Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism

MEC 203 MECHANICS OF MACHINES

Introduction
Dr. P. JEYARAJ
Assistant Professor
Department of Mechanical Engineering
NITK Surathkal
August 14, 2013
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
MEC 203 MECHANICS OF MACHINES
Objectives of the course
After undergoing the course the students will be able to
Create a structured problem denition and possible solutions for a given
unstructured problem statement in mechanism design
Analyze and explain the process of mechanism design
Create new mechanisms (synthesis mechanism) for a given purpose
Calculate and analyze the position, velocity and acceleration of any point
on a link in a given mechanism
Analyze the static forces and dynamic forces in a given mechanism
Simulate simple mechanisms using Matlab /SCI lab / Working model 2D
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
MEC 203 MECHANICS OF MACHINES
Course coverage
Contents Hrs
Introduction and denitions, Mobility , linkage type, Equivalents, Inversion 6
Position analysis , Velocity Analysis , Graphical and Analytical 7
Acceleration analysis (including Coriolis acceleration) 6
Static Force analysis 7
Dynamic Force Analysis 7
Mechanism Synthesis 7
Total 40
Contents in red by Dr. K. V. Gangadharan and contents in
blue by Dr. P. Jeyaraj
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
MEC 203 MECHANICS OF MACHINES
References
Robert L Norton ,Design of Machinery (621.815 N887) 2nd
Edition, McGrawHill
Hamilton H Mabie and Charles F Reinholtz , Mechanisms
and Dynamics of Machinery (621.81 M1121), 4th Edition,
John Wiley and Sons
John J Uicker, Jr et. al Theory of Machines and
Mechanisms(621.81 U) ,3rd Edition, Oxford
Rattan S.S., Theory of Machines Tata McGraw Hill
Publishing Company Ltd., New Delhi, 2nd Edition, 2006
David H Myzska, Machines and Mechanisms, Applied
Kinematic Analysis, 4th Edition, Prentice Hall, 2012.
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
MEC 203 MECHANICS OF MACHINES
Evaluation Plan
Component Percentage weightage
End Semester Exam 50
Mid Semester Exam 20
Quizzes and Assignments 15
Mini Project 15
Total 100
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Mechanics Classication
Mechanics
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Kinematics Vs Kinetics
Kinematics Vs Kinetics
KINEMATICS - The study of motion without regard to forces
KINETICS - The study of forces on systems in motion
These two are really not physically separable, separated for
instructional/understanding reasons.
From Newtons second law, F = ma
we need to know accelerations (a) in order to compute
dynamic forces (F) due to the motion of the systems mass (m)
So, understanding and analyzing the motion of a machine
component is very important
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Kinematics
Kinematics
One principle aim of the kinematics is to create the desired motions of the
machine component and then mathematically compute the positions, velocities
and accelerations which those motions.
Since mass remains constant with time,dening the accelerations as a function
of time will dene the dynamic forces as a function of time.
In machinery which involves the largest forces encountered are often those due
to dynamics of the machine itself. These dynamic forces are proportional to
acceleration, which brings us back to kinematics, the foundation of mechanical
design.
Very basic and early decisions in the design process involving kinematic
principles can be crucial to the success of any mechanical design.
A design which has poor kinematics will prove troublesome and perform badly.
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Need for Kinematic Analysis
Consider the design of an automotive windshield wiper system
First design task is to determine appropriate movements of the wiper.
Once the desired movement has been established, an assembly of components
must be congured to produce the wiper pattern.
Subsequent tasks include analyzing other motion issues such as timing of the
wiper and wiping tendencies
So, understanding and analyzing the motion of the wiper system is necessary for
proper operation
Dr. P. Jeyaraj NIT Karnataka Surathkal
Kinematic Analysis
Kinematics is the study of motion without considering the forces which produce
that motion.
More specically it is the study of position, displacement, velocity, and
acceleration.
Kinematic Analysis-Applications
Bicycle is a simple example of a kinematic system that contains a chain drive to
provide torque multiplication and simple cable operated linkages for braking
In an automobile - Steering system, wheel suspensions, and piston-engine
Construction equipment such as tractors, cranes and backhoes all use linkages
extensively
Exercise equipments
Terminology
Mechanism
A device which transforms motion to some desirable pattern
may contain linkages, cams, gears, belts and chain
typically develops very low forces and transmits little power
Examples
Umbrella , Folding chair and Adjustable desk lamp
Denition
A system of elements arranged to transmit motion in a pre determined fashion
Terminology
Machine
typically contains mechanisms
designed to provide signicant forces and transmit signicant power
Examples
Bulldozer, Robot,Engines
Denition
A system of elements arranged to transmit motion and energy
in a pre determined fashion
Terminology
Structure
typically contains rigidly connected non-movable members
designed to support or carry the loads
Examples
Table, bridges, buildings
Denition
A system of elements arranged to support the load
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Machine Vs Mechanism Vs Structure
Machine Mechanism Structure
relative motion exists relative motion exists no relative motion exists
between its pair between its pair between its pair
it transforms available no energy It does not convert
energy into useful work transfer the available energy into work
Members are used to Members are used to structural members are used to
transfer both energy and motion transfer motion only carry loads
Dynamo, Machine Tools, etc., Umbrella, Folding Chair Roof Trusses, Bridges
Positive dof Positive dof zero dof
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Terminology
Frame: It is a reference for all other links. It is typically a part of machine or
mechanism that exhibits no motion. Example: Bus body for wiper mechanism
Link: A member or combination of members of a mechanism, connecting other
members and having motion relative to them
Pair: is a joint of two links having relative motion between them
Kinematic Chain: when kinematic pair are coupled in such a way that the last
link is joined to the rst link to transmit motion, it is known as kinematic chain
Mechanism: when one link of a kinematic chain is xed it is known as
mechanism.
