Dasar Perancangan Mekanikal Bab 1

1
Jos Istiyanto, ST. MT.

Departemen Teknik Mesin
Fakultas Teknik Universitas Indonesia
DTM FTUI
Mechanical Design
Part I. Fundamental
Mechanical Design
Part I. Fundamental
yz

yx
zx
zy
xy
2 Departemen Teknik Mesin
DTM FTUI
Introduction >>
2
DTM FTUI
Definition
What is Design?
Design is the transformation of concepts and ideas
into useful machinery.
A machine is a combination of mechanism and other
component that tranforms, transmits, or uses
energy, load, or motion for specific purpose.
(hamrock)
Fundamental decisions regarding loading,
kinematics and the choice of materials must be
made during the design of a machine.
DTM FTUI
Definition
What is Mechanics?
Mechanics is the branch of physical science that
deals with the response of bodies to the action of
forces.
Three areas of mechanics:
1> The mechanics of rigid bodies
- statics (equilibrium of bodies)
- dynamics (accelerated motion of bodies)
2> The mechanics of deformable bodies (Mechanics
of Material)
3> The mechanics of fluids
3
DTM FTUI
The Mechanics of Rigid Bodies
What is a rigid-body?
A rigid-body is a solid which does not deform when force are
applied (idealisation).
Statics is concern with bodies that are acted on
balanced force and hence are at rest or have
uniform motions. equilibrium bodies
Dynamics is concern with accelerated motion of
bodies
DTM FTUI
Mechanics of deformable bodies
Is the branch of mechanics that deals with
internal force distribution and the
deformations developed in actual engineering
structure and machine components when they
are subjected to systems of force.
Mechanics of Materials
Strength of Material
4
DTM FTUI
Fluid Mechanics
Fluid mechanics is the branch of mechanics
that deals with liquids and gases at rest or in
motion.
Fluid
- Compressible
- Incompressible
DTM FTUI
Example of Application
..
5
DTM FTUI
Force System >>
DTM FTUI
Force System
Forces and Their Characteristics
The characteristics of a force are as follows:
Its magnitude
The amount or size of the force
Its direction (orientation)
Orientation of the line segment used to represent the force
Its point of application
The point of contact between the two bodies. A straight line
extending through the point of application in the direction
of the force is called its line of action.
6
DTM FTUI
Principle of Transmissibility
The external effect of a force on a rigid body is the same for all
points of application of the force along its line of action.
PUSH PULL
Rigid Ring : Deformable Ring :
DTM FTUI
Classification of Forces
With respect to the area over which they act :
2. Concentrated force
1. Distributed force
7
DTM FTUI
Force system
a. Concurrent forces
The action lines of all forces
intersect at common point
b. Coplanar forces
All forces lie in the same plane
F
1
F
2
F
3
Any number of forces treated as a group constitute
a force system.
F
1
F
2
F
3
DTM FTUI
Force system
c. Parallel forces
The action lines of the forces are parallel, but the
orientation of the forces do not have to be same.
d. Collinear
The forces of a system
have a common line of
action.
F
F
8
DTM FTUI
Force system
Graphical method
The parallelogram law
F
2
R
F
1
O
F
2
F
1
F
2
F
1
O
R
R
The Triangle law
DTM FTUI
Force system
Basic of analytical method
The cosine law
c
2
= a
2
+ b
2
- 2 ab cos
The sine law
a
=
sin
c
sin
b
sin
a
9
DTM FTUI
Force system
Analytical method
Direction of Resultant
F
1
F
2

Magnitude of Resultant:
+ + = cos F F 2 F F R
2 1
2
2
2
1
R
sin F
sin
2

=

=

R
sin F
sin
2 1
DTM FTUI
Force system
Example :
F
1
=800 N
F
2
=500 N
45
0
30
0
Determine the magnitude of the
resultant R and the angle
between the horisontal axis and
the line of action of Resultant
5 . 1206 R
45 cos 500 . 800 . 2 500 800 R
cos F F 2 F F R
0 2 2
2 1
2
2
2
1
=
+ + =
+ + =
0
o
1 2 1
04 . 17
5 . 1206
45 sin 500
sin
R
sin F
sin
=

