Mechanics of Machines

MCB 3043

Lecture 01

Azman Zainuddin

Outline of Lecture 1
Course Introduction

Objectives, Instructors, Text, Instruments, Assessment, Groupings, Labs & Tutorials. Links, Joints, Categories

Introduction to Mechanism

Kinematic Diagram

Course Instructor
Azman Zainuddin
05-3687144 18-03-24 azmazai@petronas.com.my

Machine & Mechanism

Convert, transmit and direct forces/energy to perform useful work

MACHINE Source of Power Input Motion Mechanism Output Motion

Limited motion capabilities (eg fixed speed, direction and displacement)

Useful motion as required by the application

Copyright 2004, 2006 by Azman Zainuddin

Machine & Mechanism (Example)

CAR
Source of Power: Input Motion: Linear Reciprocati ng Stroke of Piston Mechanism: Crank, Output Motion:

Engine

timing belt, pulleys, gearbox, bevel gears, driveshaft, wheel

Forward Movement of Car

Copyright 2004, 2006 by Azman Zainuddin

Mechanical Engineering Programme Outcomes

Upon graduation, students should have the: PO1 Ability to acquire and apply knowledge of science and engineering fundamentals; PO2 Acquired in-depth technical competence in a Mechanical Engineering discipline PO3 Ability to undertake problem identification, formulation and solution in Mechanical Engineering; PO4 Ability to utilize systems approach to design and evaluate operational performance in Mechanical Engineering PO5 Understanding of the principles of design for sustainable development; PO7 Ability to communicate effectively, not only with engineers but also with the community at large PO8 Ability to function effectively as an individual and in a group with the capacity to be a leader or manager

Course Outcomes
By the end of the course, students should be able to Analyze the kinematics and dynamics of mechanisms found in common machines. Design mechanisms to generate simple motions. Evaluate forces acting throughout a mechanism. Apply computer tools to aid simple mechanism analysis and design.

Course Text
Machines & Mechanisms
David Myszka;4th Ed, 2011, Pearson-Prentice Hall

Drawing Instruments

Everyone should have these. Required in tutorials, quizzes, tests and exam.

Course Assessment
Freq Assignments Quizzes Project Tests Final Examination TOTAL ~5 ~4 1 1 1 % ~10 ~10 ~15 15 50 100

Mechanics of Machines MCB 3043

Semester May 2013Timetable
9-10 10-11 11-12 12-1 1-2 2-3 3-4 4-5

Mon Tue Wed Thu Lec

14-02-08

Lab Gp A
17-01-15

Lab Gp B
17-01-15

Lab Gp C
17-01-15

Lec
14-02-08

TUTORIAL
13-01-06 & 13-01-07

Fri

Lab Gp D
17-01-15

Tutorial
Compulsory 1 hr weekly starting from Week 2 Must bring the drawing instruments to the tutorial starting from Week 3 Thursday 3-5 pm; Week 2 Week 11 At 13-01-06 & 13-01-07

e-Learning
All students must register their names to the e-learning. All lecture materials of the week will be uploaded to the system by Friday. Take note of the Forum for announcement from the lecturer.

Course Topics
Mechanisms (Week 1-2) Position analysis (Week 2-3) Mechanism design (Week 4) Velocity analysis (Week 5) Acceleration analysis (Week 6-7) Cams (Week 8-9) Gears (Week 9-10) Static Force Analysis (Week 11) Dynamic Force Analysis (Week 12- 13) Shaking Forces & Balancing (Week 14)

Mechanisms

Definitions
A device used to convert, transmit and direct forces or energy to accomplish a certain objective.

Machine:

Mechanism:

a device used to convert, transmit and direct motion to accomplish a certain objective. a series of links and joints designed to accept an input motion and produce a useful and desirable output motion. made up of several bodies (or links) connected by joints. normally does not include the source of power. also known as linkage. A machine might comprises several mechanisms.

Components of a Mechanism
Link an individual part of a mechanism. It is a rigid body. Springs, belts and cables are not links and are ignored in kinematic analysis. Joint a connection between two or more links. It allows relative motion between the links it connected. Also called kinematic pair or pair link

joint

Categories of Links
Simple Link - A link that has only two nodes, points on the link where the link can be connected to other links. (Also called binary link). Complex Link - A link with more than two nodes. (Also called ternary link for a three-node link, quartenary link for a four-node link)

simple link

complex link

Examples of Links

Joints
Define relative motion between links Prismatic Joint Sliding Joint Piston Joint

P-joint Revolute Joint Pin Joint Pivot Joint R-joint Hinge Joint R-Joints and P-Joints are categorized as PRIMARY JOINTS. Most mechanisms are combinations of only R- and P-joints.

Robots with R- and P-Joints

Lower & Higher Kinematic Pairs

Lower pairs - Joints with surface contact e.g Pin in a hole high Higher pairs - Joints with line or point contact. e.g. Pin in a slot ability to be lubricated low

For low wear and long life, always choose lower pairs rather than higher pairs

Other Lower Pairs

(besides R- and P-Joints)

Higher Pairs

Copyright 2004, 2006 by Azman Zainuddin

Summary of Joint Types

Pin rotation (1D) Primary Joints Sliding translation (1D) Cylindrical - rotation & translation (2D) Lower Spherical (or ball/socket) rotation (3D) Pairs Helical (or screw) rotation & translation (1D) Planar - translation (2D) & rotation (1D) Cam - rotation & translation (2D) Higher Pairs Gear - rotation & translation (2D)

Point of Interest
A point on a link where the motion is of special interest Position 1
Copyright 2004, 2006 by Azman Zainuddin

point of interest

Position 2

It is of interest in the analysis to determine the path taken by the end point as the link is rotating about one of its pin joints.

Example of a Mechanism
A link might be made up of several different components but all of them always move together, no relative motion at all against each other.

Link Joint

Joint

Link Joint Link = Frame Link Joint

Frame a type of link. This link serves as a frame of reference to other parts of the mechanism. Normally, this link is stationary.