
o
s. The rightmost cy
f
cyl
when
calcula
PROB
metal. Link
fo ces th
o
d
rig
h
t.
in
j
o
i
a
ng
j
oints,
no
ha
l
fjo
Num
b
M :=3
(Z,- I
-2-J] - J2
M= 1
s kinematic
i
ar, a W
it
Nu
age for the cam
a
l
0236.
1
ke
Kutzbach's
ne the D
fjoin s.
Number of hal
mu
s
e
m
e
fo
undat
Complex planar
e
wheth
e
f or full joi
chanism. Numb e
the ground link.) L
a
Us
l
m ine eac
h joint's order.
e P02
j
oint.
Join
cribe each link as binary , ternary, etc .
b
Solutio
n
cad
g
1
c
3
2
B
A
1
a
Joint Let
mine the
c (Kutzba
ch's mod
i ication):
M :
ths and ra
ra
in Fig
ure P2-19
J
RR 3
(non-Gra h
Statement: F
igure P2-20 shows a Rube Goldberg mechanism that turns a light switch on when a room door
i
s
op
ll . The
th
eys
i
swing
ng rotates link 2
t
e shows 20 links (including the the sw
it
i
nt
no halfjoints.
rm ine the DOF (mobility
)
.
Numb er of
irst piston-in cylinder that acts on the th
ird bellc
the l
p
t two li
\
.
e CD for solution.
d
i
fo
r
sol
ution.
i le P
l
l
p
Jg PROBLEM
1
e are 6
and no half-joints
Num
and no
L
ints
J
] ;= 7
3-
17
c
l
egree
ard
e
j
a
t
e
e models belo
tomobile hood hinge mechanism.
The hood (3) i linked to the body (1) through two rocker links (
2 and 4) .
The ha
tch ( ) is pivoted on the body (1) and is linked to the body by the li t arm , which can be modeled a
s
two
links (
3
a
Number of ha
he
), and the back (5). Links ,2,4 , and 5 are binary
links.
Num
t
o
ich it is unfolded, an
d
me.
i
e
w
c
etermined by the length of the
hydraulic cylinder that li
k
e
d
orie
n
tati
F a
O
LUT
I
O
he
h
e
w
n
a
a
l
e You
r k
ON
o
pin dot matrix com
r
t
DOF for a total of 10 DOF
.
T
as 2 DO
own, for a
t tal of
3 forc
togeth
e
.
i
r
motion .
a
puter
.
r
th
Complex planar mo
k
Solu
tion:
1
-
S
ectio
e
linkages.
a
Number of half
-
t
,
is is t
joint
s
ave mobi
ism .
y t
ts o
(1). We now
nts
J
l the possible l
erate the solution for valid combinations. N
ote that the number
q
*
-
ement: Find all of the valid isomers of the eightb
ar l-DOF link combinations in Table 2-2 (p. 38) ha
v
ing:
a
p
entagonal
link .
Solution :
SeeM
e
fe
we
r
th
a
n
ks.
(5)
T
hai
ch. Then ind a
anating ro
m eac
the
Draw 2 circles
with valence numbers of 3 in each and one with a valence number of 4
. Then find all unique
ual to
mbina
l
l o 6
mpl m n
1 pe
ntagonal in
F m
joints rom a
F
igure
2
-1
1
e loop.
e
pl
2-3b.
ks 3 and 5 in
such a way that they can not rotate
relative
o
int
hcad fi le P0213.
Number of links L :=
ints remain
i
n the loop. One way to do this is to replace pin jo
in
t
tra
nslat
ombi
Num
b
equal to th
ci
ith large
uited o d
y
n
c
hronous
and
capacitor
a
llower (ha
s
bet
h
ll depend upon the specifi
c mechanism mode led by the student.
BLEM 2-19
Statement: Find an adjustable arm desk lamp of the type sho
wn in F
.
