Mechanics of Machines

MDB 3043

Lecture 01:
Introduction
Dr Tuan Mohammad Yusoff Shah
Outline of Lecture 1
Course Introduction
 Objectives, Instructors, Text, Instruments,
Assessment, Groupings, Labs & Tutorials.
Introduction to Mechanism
 Links, Joints, Categories
Kinematic Diagram
Course Instructor
Dr Tuan Mohammad Yusoff Shah
Bin Tuan Ya
05-3687198
18-03-06
tyusoff.ty@utp.edu.my
Course Outcomes

By the end of the course, students should be able to …

Analyze the kinematics and dynamics of mechanisms
found in machines.
Design mechanisms to generate simple and complex
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 %
Lab Test 2 4
Quizzes 6 6
Project 1 10
Exams 2 30
Final Examination 1 50
TOTAL 100
Mechanics of Machines MDB3043
Semester May 2018 Timetable
Tutorial (not finalized yet)
Compulsory
1½ hr weekly starting from Week 3
Must bring the drawing instruments to
the tutorial starting from Week 5
Week 3 – Week 14
At (to be confirmed)
Mechanics of Machines MDB 3043
Semester May 2018 Lab Schedule

Lab 1: Week 3
Analytical Techniques (Microsoft Excel) [2 hrs]

Lab 2: Week 5
Modelling & Simulation (MSC-ADAMS or
GeoGebra) [2 hrs]

Venue: 17-01-07 or 17-01-15

Quiz & Project
Project will be done in groups of 5-6
Quizzes will be conducted during lecture
or tutorial sessions for every chapter.
Quizzes that require the use of drawing
instruments will be conducted during
tutorial.
Course Topics
Mechanisms CH 1
Position analysis CH 4
Mechanism design CH 5
Velocity analysis CH 6
Acceleration analysis CH 7
Cams CH 9
Gears CH 10
Belts CH 11
Static Force CH 13
Dynamic Force Analysis CH 14
 Machine & Mechanism
Convert, transmit and direct forces/energy to perform useful work
MACHINE

Source of Input Output

Power Mechanism Motion
Motion

Useful motion
Limited motion capabilities as required by
(eg fixed speed, direction the application
and displacement)

Copyright © 2004, 2006 by Azman Zainuddin

Machine & Mechanism
(Example)
CAR
Source of Input Output
Power: Mechanism: Crank,
Motion: Motion:
Engine Linear timing belt, pulleys,
Forward
Reciprocati gearbox, bevel
Movement
ng Stroke gears, driveshaft,
of Piston of Car
wheel

Copyright © 2004, 2006 by Azman Zainuddin

Mechanisms
Definitions

Machine: A device used to convert, transmit and direct

forces or energy to accomplish a certain objective.

Mechanism:
 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 Prismatic Joint
between links 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 Higher pairs

- Joints with surface - Joints with line or point
contact contact.

e.g Pin in a hole e.g. Pin in a slot

high ability to be low

lubricated

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
Sliding – translation (1D) Joints
Cylindrical - rotation & translation (2D)
Spherical (or ball/socket) – rotation (3D) Lower
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
point of
Copyright © 2004, 2006 by Azman Zainuddin

interest

It is of interest in the
analysis to determine the
path taken by the end
Position 2 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 Link
motion at all against each other.
Joint

Link
Joint
Link
Joint
Link = Frame 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.
Open Chain vs Closed Chain
Closed Chain Open Chain
All links have at least two At least one link has only
joints one joint.
E.g. robotic arm, backhoe
bucket