Kuwait University

College of Engineering & Petroleum

Department of Mechanical Engineering



Engineering Fundamental Laboratory ME 372









Experiment Title:

Mechanisms Report 1




Submission Date:

Sunday 26-10-2008




Group members:

Fawaz Ahmed Alshammeri 203112780
Mishary Fowzi Alsinny 204112440
Ahmad Abdullah Al-Ahmad 204215860
Ali Abdullah Al-Basri 205115632



2


Table of Content

Description Pages
Table of Content

2
Lists of Figures & Tables

3-4
Abstract 5
Starting Chapter 1

6
Experimental Background 7-12
Objectives of Experiment 13
Starting Chapter 2

14
Theoretical Background 15-18
Starting Chapter 3

19
Experimental apparatus and
procedure
20-21
Starting Chapter 4

22
Results 23-28
Sample Calculations 29-31
Figures 32-37
Discussion 38-39
Sources of error 40
Starting Chapter 5 41
Conclusion 42
References 43







3
Lists of Figures & Tables

Description Sequence
Four Bar Linkage Mechanism. Figure.1.1
The Possible Types of Four Bar Linkage Figure.1.2
External Geneva Mechanism in starting
position
Figure.1.3
Geneva Stop. Figure.1.4
Quick Return Mechanism Figure.1.5
The Quick Return Mechanism in the
Shaping Machine
Figure.1.6
Slider Crank Mechanism Figure.1.8
Four-Bar Linkage Nomenclature Figure.2.1
A Way to Solve Four-Bar Linkage Figure.2.2
Geneva Stop Figure.2.3
Time ratio in the Whitworth quick-return
mechanism
Figure.2.4
Slider-Crank Mechanism Figure.2.6
The displacement Curve for the four bar
mechanism(Case. I)
Fig.4.1
The displacement curve for the four bar
mechanism (Case. II
Fig.4.2
The displacement diagram of the Geneva
mechanism
Fig.4.3
The displacement diagram of the
Whitworth Quick-Return
Fig.4.4
The velocity diagram of the Whitworth
Quick-Return
Fig.4.5
The acceleration diagram of the Whitworth
Quick-Return
Fig.4.6
The displacement diagram of the slider
crank
Fig.4.7
The velocity diagram of the slider crank Fig.4.8
The Acceleration diagram of the slider
crank
Fig.4.9
The displacement diagram of the slider
crank
Fig.4.10
The velocity diagram of the slider crank Fig.4.11
The Acceleration diagram of the slider
crank
Fig.4.12
Link measurements Table.1
The input angle and the corresponding
output angles in each case
Table.2
The input and output angles for Geneva
mechanism
Table.3
The crank angle and the displacement of
the Whitworth Quick-Return mechanism
Table.4
Measurements table Table.5
The crank angle and the displacement of
the slider , Velocity and acceleration
Table.6
4
(theoretical Data)
The crank angle and the displacement of
the slider , Velocity and acceleration
(practical Data ).
Table.7
The transmission angle (of each case for
each input angle
Table.8


































5
Abstract

There are several kinds of mechanisms that will be studied during the
Engineering Fundamental Laboratory (ME-372) lectures and many experiments
will illustrate these mechanisms. The main objective of these experiments is to
learn more about each type of mechanisms, motion function and properties. The
data obtained in the laboratory have been analyzed using mathematical equations
and graphical methods. These data will represent the motion, velocity and
acceleration of each type of mechanism. Finally, the objectives mentioned above
are followed and fully achieved.

There are two types of mechanisms that will be studied. Firstly,
Reciprocating Motion Mechanisms which included Slider Crank Mechanism and
Whitworth Quick Return Motion Mechanism. The second type is called
Linkage Mechanisms which included Four Bar Linkage Mechanism and Geneva
Stop Mechanism.





























6















Chapter 1




















7
1. Experimental Background:



1. a) Four Bar Linkage:

Mechanical linkages are a series of rigid links connected with joints to form a
closed chain. Each link will have two or more joints, and the joints will have various
degrees of freedom to allow motion between the links. A linkage is called a
mechanism if two or more links are movable with respect to a fixed link. Mechanical
linkages are usually designed to take an input and produce a different output, altering
the motion, velocity, acceleration, and applying mechanical advantage.

