Lecture 2

Kinematics FundamentalsLecture

Grashof Condition2/6/2015Victor Martinez-Fuentes2

Demonstration (see attached video)

2/6/2015Robert L. Norton, WPI3

InversionsInversions result from grounding different links in the chain.So, there are as many inversions as links.Not all inversions will have unique kinds of motion.For example, a Grashof Fourbar has only 3 distinct inversions, 2 crank-rockers, 1 double-crank, and 1 double-rocker.2/6/2015Victor Martinez-Fuentes4

Inversions of the Grashof Fourbar2/6/2015Victor Martinez-Fuentes5

S + L < P + Q

2/6/2015Robert L. Norton, WPI6

Inversions of the Non-Grashof Fourbar2/6/2015Victor Martinez-Fuentes7

S + L > P + Q

2/6/2015Robert L. Norton, WPI8

Special-Case Grashof Linkage2/6/2015Victor Martinez-Fuentes9

S + L = P + Q

Inversions of the Slider Crank2/6/2015Victor Martinez-Fuentes10

2/6/2015Robert L. Norton, WPI11

Inversions of the Sixbar Linkage2/6/2015Victor Martinez-Fuentes12

Find Their Grashof Conditions2/6/2015Victor Martinez-Fuentes13