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Kinematic Synthesis of Planar Four Bar and Geared Five Bar Mechanisms with Structural Constraints

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Kinematic Synthesis of Planar Four Bar and Geared Five Bar Mechanisms with Structural Constraints Copyright Warning & Restrictions The copyright law of the United States (Title 17, United States Code) governs the making of photocopies or other reproductions of copyrighted material. Under certain conditions specified in the law, libraries and archives are authorized to furnish a photocopy or other reproduction. One of these specified conditions is that the photocopy or reproduction is not to be “used for any purpose other than private study, scholarship, or research.” If a, user makes a request for, or later uses, a photocopy or reproduction for purposes in excess of “fair use” that user may be liable for copyright infringement, This institution reserves the right to refuse to accept a copying order if, in its judgment, fulfillment of the order would involve violation of copyright law. Please Note: The author retains the copyright while the New Jersey Institute of Technology reserves the right to distribute this thesis or dissertation Printing note: If you do not wish to print this page, then select “Pages from: first page # to: last page #” on the print dialog screen The Van Houten library has removed some of the personal information and all signatures from the approval page and biographical sketches of theses and dissertations in order to protect the identity of NJIT graduates and faculty. ABSTRACT KINEMATIC SYNTHESIS OF PLANAR FOUR BAR AND GEARED FIVE BAR MECHANISMS WITH STRUCTURAL CONSTRAINTS by Yahia Mohammad Saleh Al-Smadi In motion generation, the objective is to calculate the mechanism parameters required to achieve or approximate a set of prescribed rigid-body positions. This doctoral dissertation study is aimed to integrate the classical kinematic analysis of a planar four-bar and geared five-bar motion generation with three structural design constraints. These constraints consider driving link static torque, deflection of the crank and buckling of the follower for a given rigid-body load or constant external load. This kineto-elastostatic analysis is based on the following assumptions to be considered during the analysis; the crank and the follower are elastic members and the coupler is rigid member, friction in the joints is neglected, link weights are neglected compared to a given rigid-body load or constant external load, the cross sectional properties of a link do not vary, and finally the mechanism is moving in quasi static condition. By incorporating these constraints into conventional planar four-bar and five-bar motion generation models, mechanisms are synthesized to achieve-not only prescribed rigid-body positions-but also satisfy the above mentioned structural constraints for a given rigid-body load or constant external load. KINEMATIC SYNTHESIS OF PLANAR FOUR BAR AND GEARED FIVE BAR MECHANISMS WITH STRUCTURAL CONSTRAINTS by Yahia Mohammad Saleh Al-Smadi A Dissertation Submitted to the Faculty of New Jersey Institute of Technology in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy in Mechanical Engineering Department of Mechanical Engineering January 2009 Coyig C 9 y Yaia Moamma Sae A-Smai A IGS ESEE APPROVAL PAGE KINEMATIC SYNTHESIS OF PLANAR FOUR BAR AND GEARED FIVE BAR MECHANISMS WITH STRUCTURAL CONSTRAINTS Yahia Mohammad Saleh Al-Smadi Dr. Rajpal S. Sodhi, Dissertation Advisor Date Professor of Mechanical Engineering, NJIT Chair of Mechanical Engineering Department, NJIT Dr. Kevin Russell, Committee Member Date Armament Engineering and Technology Center US Army Research, Development and Engineering Center Picatinny Arsenal, NJ 07806 Dr. Bernard Koplik, Committee Member Date Professor of Mechanical Engineering, NJIT Dr. Zhiming Ji, Committee Member Date Associate Professor of Mechanical Engineering, NJIT Dr. Sanchoy K. Das, Committee Member Date Professor of Industrial and Management Engineering, NJIT BIOGRAPHICAL SKETCH Author: Yahia Mohammad Saleh Al-Smadi Degree: Doctor of Philosophy Date: January 2009 Undergraduate and Graduate Education: • Doctor of Philosophy in Mechanical Engineering, New Jersey Institute of Technology, Newark, NJ, USA, 2009 • Master of Science in Manufacturing Systems Engineering, New Jersey Institute of Technology, Newark, NJ, USA, 2002 • Bachelor of Science in Mechanical Engineering, Jordan University of Science and technology, Irbed, Jordan, 1999 Major: Mechanical Engineering Presentations and Publications: Yahia M. Al-Smadi "Computer Aided Design / Engineering for Trunnion Girder Design on Water Street Bridge," Heavy Movable Structures Symposium, Orlando, FL, November 3-6, 2008. Yahia M. Al-Smadi, Kevin Russell, Raj S. Sodhi "On the Design of Traveler Parking Brake System," Journal of Bridge Engineering, Submitted