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Links
Types of Links
Binary Link: Link with two nodes
Ternary Link: Link with three nodes
Quaternary Link: Link with four nodes
node: point of attachment to the other links
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Kinematic Pairs
Types of Kinematic Pairs
According to the nature of relative motion
According to the nature of contact
According to the nature of mechanical constraint
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Kinematic Pairs
According to the nature of relative motion
Revolute (or) Pin (or) Hinge Joint : It allows pure rotation
between the two links that it connects
Sliding (or)prism (or) piston joint : It allows pure translation
between the two links that it connects
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Kinematic Pairs
According to the nature of relative motion
Helical or helix or screw joint: The sliding and rotational
motions are related by the helix angle of the thread. The
mating surface is in form of helix
Cylindrical joint: The mating surface is plain and cylindrical in
shape
These two pairs has both turning as well as sliding motion
between them
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Kinematic Pairs
According to the nature of relative motion
Spherical or Globular joint: When one link in the form of a
sphere turns inside a xed link, spherical pair will form
Planar joint: The mating surface is plain and cylindrical in
shape
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Kinematic Pairs
According to the nature of contact
Lower pair: A pair of links having surface or area contact
between the members is known as lower pair. The contact
surfaces of the two links are similar.
Examples: Screw pair, Cylindrical pair, Prismatic pair
Higher pair: When a pair has a point or line contact between
links, it is known as higher pair. The contact surfaces of the
two links are dissimilar.
Examples: Wheel rolling on a surface, Cam and follower pair,
ball and roller bearings
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Kinematic Pairs
Higher Pair Vs Lower Pair
A pin surrounded by a hole is an example for lower pair, where surface contact
exists. However, if there is any clearance between pin and hole (as there must
be for motion), so-called surface contact in the pin actually becomes line
contact, as the pin contacts only one side of the hole.
Likewise, at a microscopic level, a block sliding on a at surface actually has
contact only at discrete points, which are the tops of the surfaces asperities.
The main practical advantage of lower pairs over higher pais is their better
ability to trap lubricant between their enveloping surfaces. This is especially true
for the rotating pin joint.
As a result, the pin joint is preferred for low wear and long life, compared to the
prismatic or slider joint.
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Kinematic Pairs
According to the nature of mechanical constraint
Closed pair: When two links of a pair are held together
mechanically, it is known as a closed pair.
Unclosed pair: When two links of a pair in contact either due
to force of gravity or same spring action, it is known as
unclosed pair.
Animation for classication of pairs
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Kinematic Diagrams
In analyzing the motion of a machine, it is often dicult to visualize the
movement of the components in a full assembly drawing.
It is easier to represent the parts in skeleton form so that only the dimensions
that inuence the motion of the mechanism are shown.
These stripped-down sketches of mechanisms are often referred to as
kinematic diagrams.
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Kinematic Diagrams
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Kinematic Diagrams
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Kinematic Diagrams
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Kinematic Diagrams
How to draw Kinematic Diagrams
A kinematic diagram should be drawn to a scale proportional to the actual
mechanism.
For convenient reference, the links are numbered, starting with the frame as link
number 1.
To avoid confusion, the joints should be lettered.
Consider a shearing press used to cut and trim electronic circuit board laminates
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Kinematic Diagrams
How to draw Kinematic Diagrams
Identify the Frame
In most of the cases the frame is rmly attached to the ground.
Its selection is important as all other links motion will be determined
relative to it.
Identify All Other Links
Identify all the other links which are moving relative to the frame
In this problem, Handle (Link 2), Cutting blade (Link 3) and Bar that
connects the cutter with the handle (Link 3).
Identify the Joints
In this problem, Pin joint (A) connects Link 1 to Link 2; Pin joint (B)
connects Link 2 to Link 3; Pin joint (C) connects Link 3 to Link 4
In addition, the cutter slides up and down, along the base. This sliding
joint (D) connects link 4 to 1
Identify any point of interest
Finally, the motion of the end of the handle is desired. Let it be X.