The Four Bar-Linkage is the simplest possible closed-loop mechanism, and has
numerous uses in industry and for simple devices found in automobiles, toys, etc. The
device gets its name from its four distinct links (or bars), as shown in Figure.1. Link 1 is
the ground link (sometimes called the frame or fixed link), and is assumed to be
motionless. Links 2 and 4 each rotate relative to the ground link about fixed pivots (A
0

and B
0
). Link 3 is called the coupler link, and is the only link that can trace paths of
arbitrary shape (because it is not rotating about a fixed pivot).


Figure.1.1









8

Usually one of the "grounded links" (link 2 or 4) serves as the input link, which is the
link which may either be turned by hand, or perhaps driven by an electric motor or a hydraulic
or pneumatic cylinder. If link 2 is the input link, then link 4 is called the follower link,
because its rotation merely follows the motion as determined by the input and coupler link
motion. If link 2 is the input link and its possible range of motion is unlimited, it is called a
crank, and the linkage is called a crank-rocker. Crank-rockers are very useful because the
input link can be rotated continuously while a point on its coupler traces a closed complex
curve.

Grashof's law is applied to pinned linkages and states; the sum of the shortest and
longest link of a planar four bar linkage cannot be greater than the sum of remaining two
linkages if there is to be continuous relative motion between the links. Figure.2. shows the
possible types of pinned, four-bar linkages, where our experiment was done on the Crank-
rocker one.
Figure.1.2











9
1. b) The Geneva Stop:

The Geneva mechanism is a timing device. It is used in many counting
instruments and in other applications where an intermittent rotary motion is required.
Essentially, the Geneva mechanism consists of a rotating disk with a pin and another
rotating disk with slots (usually four) into which the pin slides as shown in Figure.3.
Figure.1.3



The Geneva mechanism was originally invented by a watch maker. The watch
maker only put a limited number of slots in one of the rotating disks so that the system
could only go through so many rotations. This prevented the spring on the watch from
being wound too tight, thus giving the mechanism its other name, the Geneva Stop.
The Geneva Stop was incorporated into many of the first film projectors used in
theaters.

In Optimum Design of Mechanical Elements, the Geneva mechanism is used to
provide an intermittent motion of the conveyor belt of a "film recording marching."
There are several weak points in the Geneva mechanism. For instance, for each
rotation of the Geneva (slotted) gear the drive shaft must make one complete rotation.
Thus for very high speeds, the drive shaft may start to vibrate. Another problem is
wear, which is centralized at the drive pin. Finally, the designer has no control over the
acceleration the Geneva mechanism will produce. Also, the Geneva mechanism will
always go through a small backlash, which stops the slotted gear. This backlash
prevents controlled exact motion.
10


An interesting example of intermittent gearing is the Geneva Wheel shown in
Figure 2. In this case the driven wheel, B, makes one fourth of turn for one turn of the
driver, A the pin, a, working in the slots. b, causing the motion of B. The circular portion
of the driver, coming in contact with the corresponding hollow circular parts of the
driven wheel, retains it in position when the pin or tooth a is out of action. The wheel A
is cut away near the pin a as shown, to provide clearance for wheel B in its motion.



Figure.1.4




If one of the slots is closed, A can only move through part of the revolution in
either direction before pin a strikes the closed slot and thus stops the motion. The device
in this modified from was used in watches, music boxes, etc., to prevent over winding.
From this application it received the name Geneva Stop. Arranged as a stop, wheel A is
secured to the spring shaft, and B turns on the axis of the spring barrel. The number of
slots or interval units in B depends upon the desired number of turns for the spring shaft.






11
1. c) The Whitworth Quick Return:


A quick return mechanism such as the one seen opposite is used where there is
a need to convert rotary motion into reciprocating motion. As the disc rotates the black
slide moves forwards and backwards. Many machines have this type of mechanism
and in college's workshop the best example is the shaping machine.



Figure.1.5

The shaping machine is used to machine flat metal surfaces especially where a
large amount of metal has to be removed. Other machines such as milling machines
are much more expensive and are more suited to removing smaller amounts of metal,
very accurately. The reciprocating motion of the mechanism inside the shaping
machine can be seen in the diagram. As the disc rotates the top of the machine moves
forwards and backwards, pushing a cutting tool. The cutting tool removes the metal
from work which is carefully bolted down.






