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2type and Number Synthesis

This document discusses number synthesis of kinematic chains. It provides the Gruebler criteria for determining the number of possible kinematic chains based on the number of links and joints. It then lists examples of specific kinematic chains that satisfy the criteria for different numbers of links and joints. These include the Watt chain and Stephenson chain as examples. The document concludes with an example of applying type synthesis to design different rear suspension mechanisms for motorcycles.

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張舜傑
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© © All Rights Reserved
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112 views

2type and Number Synthesis

This document discusses number synthesis of kinematic chains. It provides the Gruebler criteria for determining the number of possible kinematic chains based on the number of links and joints. It then lists examples of specific kinematic chains that satisfy the criteria for different numbers of links and joints. These include the Watt chain and Stephenson chain as examples. The document concludes with an example of applying type synthesis to design different rear suspension mechanisms for motorcycles.

Uploaded by

張舜傑
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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2.

Type Synthesis and Number Synthesis Number Synthesis

Number synthesis
Kinematic chains of M = 1

Gruebler criteria:

M  3  N  1  2J

where
N = number of links
J = number of one-dof joints

 3N  2J  4

1 2 3 4 5
N 4 6 8 10 12
J 4 7 10 13 16

1
2.Type Synthesis and Number Synthesis Number Synthesis

Number synthesis Kinematic chains of M = 1


1. N = 4, J = 4

2. N = 6, J = 7 NL2: No. of binary links


Link assortment, AL = [NL2/NL3] = [4/2]. NL3: No. of ternary links
NL2 + NL3 = 6
NL2 = 4 and NL3 = 2
2NL2 + 3NL3 = 14

Atl off (6
Atlas i l kinematic
(6, 7) simple ki ti chains:
h i

Watt Chain Stephenson Chain 2


2.Type Synthesis and Number Synthesis Number Synthesis

Number synthesis Kinematic chains of M = 1


3. N = 8, J = 10

4. N = 10, J = 13 230 simple kinematic chains


5. N = 12, J = 16 6856 simple kinematic chains 3
2.Type Synthesis and Number Synthesis Number Synthesis

Hwang, W.
Hwang W M.
M and Chen,
Chen H.H M.,
M “A A Unified Method for the Number Synthesis of
Planar Kinematic Chains,” Transactions of the Canadian Society for Mechanical
Engineering, Vol. 19, No. 1, pp. 1-12, 1995, Canada. (SCI, EI)

(1, e) (2, f )

Watt chain

(1, e) (3, f ) f 6

5
e
Stephenson
chain
b
(1, e) (b, f ) (a, e) (c, f ) 3 c
Multiple joint 2
4
a 1 d 4
2.Type Synthesis and Number Synthesis Type Synthesis

Exercise
Motorcycles are often ridden on rough terrain, requiring good rear
suspension systems with a shock absorber. Several of the popular systems
are shown in Figs.(a) through (c).
(a) What type of six-bar chain is represented by each design?
(Stephenson I-II-III,
I-II-III Watt I-II)
(b) Synthesize some new six-bar mechanisms having the same kinematic
characteristics and constraints.

(a) (b) (c)


S
Stephenson-III S
Stephenson-I Watt-II
5
2.Type Synthesis and Number Synthesis Type Synthesis

Yan, H.-S., Creative Design of Mechanical Devices,


Springer-Verlag
Springer Verlag Singapore Pte.
Pte Ltd.,
Ltd 1998.
1998

Yan, H.-S., “A methodology for creative


mechanism design,
design ” Mechanism and Machine
Theory, Vol. 27, No. 3, 1992, pp. 235-242.

6
2.Type Synthesis and Number Synthesis Type Synthesis

Motorcross rear suspension mechanisms


Stephenson-I
Stephenson-III
p

M=1
1, N = 6
6, J = 7

Shock Absorber
G
Ground
d Li
Link
k

Watt-II Tire
Swing
g Arm
7
2.Type Synthesis and Number Synthesis Type Synthesis

Motorcross rear suspension mechanisms

Watt Chain Stephenson Chain

Watt-II Watt-I O : can be a swing arm


O
O

O
O

Stephenson-III Stephenson-I Stephenson-II


X
O

Shock absorber: O

8
2.Type Synthesis and Number Synthesis Type Synthesis

X
Passive dyad
Kawasaki

New ! New !

X Honda Suzuki 9

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