=

= + 17.04
o
= 47.04
o
F
1
=800 N
F
2
=500 N
45
0
30
0
R
10
DTM FTUI
Moment System >>
DTM FTUI
Moment System
Moment and their characteristics
The moment of a force about a point or axis is a measure
of the tendency of the force to rotate a body about that
point or axis.
A moment has both magnitude and a direction vector
quantity
The magnitude of moment M as defined as the product of
the magnitude of a force and the perpendicular distance d
from the line of action of the force to the axis.
MO = MO= Fd
Point O = the moment center.
11
DTM FTUI
Principle of Moment :
Varignon's Theorem
The moment M of the resultant R of a
system of force with respect to any axis or
point is equal to the vector sum of the
moment of the individual forces of the
system with respect to the same axis or
point.
R = F
1
+ F
2
+ + F
n
MO = Rd
R
= F
1
d
1
+ F
2
d
2
+ + F
n
d
n
DTM FTUI
Application of Varignon's theorem
MR = R.d = R(h cos )
MA = A.a = A(h cos )
MB = B.b = B(h cos )
R cos = A cos + B cos
M
R
= M
A
+ M
B
h
A
R
B cos
A cos
B
b
d
a
A
x
y
O
12
DTM FTUI
Vector Representation of a moment
M
O
= r x F
M
O
= r x F = rFsin e
(0 180
o
)