Figure.1.6


12
1. d) The Slider Crank:
A slider-crank mechanism is a four-bar linkage with 3 revolute joints and one
prismatic joint. This mechanism converts rotary motion into reciprocating linear
motion, or vice versa. The components of a slider-crank are shown in the figure
below. Notice that the ground link is the base of the machine that connects the axis
of rotation of the crank with the surface upon which the slider moves.


This mechanism is composed of three important parts; the crank which is the rotating
disc, the slider which slides inside the tube and the connecting rod which joins the parts
together. As the slider moves to the right the connecting rod pushes the wheel round for the
first 180 degrees of wheel rotation. When the slider begins to move back into the tube, the
connecting rod pulls the wheel round to complete the rotation. One of the best examples of a
crank and slider mechanism is a steam train. Steam pressure powers the slider mechanism as
the connecting rod pushes and pulls the wheel round. The cylinder of an internal combustion
engine is another example of a crank and slider mechanism.





Figure.1.8
13
1.2: Objectives of Experiment:

- To study the function and performance of each coupling.
- Analytical derivation of its kinematics.
- Experimental verification of analytical results.









































14




















Chapter 2



























15
1. Theoretical Background:

1. a) The Four-Bar Linkage:

In order to analyze the motion of the four-bar linkage, geometrical analysis should be
carried out. See Figure.11.

Figure.2.1

Given
1 1 4 3 2 1
, , , , , u u

r r r r
4 3 3 2 2 1 1
cos cos cos r r r r = + + u u u ------------------------------ (1)
3 3 2 2 1 1
sin sin sin u u u r r r = + ------------------------------ (2)
Equations 1 and 2 are nonlinear equation. In order to solve them, numerical methods or
the following procedures should be used:
A line z -connects the points A, O
2
- splits the mechanism into two triangles and by using
Cosine Law we can solve the system. See Figure.12.
z r r r r z + =
1 4 1
2
4
2
1
2
cos 2 u ------------------------------ (3)
o o + = cos 2
1
2
4
2 2
1
r z r z r ------------------------------ (4)
| | + = cos 2
2
2
2
2 2
3
r z r z r ------------------------------ (5)
2 2
u o u | + = ------------------------------ (6)
| | + = cos 2
3
2
3
2 2
2
r z r z r ------------------------------ (7)
3 3
u | o u + = ------------------------------ (8)
| | =

180 ------------------------------ (9)

1
u
2
u
3
u
1
r
2
r
3
r
1
O
2
O
A
B
16

Figure.2.2


In order to find the angular velocities in the mechanism, Equations 1 and 2 should be
differentiated with respect to time:
0 cos cos sin
3 3 3 2 2 2 1 1 1
= u u u u u u

r r r ---------------------- (10)
3 3 3 2 2 2 1 1 1
cos cos cos u u u u u u

r r r = + ---------------------- (11)



2.b)The Geneva Stop:




Figure.2.3




1
u
2
u
3
u
1
r
2
r
3
r
z
o
o
|

1
O
2
O
A
B

1
u
2
u
1
r
2
r
o
1
O
2
O
H
17


Given
2 1 2 1
, , , u u r r
2
180 u o =

------------------------------ (12)
o
u u
o
tan
sin sin
tan
1 1
2
2
1 1
r
H O
H O
r
= = ------------------------------ (13)
o
u
u
tan
sin
cos
1 1
1 1 2 1 3
r
r H O H O r + = + = ------------------------------ (14)
1
1
3
1
cos
sin
tan
u
u
o

|
|
.
|

\
|
=
r
r
------------------------------ (15)



2.c)The Whitworth Quick-Return Mechanism:
The following equations show how to find the time ratio (TR) in the whitworth quick-
return mechanism.

