To learn more about dyads [Also called Assur Groups]
To learn how to add dyads to a kinematically-defined chain.
To learn that a Dyad does not change the degrees-of-freedom [DOF] of a kinematic-chain.
IMPORTANT concept about dyads
In this tutorial, we will:
|1.||Add R-R-R and R-R-P dyads to build slightly more complex kinematic-chains.|
|o||'R' Joints are Revolute Joints, which are identical to Pin-Joints.|
|o||'P' Joints are Prismatic Joints, which are identical to Slide-Joints.|
|2.||Demonstrate that a:|
|a.||Slide-Joint is not always along the CAD-Line of Added-Parts.|
|b.||Pin-Joint is not always at the start-Point or end-Point of the CAD-Line of Added-Parts.|
|3.||Learn a little about six-bar* kinematic-chains.|
* The term bar is used more frequently than Part when applied to general mechanisms. For example four-bar, six-bar, eight-bar...
See also Kinematics-Tree.
A dyad does not change the number of degrees-of-freedom (DOF) of a kinematic-chain.
Why? Each dyad has adds two Parts and three Joints:
Thus, the change to the total DOF = +6 + (– 6) = 0.
*Parts on the Mechanism-Plane
See the Rockers or Slider in the Kinematics-Tree
A Motion-Part does not change the degrees-of-freedom (DOF) of a kinematic-chain.
Why? A Motion-Part has one Part, one Joint, and one Motion-Dimension (a defined coordinate).
Thus, the change to the total Degrees-of-Freedom = +3 +(–2) + (–1) = 0(Zero).
Kinematically-Defined Parts :
If all Parts have Green Part-Outlines before you add a Dyad, the Parts will also be Green after you add a Dyad
If all Parts have Green Part-Outlines before you add a Motion-Part, the Parts will also be Green after you add a Motion-Part.
Add more Dyads
Experiment with different possibilities of the three joints in a Dyad: RRR, RRP, RPR, RPP, PRP
Also, change the driven Part from a Rocker to a Slider.