r
d
F
d
F
r
1
3

1
r
2
r
3
r1sin 1 = r2sin 2 = r3sin 3 =
d
DTM FTUI
Position vector
r
A
= x
A
i + y
A
j + z
A
k
r
B
= x
B
i + y
B
j + z
B
k
r
A
= r
B
+ r
A/B
r
A/B
= r
A
- r
B
r
A/B
r
A
z
y
x
F
r
B
13
DTM FTUI
Moment of a force about a point
If force F and r are expressed in Cartesian vector form:
F = F
x
i + F
y
j + F
z
k
r = r
x
i + r
y
j + r
z
k
So the moment Mo about the origin of coordinate O :
M
O
= r x F
= (r
x
i + r
y
j + r
z
k) x (F
x
i + F
y
j + F
z
k)
= (r
y
F
z
- r
z
F
y
)i + (r
z
F
x
- r
x
F
z
)j + (r
x
F
y
- r
y
F
x
) k
= M
x
i + M
y
j + M
z
k
DTM FTUI
>>
y
r
z
y
x
F
M
O
z
O
The moment Mo about the origin of coordinate O can also be
expressed in determinant form as :
M
O
= r x F = What is about two-dimensional case ?
z
F
y
F
x
F
z
r
y
r
x
r
k j i
2 2 2
z
M
y
M
x
M + + =
o
M
14
DTM FTUI
Alternatively, Mo can be written as
M
O
= M
O
e
Where e = cos
x
i + cos
y
j + cos
z
k
o
x
x
cos
M
M
=
o
y
y
cos
M
M
=
o
z
z
cos
M
M
=
DTM FTUI
Moment of a force about a line (axis)
M
OJ
= M
= (M
O
. e
n
) e
n
= [(r x F) . e
n
] e
n
= M
OJ
e
n
z
F
y
F
x
F
z
r
y
r
x
r
k j i
J
r
z
y
x
F
M
O
O
e
n
M
OJ
= M
O
. e
n
= (r x F) . e
n
= . e
n
15
DTM FTUI
Moment of a force about a line (axis)
Or alternatively as :
MOJ= MO . en = (r x F) . en =
z
F
y
F
x
F
z
r
y
r
x
r
nz
e
ny
e
nx
e
J
r
z
y
x
F
M
O
O
e
n
DTM FTUI
COUPLES
A couple is a system force whose resultant force is
zero but whose resultant moment about a point is
not zero
MA = F
1
d = F2d
MA = rA/B x F
1
= F
1
d e
n
The characteristics of couples
1. The magnitude
2. The sense (direction of rotation)
3. The orientation (axis about which rotation is
induced)
e
n
r
A
z
y
x
F
1
F
2
n
d
16
DTM FTUI
COUPLES
Several
transformation of a
couple can be made
without changing
any of external effect
of the couple on the
body
d
F
F
d
F F
2d
0.5F 0.5F
d
F F
M = Fd
DTM FTUI
COUPLES
Resolution of a force into a force and a couple
F
O
p
r
d
F
F
F
O
p
F
O
p
M = Fd
17
DTM FTUI
Moment system
Example :
A parcel is lifted by a fork lift truck.
Determine the moment of the weight with
respect to the point A at the two border
positions!
DTM FTUI
Centroid & Center of Gravity
>>
18
DTM FTUI
Center of Gravity
The center of gravity G is a point which
locates the resultant weight of a system
of particles.
The weights of the particles is considered
to be a parallel force system. The system
of weights can be replaced by a single
weight acting tat the Center of Gravity.
DTM FTUI
=
=
n
1 i
i R
W W
Total Weight
n n 3 3 2 2 1 1 R R
W x
~
W x
~
W x
~
W x
~
W x K + + + =
x location:
n n 3 3 2 2 1 1 R R
W y
~
W y
~
W y
~
W y
~
W y K + + + =
y location:
n n 3 3 2 2 1 1 R R
W z
~
W z
~
W z
~
W z
~
W z K + + + =
z location:
19
DTM FTUI
=
=
=
=
=
=
= = =
n
1 i
i
i
n
1 i
i
n
1 i
i
i
n
1 i
i
n
1 i
i
i
n
1 i
i
W
W z
~
z
W
W y
~
y
W
W x
~
x
particle i the of weight W
particle i the of s coordinate z
~
, y
~
, x
~
gravity of center the of s coordinate z , y , x
th
i
th
i i i
DTM FTUI
=
=
=
=
=
=
= = =
n
1 i
i
i
n
1 i
i
n
1 i
i
i
n
1 i
i
n
1 i
i
i
n
1 i
i
m
m z
~
z
m
m y
~
y
m
m x
~
x
particle i the of mass W
~
, y
~
, x
~
mass of center the of s coordinate z , y , x
th
i
th
i i i
Center of Mass
20
DTM FTUI
Centroid for a Body
Consider a body to be a system of an infinite number of
particles
DTM FTUI
=
= = =
1 i
i
i
1 i
i
1 i
i
i
1 i
i
1 i
i
i
1 i
i
W
W z
~
z
W
W y
~
y
W
W x
~
x
particle i the of weight W
~
, y
~
, x
~
gravity of center the of s coordinate z , y , x
th
i
th
i i i
21
DTM FTUI
= = =
dW
dW z
~
z
dW
dW y
~
y
dW
dW x
~
x
( )
V d W d
body the of weight specific
=