Figure.2.4

u r x = ------------------------------------------------------- (16)
e
u u
e = = t
t
------------------------------------------------------- (17)
1
motion return during time
motion forward during time
>

= = = =
|
| t
u
u
e u
e u
r
f
r
f
TR (18)



|
| 2
| t 2 2
18



2.d) The Slider-Crank Mechanism:
The main idea of analyzing motion of the slider-crank mechanism is by using
geometrical analysis. The following equations represent the motion analysis:


Figure.2.5


Given
1 1 1 2 1
, , , , u u u

r r
2 2 2 1 1
sin sin u u u = r r ---------------------------- (19)
s s
x x r r = +
2 2 1 1
cos cos u u ---------------------------- (20)
In order to analyze the velocity
2 2 2 2 1 1 1
cos cos u u u u u

= r r ---------------------------- (21)
s s
x x r r

=
2 2 2 1 1 1
sin sin u u u u ---------------------------- (22)
( ) ( )
2 2
2
2 2 2 2 1
2
1 1 1 1
sin cos sin cos u u u u u u u u u

= r r ---------- (23)
( ) ( )
s s
x x r r

= + +
2
2
2 2 2 2 1
2
1 1 1 1
cos sin cos sin u u u u u u u u (24)









1
u
1
r
L
2
u
19











Chapter 3
























20



3. Experimental apparatus and procedure:

3.a) The Four-Bar Linkage:
1. Set the input angle at 0 and record the corresponding output angle.
2. Rotate the input crank in steps of 15 until it turns one complete revolution. At each
step, record the reading on the output disk.
3. Plot a graph of the output angle against the input angle.
4. Calculate the values of z and for each step.
5. Repeat steps 1-4 for different lengths.

3.b) The Geneva Stop:
1. Set both scales to zero, then rotate the input rotor in steps of 5 from 0 to 360 and
record the output angle for each position.
2. Plot a graph of output angle from 0 to 360 against the input angle.

3.c) The Whitworth Quick-Return Mechanism:
1. Determine the output response for rotation of the input shaft. Plot slider
displacement against input shaft angle (0 to 360 in steps of 15).
2. From the graph using software get the 6
th
degree displacement equation and
differentiate it to get the velocity and acceleration relations .
3. Plot the velocity and acceleration relations .


3.d) The Slider-Crank Mechanism:
1. Set the crank to 0. Record the reading on the slider scale.
2. Move the crank through 15 steps until it turns one complete revolution. At each
step, record the reading on the slider scale.
3. Plot a graph of the displacement .
4. From the graph get the 6
th
order polynomial and differentiate it twice to get the
velocity and acceleration relations .
5. Plot the velocity and the acceleration relations .
6. Measure the crank radius and the length of the connection link. Calculate the
theoretical values of slider displacement, velocity and acceleration from theoretical
21
background for a range of values of crank angle. Plot the theoretical results on the
same axes as the experimental curves ( or separated ) .
7. Compare the displacement, velocity and acceleration curves of the slider crank
mechanism producing a pure sinusoidal motion. For unit angular velocity,
) cos ( r x u = 1 ---------------------------------------------- (25)
u esin r v = ---------------------------------------------- (26)
u e cos r a
2
= ---------------------------------------------- (27)
Calculate these functions for a range of crank angular positions, and plot the points
on the experimental curves.


























22
















Chapter 4




















23




4.1 Results:

a) Four Bar Linkage:



Table.1


Input Angels Output Angles
In Degrees In rad
In Degrees
( case 1 )
In rad
( case 1 )
In Degrees
( case 2 )
In rad
( case 2 )
0 0.000 227 3.960 209.5 3.655
15 0.262 225 3.925 202.0 3.524
30 0.523 222 3.873 194.0 3.384
45 0.785 218 3.803 186.0 3.245
60 1.047 213 3.716 175.0 3.053
75 1.308 208 3.620 165.0 2.878
90 1.570 202 3.524 158.0 2.756
105 1.832 198 3.454 155.0 2.704
120 2.093 195 3.402 156.0 2.721
135 2.355 194 3.384 160.0 2.791
150 2.617 194 3.384 166.0 2.896
165 2.878 196 3.419 172.5 3.009
180 3.140 199 3.471 181.0 3.157
195 3.402 203 3.541 188.5 3.288
210 3.663 207 3.611 196.0 3.419
225 3.925 211 3.681 203.0 3.541
240 4.187 214 3.733 209.0 3.646
255 4.448 218 3.803 214.0 3.733
270 4.710 222 3.873 218.0 3.803
285 4.972 224 3.908 220.0 3.838
300 5.233 226 3.942 221.0 3.855
315 5.495 228 3.977 220.0 3.838
330 5.757 228 3.977 218.0 3.803
345 6.018 228 3.977 214.0 3.733
360 6.280 227 3.960 209.0 3.646
Table.2