October, 2008. Yahia M. Al-Smadi, Kevin Russell, Raj S. Sodhi "Geared Five-Bar Path Generators with Structural Conditions," Journal of Inverse Problems in Science and Engineering, Submitted July, 2008. Yahia M. Al-Smadi, Qiong Shen, Kevin Russell, Raj S. Sodhi "Geared Five-Bar Motion Generators with Structural Conditions," Journal of Mechanism and Machine Theory, Submitted July, 2008. iv Yahia M. Al-Smadi, Kevin Russell, Raj S. Sodhi "Kinematic Synthesis of Planar Four-Bar Path Generators with Structural Conditions," Journal of Mechanical Research Communications, Submitted July, 2008. Yahia M. Al-Smadi, Kevin Russell, Raj S. Sodhi "Kinematic Synthesis of Planar Four-Bar Motion Generators with Structural Constraints," Journal of Multi Body Dynamics, Submitted June, 2008. Yahia M. Al-Smadi, Kevin Russell, Raj S. Sodhi "Planar Four-Bar Path Generators with Structural Conditions," JSME Journal of Mechanical Design, Systems, and Manufacturing, Vol. 2, No. 5 2008, 926-936. Yahia M. Al-Smadi, Kevin Russell, Raj S. Sodhi "Planar Four-Bar Motion Generators with Structural Conditions," ASME Journal of Advanced Machine and Robotics , In-Press, November 2008. Qiong Shen, Yahia M. Al-Smadi, Kevin Russell, Raj S. Sodhi "On Planar Five-bar Motion Generation with a Driver Torque Constraint," JSME Journal of Mechanical Design, Systems, and Manufacturing, Vol. 2, No. 3, 2008, 408-416. Qiong Shen, Yahia M. Al-Smadi, Peter J. Martine, Kevin Russell, Raj S. Sodhi "An Extension of Design Optimization for Motion Generation," Journal of Mechanism and Machine Theory, In-Press, 2008. Yahia M. Al-Smadi, Qiong Shen, Kevin Russell, Raj S. Sodhi "Planar Four-Bar Motion Generation with Prescribed Static Torque and Rigid- Body Reaction Force," Journal of Mechanics Based Design of Structures and Machines, In Press, 2008. Yahia Al-Smadi and Herbert Protin "Thinking Outside the Box — Using Small Diameter Sheaves," Heavy Movable Structures Symposium, Orlando, FL, November 1-3, 2006. David Thurnher, Herbert Protin, Yahia Al-Smadi "Erie Canal Lift Bridges-Historic Towerless Lift Bridges and How They Work," Heavy Movable Structures Symposium, Orlando, FL, November 1-3, 2006. (And say: "My Lord, Increase me in knowledge" Al-Quran, Ta-Ha [20:114] The Messenger of Allah "peace be upon him" said, "Verily, the angels lower their wings for the seeker of knowledge out of pleasure of what he is doing." 0 Brother, you will not acquire knowledge except through six I will inform you of them precisely Intelligence, eagerness, studious, and goals And a company of a master, and a long time For my beloved mom and dad For every smile you've brought to my heart... For every wise word of encouragement you've shared... For every time you've been there for me when I needed you most... I'm so thankful for the gift of you in my life. I ask ALLAH (SWT) to grant you Jannah and tranquil life. For my beloved wife I will never forget your support and encouragement, the times you stood beside me and still you are. Thank you so much for your effort, love and patience. May ALLAH (SWT) reward you with Jannah. For my beloved sons Muhammad and AbdulRahman For you Sons with loving thoughts, how very special you are. May ALLAH (SWT) shower you with mercy and satisfaction; always show him the best of your selves. I love you so much. For my beloved family The help and support of was your greatest gift of all. I can not express my gratitude to you. Thank you vi ACKOWEGME I would like to thank Almighty Allah (SWT) for His countless blessings throughout my life. I would like to express my deepest appreciation to Prof. Rajpal S. Sodhi, who not only served as my research supervisor, but also providing insight and intuition. I would also like to acknowledge Dr. Kevin Russell, in giving me constantly support and reassurance. Special thanks are given to Dr. Bernard Koplik, Dr. Zhiming Ji and Dr. Sanchoy K. Das for actively participating in my committee. I would like to like to express my gratitude to Dr. Mohammad T. Khasawneh and Dr. Mohammad I. Younis for their help and encouragement. Many thanks for my fellow engineers at Parsons; Omar Khair-Eldin, Ammar Zalt, and Iftekhar Chaudry are deserving recognition for their support. I would like to sincerely thank my dear friend Bashar I. Dweiri for his support and encouragement throughout my academic career. ii TABLE OF CONTENTS Chapter Page 1 INTRODUCTION 1 1.1 Mechanism Synthesis and Motion Generation 1 1.2 Planar Four-bar Motion Generation 2 1.3 Planar Five-bar Motion Generation 5 1.4 Research Objectives 7 1.5 Research Structure 10 2 PLANAR FOUR-BAR MOTION GENERATION WITH PRESCRIBED STATIC TORQUE AND RIGID-BODY REACTION FORCE 11 2.1 Introduction 11 2.1.1 Motion Generation 11 2.1.2 Motivation and Scope of Work 12 2.2 Conventional Planar Four-bar Motion Generation 13 2.3 Driver Link Static Torque 14 2.4 Example Problem 17 2.5 Discussion 21 3 PLANAR FOUR-BAR
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