volume unit per The weight
=
V
V
V
V
V
V
dV
dV z
~
z
dV
dV y
~
y
dV
dV x
~
x
DTM FTUI
CENTROID
The centroid C is a point which defines the
geometric center of an object. Its location can be
determined by formulas similar to those used for
center of gravity or center of mass.
22
DTM FTUI
= = =
V
V
V
V
V
V
dV
dV z
~
z
dV
dV y
~
y
dV
dV x
~
x
Centroid of a Volume
For a homogeneous body, the center of gravity G
coincides with the centroid C of the volume V of the
body; the coordinates of C are defined by the relations
DTM FTUI
Centroid of an Area
= = =
A
A
A
A
A
A
dA
dA z
~
z
dA
dA y
~
y
dA
dA x
~
x
23
DTM FTUI
Centroid of an Area
= =
A
A
A
A
dA
dA y
~
y
dA
dA x
~
x
For two dimensional body,
These integrals are referred to as the first moments of
area A with respect to the y and x axes, and are denoted
by Q
y
and Q
x
, respectively
DTM FTUI
= = =
L
L
L
L
L
L
dL
dL z
~
z
dL
dL y
~
y
dL
dL x
~
x
Centroid of a Line
24
DTM FTUI
Composite Bodies
If a body is made up of several simpler bodies
then a special technique can be used.
Procedure
Divide body into several subparts.
If the body has a hole or cutout, treat that as negative
area.
Centroid will lie on line of symmetry.
Create Table and calculate centroid.
y
x
20 mm
30 mm
36 mm
24 mm
DTM FTUI
Area Body
x
c
y
c
x
c
A y
c
A
25
DTM FTUI
theorems of Pappus-Guldinus
C
L
x
2y
y
The theorems of Pappus-Guldinus
relate the determination of the area
of a surface of revolution or the
volume of a body of revolution to the
determination of the centroid of the
generating curve or area. The area
A of the surface generated by
rotating a curve of length L about a
fixed axis is
A = 2yL
where y represents the distance from the centroid C of the
curve to the fixed axis.
DTM FTUI
theorems of Pappus-Guldinus
x
2y
y
A
C
The volume V of the body generated by rotating an area A
about a fixed axis is
V = 2yA
where y represents the distance from the centroid C of
the area to the fixed axis.
26
DTM FTUI
Distributed load
x
w
O
B
x
dx
L
w
dW
x
w
O
B
x
L
W
W = A
P
C
The concept of centroid of an area can also be used to solve
problems other than those dealing with the weight of flat plates.
For example, to determine the reactions at the supports of a
beam, we replace a distributed load w by a concentrated load
Wequal in magnitude to the area A under the load curve and
passing through the centroid C of that area.
DTM FTUI
x
y
z
P(x,y,z)
x
el
y
el
z
el
z
x
el
= x
y
el
= y
z
el
= z
1
2
dV = z dx dy
dy
dx
When a volume is
bounded by analytical
surfaces, the coordinates
of its centroid can be
determined by integration.
To avoid the computation
of triple integrals, we can
use elements of volume
in the shape of thin
filaments (as shown).
27
DTM FTUI
Denoting by x
el
, y
el
, and z
el
the coordinates of the centroid of
the element dV, we write
xV = x
el
dV yV = y
el
dV zV = z
el
dV
If the volume possesses two planes of symmetry, its

centroid C is located on their line of intersection.
DTM FTUI
dx
x
z
y
x
el
x
el
= x
dV = r
2
dx
If the volume possesses two planes of symmetry, its centroid C
is located on their line of intersection. Choosing the x axis to lie
along that line and dividing the volume into thin slabs
parallel to the xz plane, the centroid C can be determined from
xV = x
el
dV
For a body of revolution, these slabs are circular.
28
DTM FTUI
1 cm
1 cm
2 cm
3 cm
3 cm
Locate Centroid of the Composite Area
Problem
DTM FTUI
1 cm
1 cm
2 cm
3 cm
3 cm
1 2
3
29
DTM FTUI
Segment A (cm
2
) x y xA yA
1 4.5 1 1 4.5 4.5
2 6 -1 1.5 -6 9
3 1 -2.5 0.5 -2.5 0.5
A = 11.5 xA = -4 xA = 14
cm 22 . 1
5 . 11
14
A
A y
~
y
cm 348 . 0
5 . 11
4
A
A x
~
x
= = =
=
= =

DTM FTUI
1 cm
1 cm
2 cm
3 cm
3 cm
1 2
3
30
DTM FTUI
Segment A (cm
2
) x y xA yA
1 4.5 1 1 4.5 4.5
2 9 -1.5 1.5 -13.5 13.5
3 -2.5 -2.5 2 5 -4
A = 11.5 xA = -4 xA = 14
cm 22 . 1
5 . 11
14
A
A y
~
y
cm 348 . 0
5 . 11
4
A
A x
~
x
= = =
=
= =

DTM FTUI
y
x
20 mm
30 mm
Problem
36 mm
24 mm
Locate the centroid of the plane
area shown.
31
DTM FTUI
Moment of inertia
>>
DTM FTUI
Moments of Inertia
Definition of Moments of Inertia for Areas:
Used in formulas for Mechanics of Materials, Fluid Mechanics,
Structural Mechanics.
Consider area A in x-y plane.
By definition:
These expressions are referred to as Moments of Inertia
about the x and y axes. They may also be called second-
moments of inertia.
dI = y dA and dI = x dA
We integrate to obtain
I and I for area A.
I = y dA and I = x dA
X
2
Y
2
X Y
X
2
Y
2