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Kinematic Diagrams
How to draw Kinematic Diagrams
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Kinematic Diagrams
How to draw Kinematic Diagrams
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Kinematic Diagrams
How to draw Kinematic Diagrams
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Degrees of Freedom or Mobility of Mechanisms
The systems DOF is equal to the number of independent parameters that are
needed to uniquely dene its position in space at any instant of time.
Figure shows a pencil lying on a at piece of paper with an x, y coordinate
system added
Three parameters (DOF) are required to completely dene the position of the
pencil on the paper, two linear coordinates (x,y) to dene the position of any
one point on the pencil and one angular coordinate () to dene the angle of
the pencil with respect to the axes.
This system of pencil in a plane has three DOF.
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Grueblers Criterion
Any link in a plane has 3 DOF. Therefore, a system of N unconnected links in
the same will have 3N DOF
When any link is grounded or attached to the reference frame, all three of its
DOF will be removed. Now the total DOF is 3N-3
When a pair having one DOF is formed between two links, then two DOF for
each pair will be reduced. Now the total DOF is 3N-3-2P1, where P1 is number
of pairs having one DOF
Similarly for a pair having two DOF, one DOF for each pair will be reduced.
Now total DOF of the mechanism is 3N-3-2P1-1P2, where P2 is number of
pairs having two DOF
So, for planar mechanisms, DOF=3(N-1)-2P1-1P2.
This is known as Grueblers criterion for degrees of freedom of plane
mechanisms in which each movable link possesses three degrees of freedom
Kutzhachs criterion DOF=3(N-1)-2P1
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Problems on DOF
Find mobility of the mechanisms given
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Problems on DOF
Find mobility of the mechanisms given
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Four bar mechanism
It is the most fundamental of the plane kinematic mechanism.
It consists of four rigid links which are connected in the form of a quadrilateral
by four pin joints.
It has one degrees of freedom and fully operated by one driver. The pivoted link
connected to the driver or power source is called as input link.
The xed link is known as GROUND or FRAME, the output link is known as
FOLLOWER and the link which connects input and output links is known as
COUPLER.
A link that makes complete revolution is called as CRANK which is mostly input
link and a link which oscillates is called as ROCKER
Four bar mechanism animation Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
The Grashof Condition
It is a very simple relationship which predicts the rotation
behavior or rotatability of a four bar linkage based only on the
link lengths.
Let S = length of the shortest link, L = length of the longest
link, P = length of one remaining link, and Q = length of the
other remaining link.
If S+L P+Q, then linkage is Grashof and at least one link
will be capable of making a full revolution with respect to the
ground.
If the inequality is not true, then the linkage is non-Grashof
and no link will be capable of a complete revolution relative to
any other link.
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Inversion of a kinematic chain
The method of obtaining dierent mechanisms by xing
dierent links of a kinematic chain is known as inversion.
Thus there are as many inversions of a given linkage as it has
links.
The motions resulting from each inversion can be quite
dierent, but some inversions of a linkage may yield motions
similar to other inversions of the same linkage.
In these cases only some of the inversions may have distinctly
dierent motions. We will denote the inversions which have
distinctly dierent motions as distinct inversions.
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Inversion of a four bar chain
Four dierent inversions of four bar chain are
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Inversion of a four bar chain
Applications of four bar inversions are
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Inversion of single slider chain
Four dierent inversions of four bar chain are
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Inversion of single slider chain
Applications of single slider crank chain are
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Quick Return Mechanisms
Need for Quick Return Mechanisms
During the cutting stroke there is a limit of speed imposed to the cutting
tool due to various reasons like, heat dissipation, life of tool bits, etc.,
But no speed limit exists for the return stroke or idle stroke.
Applications of Quick Return Mechanisms
Pushing the parts along assembly line
Clamping parts together while they are welded
Folding cardboard boxes in an automated packaging machine
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Crank and Slotted Mechanism
It will be easily seen from the gure that the stroke of the cutting tool starts
from E when the link2 is at right angles to the lever4. Also lever4 is tangential
to the crank radius circle at point A.
Time ratio =
timeofcutting
timeofreturn
=

Dr. P. Jeyaraj NIT Karnataka Surathkal

Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Whitworth Mechanism
The extreme positions of the arm correspond to the positions AD and AD i.e.,
the position of the pin at D and D. This will happen when the pin C occupies
positions C and C repectively.
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Comparison
Whitworth Crank and Slotted lever
crank is xed connecting rod is xed
slotted lever revolves slotted lever oscillates
line of stroke passes through line of stroke passes through
the pivot point of slotted lever some distance away from the pivot point
Dr. P. Jeyaraj NIT Karnataka Surathkal
Course Information Introduction Links Pairs Kinematic Diagrams Degrees of Freedom Four bar mechanism
Inversion of double slider chain
Four dierent inversions of four bar chain are
Dr. P. Jeyaraj NIT Karnataka Surathkal