Cases
Fixed frame link
length (mm)
Crank length
(mm)
Coupler link length
(mm)
Output link length
(mm)
case 1 200 50 22.3 20.1
case2 200 50 22.3 10
24






b) Geneva Mechanism:

Input angle in Degrees Input angle in rad Output angle in Degrees output angle in rad
0 0.000 1.0 0.017
5 0.087 2.0 0.035
10 0.174 2.8 0.048
15 0.262 3.2 0.056
20 0.349 4.2 0.073
25 0.436 6.0 0.105
30 0.523 7.0 0.122
35 0.611 10.5 0.183
40 0.698 13.5 0.236
45 0.785 17.6 0.307
50 0.872 21.0 0.366
55 0.959 26.0 0.454
60 1.047 29.5 0.515
65 1.134 34.0 0.593
70 1.221 37.5 0.654
75 1.308 42.9 0.748
80 1.396 46.5 0.811
85 1.483 49.5 0.864
90 1.570 52.0 0.907
95 1.657 54.5 0.951
100 1.744 56.0 0.977
105 1.832 57.5 1.003
110 1.919 58.5 1.021
115 2.006 59.0 1.029
120 2.093 59.0 1.029
125 2.181 59.0 1.029
130 2.268 59.0 1.029
135 2.355 59.0 1.029
140 2.442 59.0 1.029
145 2.529 59.0 1.029
150 2.617 59.0 1.029
155 2.704 59.0 1.029
160 2.791 59.0 1.029
165 2.878 59.0 1.029
170 2.966 59.0 1.029
175 3.053 59.0 1.029
180 3.140 59.0 1.029
185 3.227 59.0 1.029
25
190 3.314 59.0 1.029
195 3.402 59.0 1.029
200 3.489 59.0 1.029
205 3.576 59.0 1.029
210 3.663 59.0 1.029
215 3.751 59.0 1.029
220 3.838 59.0 1.029
225 3.925 59.0 1.029
230 4.012 59.0 1.029
235 4.099 59.0 1.029
240 4.187 59.0 1.029
245 4.274 59.0 1.029
250 4.361 59.0 1.029
255 4.448 59.0 1.029
260 4.536 59.0 1.029
265 4.623 59.0 1.029
270 4.710 59.0 1.029
275 4.797 59.0 1.029
280 4.884 59.0 1.029
285 4.972 59.0 1.029
290 5.059 59.0 1.029
295 5.146 59.0 1.029
300 5.233 59.0 1.029
305 5.321 59.0 1.029
310 5.408 59.0 1.029
315 5.495 59.0 1.029
320 5.582 59.0 1.029
325 5.669 59.0 1.029
330 5.757 59.0 1.029
335 5.844 59.0 1.029
340 5.931 59.0 1.029
345 6.018 59.0 1.029
350 6.106 59.0 1.029
355 6.193 59.0 1.029
360 6.280 59.0 1.029
Table.3







26



c) Whitworth Quick-Return mechanism:


Crank angle in
degree
Crank angle in
rad
Displacement
(mm)
Velocity
(mm/s)
Acceleration
(mm/s
2
)
0 0.000 9.500 0.328 -0.018
15 0.262 10.500 0.323 -0.018
30 0.523 11.500 0.318 -0.018
45 0.785 11.900 0.313 -0.018
60 1.047 10.800 0.309 -0.018
75 1.308 7.200 0.304 -0.017
90 1.570 3.800 0.300 -0.017
105 1.832 2.200 0.295 -0.017
120 2.093 1.400 0.290 -0.016
135 2.355 1.000 0.286 -0.016
150 2.617 0.700 0.281 -0.015
165 2.878 0.700 0.277 -0.014
180 3.140 0.800 0.273 -0.014
195 3.402 0.800 0.268 -0.013
210 3.663 1.100 0.264 -0.012
225 3.925 1.500 0.260 -0.011
240 4.187 2.000 0.255 -0.010
255 4.448 2.100 0.251 -0.009
270 4.710 3.300 0.247 -0.008
285 4.972 4.100 0.243 -0.007
300 5.233 5.100 0.239 -0.006
315 5.495 6.100 0.235 -0.004
330 5.757 7.300 0.230 -0.003
345 6.018 8.400 0.226 -0.002
360 6.280 9.500 0.222 0.000
Table.4