X
X
Y
Y
r
dA
A
32
DTM FTUI
Definition of Moments of Inertia for Areas
(Contd)
The second moment about the origin (or z-axis)
is defined as the polar moment of inertia.
dJ = r dA ; J = I + I since r = x + y
I , I and J > 0 , Units are ft in , m and mm
O
2
O X Y
2 2 2
X Y O
4 4 4 4
, .
DTM FTUI
Parallel-Axis Theorem for Area
If MOI is known about the x-axis or y-axis through
centroid (C) of area, it is possible to determine MOI about
a parallel x-axis or y-axis using the parallel axis theorem.
dI = (y + y) dA , I = (y ) dA +2y y dA +(y dA
But y dA = 0, so that:
I = I A y ; I = I A x ; and J = J A ( x + y ) .
X
2
X
2
X
X'
2
Y
Y'
2
O
0
2 2

+ + +

)
2
Y
X
X
Y
Y
X
r
C
dA
33
DTM FTUI
Radius of Gyration
Radius of Gyration has units of length.
Often used in Column design.
k =
I
A
, k =
I
A
, k =
I
A
X
X
Y
Y
Z
Z
DTM FTUI
Moments of Inertia for Area by Integration
If area defined by mathematical function, integration
gives MOI
If differential area has differential size in two directions,
double integration is used.
If differential element has differential size in only one
direction, single integration is used.
X
X
Y
Y
dX
34
DTM FTUI
Moments of Inertia for Area by Integration
Procedure for Analysis
If single integration is used to obtain MOI, specify dA with
finite length and differential width.
Case I - Length of element is parallel to axis, so all parts
of element lie at at same distance x from axis-y.
Case II - Length of element oriented perpendicular to axis,
so moment arm varies along element. Determine dI of
element.
X
X
Y
Y
dX
DTM FTUI
Moments of Inertia for Composite Areas
Composite area consists of group of connected
simple shapes.
If MOI of parts about common axis can be
determined, then MOI of the composite is
algebraic sum of parts.
I = I , I = I , I = I
X X
i
Y
i
Y
i
Z
i
Z
i
i

35
DTM FTUI
Moments of Inertia for Composite Areas
(Contd)
Procedure for Analysis
Composite Area Moment of Inertia about reference axis.
1. Composite Parts. Divide area into composite parts.
Indicate perpendicular distance from centroid of parts to
reference axis.
2. Apply Parallel Axis Theorem. Determine MOI of each
part about centroidal axis parallel to reference axis. Use
parallel axis theorem to calculate MOI of parts about
reference axis.
3. Sum MOI of parts. Calculate MOI of component by
summing MOI of parts. If any part is a hole, subtract
the MOI of hole in making summation.
DTM FTUI
Composite Area Moment of Inertia
EXAMPLE
Given: Composite Area about x-axis as shown.
Find: Moment of Inertia of area about x-axis.
100mm
75mm
75mm
25mm
X
X
36
DTM FTUI
Composite Area Moment of Inertia
Solution
100mm
75mm
75mm
25mm
Approach Ay
Part mm mm I
ct
Circle
a bd r
X
: )
) ( ) ( )
Re .
)
( ) ( ) ( )
I = (I
A(mm y(mm) Ay I Ay
15,000 75 84.38E6 28.12E6 112.50E6
- 1,963 75 - 11.04E6 - 0.31E6 - 11.35E6
I = 101.15E6(mm
I (b) I
X X
2 2
X
2
a
b
X
2
X X
+
+
= =
2
4 4
3 4
12 4
X
X

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1

Jos Istiyanto, ST. MT.

If the volume possesses two planes of symmetry, its

58 Departemen Teknik Mesin

60 Departemen Teknik Mesin

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