DESIGN OF MACHINERY SOLUTION MANUAL 3-21-1
AS PROBLEM 3:21
Statement: Figure P3-7 shows a walking-beam transport mechanism thet uses a fourbar coupler curve,
replicated with « parallelogram linkage for parallel motion. Note the duplicate crank and coupler
shown ghosted in the right half of the mechanism - they are redundant and have been removed
from the duplicete fourbar linkage. Using the same fourbar driving stage (inks 1, 2,3, 4 with
coupler point P), design a Watt-I sixbar linkage that will drive link8 inthe same parallel motion
using two fewer links.
Link lengths: Coupler point deta:
Ground link Lj:=222 Crank p= 1 AIP:= 3.06) := 31.000-deg
Coupler Lg 2.06 Rocker — Ly 233
Solution: See Figure P3-7 and Mathcad file P0321
1, Calculate the length BP and the angle y using the law of cosines on the triangle APR.
os
BrP (132+ a1 —2-13-A1Pcod81)) BIP = 1.674
1p Bi ai? wanbew
as tail aii
nee 2L3BIP m =
2. Use the Cayley diagram (see Figure 3-24) to calculate the link lengths of the two cognates. Note thatthe
diagram is made up of three parallelograms and three similar triangles
4
Ls = 1.674 1g=—*BIP 1g = 1893
13
2
Lyg:= AIP Lig = 3.60 Lym AIP y= 1485
3
BrP
ae 17 = 0812 = 3.461
AIP 7 s
Calculate the coupler point data for cognates #2 and #3
ABP = bg ASP = 3.461 A2P = 1.000
iso-deg - (01 + 11)]
2 = -31.000deg
63 = 39.344 deg
From the Roberts diagram, calculate the ground link lengths for cognates #2 and #3,
41 uy
Lise —-BIP—Lypc= 1.8035 Luce AIP lac = 32977
13 13
3. Using the calculated link lengths, draw the Roberts diagram (see next page).
SUMMARY OF COGNATE SPECIFICATIONS:
Cognate #1 Copnate #2 Cognate #3
Ground link length Ly = 2.220 Lyac= 3298 Lipc=DESIGN OF MACHINERY
(Crank length
Coupler length
Rocker length
Coupler point
Coupler angle
SOLUTION MANUAL 2-21-2
13= 1.000 119 = 3.060 Ly = 0812
13 2.060 Ly = LABS Lg = 1.893,
Is = 1674
A3P = 3.461
83 = 39.344 deg
4, Determine the Grashof condition of each of the two additional cognates.
Condition(S ,L, P,Q) == |SL<- 8 +L
Cognate #2:
Cognate #3)
Condition(L9,L3,L10.L14C)
POL P+O
retun "Grashof* if SL