d) Slider crank mechanism:

crank
length
(mm)
50
27
connecting
rod length
(mm)
150
Table.5

Crank angle in
degree
Crank angle in
rad
Displacement
(mm)
Velocity
(mm/s)
Acceleration
(mm/s
2
)
0 0.000 0.000 0.000 0.037
15 0.262 2.260 0.010 0.037
30 0.523 8.774 0.019 0.036
45 0.785 18.794 0.029 0.036
60 1.047 31.223 0.039 0.036
75 1.308 44.799 0.049 0.036
90 1.570 58.294 0.059 0.036
105 1.832 70.675 0.068 0.036
120 2.093 81.212 0.078 0.036
135 2.355 89.490 0.088 0.035
150 2.617 95.361 0.098 0.035
165 2.878 98.842 0.108 0.035
180 3.140 100.000 0.118 0.035
195 3.402 98.870 0.129 0.035
210 3.663 95.418 0.139 0.035
225 3.925 89.576 0.149 0.035
240 4.187 81.327 0.159 0.034
255 4.448 70.816 0.169 0.034
270 4.710 58.453 0.180 0.034
285 4.972 44.966 0.190 0.034
300 5.233 31.384 0.201 0.034
315 5.495 18.933 0.211 0.034
330 5.757 8.876 0.221 0.034
345 6.018 2.314 0.232 0.033
Table.6


Crank angle in
degree
Crank angle in
rad
Displacement
(mm)
Velocity
(mm/s)
Acceleration
(mm/s
2
)
15 0.262 10.000 0.017 0.005
30 0.523 11.400 0.018 0.005
45 0.785 12.700 0.019 0.005
60 1.047 13.200 0.020 0.005
75 1.308 14.300 0.022 0.005
90 1.570 14.500 0.023 0.005
105 1.832 14.300 0.024 0.005
28
120 2.093 13.600 0.025 0.005
135 2.355 12.600 0.026 0.004
150 2.617 11.300 0.028 0.004
165 2.878 10.000 0.029 0.004
180 3.140 8.700 0.030 0.004
195 3.402 7.400 0.031 0.004
210 3.663 6.400 0.032 0.004
225 3.925 5.500 0.033 0.004
240 4.187 4.900 0.034 0.004
255 4.448 4.600 0.035 0.004
270 4.710 4.500 0.036 0.004
285 4.972 4.600 0.037 0.004
300 5.233 4.900 0.038 0.004
315 5.495 5.500 0.039 0.004
330 5.757 6.300 0.040 0.004
345 6.018 7.400 0.041 0.004
360 6.280 8.700 0.042 0.004
Table.7



























29







4.2) Sample Calculations:

a) Four Bar Linkage:

rad 7160 . 0
1 . 20 3 . 22 2
1 . 20 3 . 22 225
cos
225 0 cos 5 20 2 5 20
: 1
2
cos
cos 2
2 2
1
2 2 2 2
4 3
2
4
2
3
2
1
2 1
2
2
2
1
2
=
(

=
= + =
(

=
+ =

u
cm z
case f or
r r
r r z
r r r r z

Same procedure is doing for the each case.


Input Angle in degrees Case I Case II
0 0.716022 0.583152
15 1.200571 1.525147
30 0.969484 1.097895
45 0.834 0.899667
60 1.246303 1.611598
75 0.742243 0.644098
90 1.124811 1.384347
105 1.072928 1.288828
120 0.777092 0.720609
135 1.256565 1.631209
150 0.813011 0.795587
165 1.028023 1.206221
180 1.161683 1.452589
195 0.724285 0.602715
210 1.230126 1.580854
225 0.910614 0.987213
240 0.922294 1.009374
255 1.225014 1.571179
270 0.721331 0.595751
30
285 1.17015 1.468327
300 1.016456 1.184898
315 0.822896 0.81569
330 1.255418 1.629013
345 0.769135 0.703515
360 1.083747 1.308722
Table.8

b) Geneva Mechanism:

We fit the curve to the sixth order polynomial more accurate than fifth order .

