66 DESIGN OF MACHINERY CHAPTER 2 Solenoids These are electromechanical (AC or DC)linear actuators which share some of the limi- tations of air cylinders,and they possess a few more of their own.They are energy inef ficient,are limited to very short strokes (about 2 to 3 cm),develop a force which varies exponentially over the stroke,and deliver high impact loads.They are,however,inex- pensive,reliable,and have very rapid response times.They cannot handle much power, and they are typically used as control or switching devices rather than as devices which do large amounts of work on a system. A common application of solenoids is in camera shutters,where a small solenoid is used to pull the latch and trip the shutter action when you push the button to take the pic- ture.Its nearly instantaneous response is an asset in this application,and very little work is being done in tripping a latch.Another application is in electric door or trunk locking systems in automobiles,where the click of their impact can be clearly heard when you turn the key (or press the button)to lock or unlock the mechanism. 2.17 REFERENCES 1 Reuleaux,F.(1963).The Kinematics of Machinery.A.B.W.Kennedy,translator. Dover Publications:New York,pp.29-55. 2 Gruebler,M.(1917).Getriebelelre.Springer Verlag:Berlin. 3 Fang,W.E.,and F.Freudenstein.(1990)."The Stratified Representation of Mechanisms."Journal of Mechanical Design.112(4),p.514. 4 Kim,J.T.,and B.M.Kwak.(1992)."An Algorithm of Topological Ordering for Unique Representation of Graphs."Journal of Mechanical Design.114(1),p.103 5 Tang,C.S.,and T.Liu.(1993)."The Degree Code-A New Mechanism Identifier." Journal of Mechanical Design.115(3),p.627. 6 Dhararipragada,V.R.,et al.(1994)."A More Direct Method for Structural Synthesis of Simple-Jointed Planar Kinematic Chains."Proc.of 23rd Biennial Mechanisms Conference.Minneapolis,MI,p.507 7 Yadav,J.N.,et al.(1995)."Detection of Isomorphism Among Kinematic Chains Using the Distance Concept."Journal of Mechanical Design.117(4). 8 Grashof.F.(1883).Theoretische Maschinenlehre.Vol.2.Voss:Hamburg 9 Paul,B.(1979)."A Reassessment of Grashofs Criterion."Journal of Mechanical Design.101(3),pp.515-518. 10 Barker,C.(1985)."A Complete Classification of Planar Fourbar Linkages." Mechanism and Machine Theory.20(6),pp.535-554. 11 Ting.K.L.(1993)."Fully Rotatable Geared Fivebar Linkages."Proc.of 3rd Applied Mechanisms and Robotics Conference,Cincinnati,pp.67-1. 12 Ting,K.L.,and Y.W.Liu.(1991)."Rotatability Laws for N-Bar Kinematic Chains and Their Proof."Journal of Mechanical Design.113(1),pp.32-39. 13 Shyu,J.H.,and K.L.Ting.(1994)."Invariant Link Rotatability of N-Bar Kinemat- ic Chains."Journal of Mechanical Design.116(1),p.343.Solenoids These are electromechanical (AC or DC) linear actuators which share some of the limi￾tations of air cylinders, and they possess a few more of their own. They are energy inef￾ficient, are limited to very short strokes (about 2 to 3 cm), develop a force which varies exponentially over the stroke, and deliver high impact loads. They are, however, inex￾pensive, reliable, and have very rapid response times. They cannot handle much power, and they are typically used as control or switching devices rather than as devices which do large amounts of work on a system. A common application of solenoids is in camera shutters, where a small solenoid is used to pull the latch and trip the shutter action when you push the button to take the pic￾ture. Its nearly instantaneous response is an asset in this application, and very little work is being done in tripping a latch. Another application is in electric door or trunk locking systems in automobiles, where the click of their impact can be clearly heard when you turn the key (or press the button) to lock or unlock the mechanism. 1 Reuleaux, F. (1963). The Kinematics of Machinery. A. B. W. Kennedy, translator. Dover Publications: New York, pp. 29-55. 2 Gruebler, M. (1917). Getriebelehre. Springer Verlag: Berlin. 3 Fang, W. E., and F. Freudenstein. (1990). "The Stratified Representation of Mechanisms." Journal of Mechanical Design. 112(4), p. 514. 4 Kim, J. T., and B. M. Kwak. (1992). "An Algorithm of Topological Ordering for Unique Representation of Graphs." Journal of Mechanical Design, 114(1), p. 103. 5 Tang, C. S., and T. Liu. (1993). "The Degree Code-A New Mechanism Identifier." Journal of Mechanical Design, 115(3), p. 627. 6 Dhararipragada, V.R., et al. (1994). "A More Direct Method for Structural Synthesis of Simple-Jointed Planar Kinematic Chains." Proc. of 23rd Biennial Mechanisms Conference, Minneapolis, MI, p. 507. 7 Yadav, J. N., et al. (1995). "Detection of Isomorphism Among Kinematic Chains Using the Distance Concept." Journal of Mechanical Design, 117(4). 8 Grashof, F. (1883). Theoretische Maschinenlehre. Vol. 2. Voss: Hamburg. 9 Paul, B. (1979). "A Reassessment of Grashof's Criterion." Journal of Mechanical Design, 101(3), pp. 515-518. 10 Barker, C. (1985). "A Complete Classification of Planar Fourbar Linkages." Mechanism and Machine Theory, 20(6), pp. 535-554. 11 Ting, K. L. (1993). "Fully Rotatable Geared Fivebar Linkages." Proc. of 3rd Applied Mechanisms and Robotics Conference, Cincinnati, pp. 67-1. 12 Ting, K. L., and Y.W. Liu. (1991). "Rotatability Laws for N-Bar Kinematic Chains and Their Proof." Journal of Mechanical Design, 113(1), pp. 32-39. 13 Shyu, J. H., and K. L. Ting. (1994). "Invariant Link Rotatability of N-Bar Kinemat￾ic Chains." Journal of Mechanical Design, 116(1), p. 343