Linkages.ppt

Linkages FUNDAMENTALS Topic 4 Gerald Rothenhofer 9/21/2009 What is a Linkage? A mechanical linkage is a series of rigid links connected with joints to form a closed chain, or a series of closed chains. Each link has two or more joints, and the joints have various degrees of freedom to allow motion between the links. A linkage is called a mechanism if two or more links are movable with respect to a fixed link. Mechanical linkages are usually designed to take an input and produce a different output, altering the motion, velocity, acceleration, and applying mechanical advantage. A linkage designed to be stationary is called a structure.en.wikipedia.org/wiki/Linkage_(mechanical) History Leonardo da Vinci (1452, 1519), Codex Madrid I. Industrial Revolution was the boom age of linkages: cloth making, power conversion, speed regulation, mechanical computation, typewriting and machining Linkages Today In many applications (typewriting) linkages have been replaced by electronics. Still linkages can have a cost advantage over electronic solutions: Couple different outputs by a mechanism rather than using one motor per output and electronics to achieve the coupling. Current applications: Sports Equipment, Automotive (HVAC modules), Precision Machinery (Compliant Mechanisms), Medical Devices Linkage Categorization Planar Linkages Three bar Four bar Slider Crank Five bar Six bar …be creative… Spatial Linkages Degrees of Freedom Planar Linkages: F=3*(N-1)-2*J1-Jh F – total degrees of freedom N – number of links J1 – constraints by 1DOF joints Jh – constraints by 2DOF joints Four Bar Grashof: The sum of the shortest (S) and longest (L) links of a planar four-bar linkage must be smaller than the sum of the remaining two links (P, Q). In this case the shortest link can rotate 360degree relative to the longest link. L + S P + Q: crank-rocker, double-crank, rocker-crank, double-rocker L + S = P + Q: crank-rocker, double-crank, rocker-crank, double-rocker, ? note: linkage can