Linear model Polynomial of sixth order :
y = 3E-12x
6
- 4E-09x
5
+ 2E-06x
4
- 0.0004x
3
+ 0.0323x
2
- 0.5152x + 3.0297


c) Whitworth Quick-Return mechanism:


Selecting a sixth order polynomial regression for the displacement data yields the
following equation:

y = -5E-13x
6
+ 7E-10x
5
- 3E-07x
4
+ 8E-05x
3
- 0.0091x
2
+ 0.3275x + 8.7242


Differentiating the above equation gives the following velocity equation:

= -5E-21x
5
+ 3E-16x
4
- 6E-12x
3
+ 7E-08x
2
- 0.0003x + 0.3275



Differentiating the above equation gives the following acceleration equation:

= 1E-15x
4
- 2E-11x
3
+ 1E-07x
2
+ 4E-11x - 0.0182




31





d) Slider crank mechanism:


Selecting a sixth order polynomial regression for the displacement data yields the
following equation:

y = 3E-13x
6
- 4E-10x
5
+ 2E-07x
4
- 4E-05x
3
+ 0.0025x
2
+ 0.0153x + 9.4024


Differentiating the above equation gives the following velocity equation:

y' = 3E-21x
5
- 2E-16x
4
+ 4E-12x
3
- 4E-08x
2
+ 9E-05x + 0.0153


Differentiating the above equation gives the following acceleration equation:
y'' = 8E-19x
4
- 4E-14x
3
+ 7E-10x
2
- 4E-06x + 0.005



The following equations were also used in plotting the graphs:
a) Displacement:
) 28 .( .... .......... .......... .......... .......... .......... .......... )......... cos 1 ( Eq r x u =
b) Velocity:
) 29 .( ........ .......... .......... .......... .......... .......... .......... .......... sin Eq r v
p
u e =
c) Acceleration:
) 30 .( ... .......... .......... .......... .......... .......... .......... .......... cos
2
Eq r a
p
u e =






32






a) Four Bar Linkage:

- Case .I:



Fig.4.1




- Case.II:


190
195
200
205
210
215
220
225
230
0 50 100 150 200 250 300 350 400
O
u
t
p
o
t

a
n
g
l
e


i
n

d
e
g
r
e
e
s

Inpot Angle in Degrees
Case I
33

Fig.4.2:







b) Geneva Mechanism:




Fig.4.3




c) Whitworth Quick-Return mechanism:

0.0
50.0
100.0
150.0
200.0
250.0
0 50 100 150 200 250 300 350 400
O
u
t
p
u
t

a
n
g
l
e


i
n

d
e
g
r
e
e
s

Input Angle in Degrees
case II
0.0
10.0
20.0
30.0
40.0
50.0
60.0
70.0
0 50 100 150 200 250 300 350 400
O
u
t
p
u
t

a
n
g
l
e

i
n

D
e
g
r
e
e
s

Input angle in Degrees
Geneva Mechanism
34

Fig.4.4




Fig.4.5



0.000
2.000
4.000
6.000
8.000
10.000
12.000
14.000
0 50 100 150 200 250 300 350 400
D
i
s
p
l
a
c
e
m
e
n
t

i
n

(
m
m
)

Input angle in Degrees
Displacment (mm)
0.000
0.050
0.100
0.150
0.200
0.250
0.300
0.350
0 50 100 150 200 250 300 350 400
v
e
l
o
c
i
t
y

i
n

(
m
m
/
s
)

Input angle in Degrees
velocity
35

Fig.4.6



d) Slider crank mechanism:

-The graphs of the Theoretical data



Fig.4.7



-0.020
-0.015
-0.010
-0.005
0.000
A
c
c
e
l
e
r
a
t
i
o
n

i
n

(
m
m
/
s
2
)

Input angle in Degrees
acceleration
0.000
20.000
40.000
60.000
80.000
100.000
120.000
0 50 100 150 200 250 300 350 400
D
i
s
p
l
a
c
e
m
e
n
t

i
n

(
m
m
)

Input angle in Degrees
displacment (mm)
36

Fig.4.8



Fig.4.9



-The graphs of the practical data

0.000
0.050
0.100
0.150
0.200
0.250
0.300
0 50 100 150 200 250 300 350 400
v
e
l
o
c
i
t
y

i
n

(
m
m
/
s
)