Solution: Solution of this problem will depend upon the spe
ci ic mechanism modeled by the student.
b
ilit
y
y, li
boom
(link
2)
is rotated abo t ixed pivot A by hydraulic cylinder 3-4.
The se
condary boo
s
to
p
link 4. T
e attached to t
T
in at A, and the tp t is the
verti
re
t
he
sa
e cr
re at
ks and 4
joints rom th
Th
e
c
ross -
hatc
hed pivot pin at 02 is attached to the ground lin
k
(1
round link (1).
chani
are redundan
s the redundan
s at
=
ms
ile
P0222.
I
r
m
round lin
k (1).
i
s
l
ink
a
shof,
shor
t
coup
ler,
l
of
r
e
the
Type
(rocker)
is
tpu t
(rocker) is
ut fou
rbar c
(subtract 2 l
sum o
link 4 (slide
a ac
p
d 4
for a
, this is
a Cl
ass I
linkage sinc
tp
u
a
S
7
Since
L
t
mechani
s
m
.
1
c
w
r
o
r
der
2-
D
bars.
a
rna
ink
i
na
e
rn
i
nk
igure P
Numb
i
a
ock ut befor it is
pic d up (ic gr
ounded).
c
.
m
l
rientation abou
t a
nd
riable length link
e
blo
ig
piece.
F
or
(2), a
(3
rew and the body , and pin joint where the a
rm rotat
o
i
ch a
kinematic diag
r
mine its DOF . Can it be classi ied by the
Barker
sch
em
e
fourb
a
e the
DOF (mobility).
c
link leng
lot t
i
l
Determ ine its mobiliy . Hint:
str
aigh
t
the guide provided by the hand le bar so it
c
ing full slider that is supported by the handleba
r (l
v
e
round l nk. It othe
r
j
rd link,
L
2
-31
at w
e brake arm . When the
brake pad
s
ntacts
h
attac
h
e
i
i
nt .
Th
e
N
u
mber
o
f
fu
t
i
ty.
Whe
a
is a thr
le the cabl
Numbe
its motions. D
m
w
ithout the conveyor). The mechanism is shown on the le ft and
a k
inematic model
'
h
av
fourbar w
e
onstant spe
th
e
s
am
has curvilinear mo
ti
on , i.e., it is always parallel to link 1, which is the g
round link.
Link 3
t whil in the posit
ion shown , but it
f
the
d,
eventually,
ill be
ind
er
s
start moving to the let again to com lete their
cy
cle,
o
s. The rightmost cy
f
cyl
when
calcula
PROB
metal. Link
fo ces th
o
d
rig
h
t.
in
j
o
i
a
ng
j
oints,
no
ha
l
fjo
Num
b
M :=3
(Z,- I
-2-J] - J2
M= 1
s kinematic
i
ar, a W
it
Nu
age for the cam
a
l
0236.
1
ke
Kutzbach's
ne the D
fjoin s.
Number of hal
mu
s
e
m
e
fo
undat
Complex planar
e
wheth
e
f or full joi
chanism. Numb e
the ground link.) L
a
Us
l
m ine eac
h joint's order.
e P02
j
oint.
Join
cribe each link as binary , ternary, etc .
b
Solutio
n
cad
g
1
c
3
2
B
A
1
a
Joint Let
mine the
c (Kutzba
ch's mod
i ication):
M :
ths and ra
ra
in Fig
ure P2-19
J
RR 3
(non-Gra h
Statement: F
igure P2-20 shows a Rube Goldberg mechanism that turns a light switch on when a room door
i
s
op
ll . The
th
eys
i
swing
ng rotates link 2
t
e shows 20 links (including the the sw
it
i
nt
no halfjoints.
rm ine the DOF (mobility
)
.
Numb er of
irst piston-in cylinder that acts on the th
ird bellc
the l
p
t two li
\
.
e CD for solution.
d
i
fo
r
sol
ution.
i le P
l
l
p
Jg PROBLEM
1
e are 6
and no half-joints
Num
and no
L
ints
J
] ;= 7
3-
17
c