Input angle in Degrees
velocity
0.033
0.034
0.034
0.035
0.035
0.036
0.036
0.037
0.037
0 50 100 150 200 250 300 350 400
A
c
c
e
l
e
r
a
t
i
o
n

i
n

(
m
m
/
s
2
)

Input angle in Degrees
acceleration
37

Fig.4.10


Fig.4.11


0.000
2.000
4.000
6.000
8.000
10.000
12.000
14.000
16.000
0 50 100 150 200 250 300 350 400
D
i
s
p
l
a
c
e
m
e
n
t

i
n

(
m
m
)

Input angle in Degrees
Displacement (mm)
0.000
0.005
0.010
0.015
0.020
0.025
0.030
0.035
0.040
0.045
0 50 100 150 200 250 300 350 400
v
e
l
o
c
i
t
y

i
n

(
m
m
/
s
)

Input angle in Degrees
velocity
38

Fig.4.12














4.4) Discussion:


a) Four Bar Linkage:

Here four different cases were analyzed, and in each case the displacement behavior is
being studied as follows: (

)

Case I - Maximum coupler length and maximum output length (Fig.4.1):
As shown from table (4.2) & figure (4.1), there are small difference between the fit
curve and the data points. The curve motion of the output angles vs. input angle take shape of
sinusoidal wave. The maximum output angle=170
o
at the beginning and the end of motion.
The minimum output angle= 137
o
at input angle= 135
o.
That means link (4) oscillates between
0.000
0.001
0.002
0.003
0.004
0.005
0.006
0 50 100 150 200 250 300 350 400
A
c
c
e
l
e
r
a
t
i
o
n

i
n

(
m
m
/
s
2
)

Input angle in Degrees
Acceleration
39
170
o
and 137
o
as link (2) rotates one complete revolution. It can be seen from (Fig.4.1) that
the out output angle changes rapidly with the input angle when reaching their extreme values,
whereas the response of the output angle varies uniformly with the input angle between its
extreme values.

Case II - Maximum coupler length and minimum output length (Fig.4.2):
In (Fig.4.2), the output angle is first set to be equal to 152
o
, and then it reaches a
minimum value of 98
o
at an input angle of 105
o
. When the input angle is equal to 285, the
output angle reaches a maximum value of 163
o
, and then it decreases back again to a value of
152
o
at an input angle of 360
o
. In this case, it can be seen from (Fig.4.4) that the amplitude of
oscillation is equal 3.5 degrees. This illustrates the behavior of the four bar linkage when the
length of the output link is minimum, in which case it oscillates with a constant amplitude.

b) Geneva Mechanism:

For the Geneva mechanism, the output angle was plotted against the input angle (Fig.4.3).
The output angle increases with the increase of the input angle until it a constant value of 59
o

starting from an input angle of 15
o
. This behavior illustrates the intermitted motion of the
Geneva mechanism. The displacement function was obtained by a sixth order polynomial
regression.



c) Whitworth Quick-Return mechanism:

For the Whitworth Quick-Return mechanism, the displacement versus the crank angle
was plotted (Fig.4.4). The displacement starts with a value of 9.5 mm, and then it goes up to
reach a value of 11.900 mm at a crank angle of 45
o
. After that, the displacement decreases in
a uniform manner to reach value (0.800 mm) at the end angle equal 195
o
. As expected form
the above analysis, the sudden drop in the displacement is due to the quick-return nature of the
Whitworth mechanism.
In a similar way of the slider crank , The velocity and acceleration functions were
obtained and plotted against the crank angle. In (Fig.4.5 and Fig.4.6), the velocity is initially
at a value of 0.328 mm/s, it then decreases rapidly to reach a minimum value of 0.222 cm/s at
a crank angle of 360
o
.
40
For the acceleration diagram (Fig.4.6), the acceleration stars with a value of -0.018
mm/s
2
, and it increases to a value of 0.0 mm/s
2
at a crank angle of 360
o
.


d) Slider crank mechanism:

In the analysis of the slider crank mechanism, first the displacement diagram (Fig.4.7)
and (Fig.4.10) was obtained by plotting the displacement of the slider versus the crank angle.
But one of them is obtained practically and the other one obtained theoretically . In the
practical diagram, the displacement curve was found by fitting the displacement data with a
sixth order polynomial. The initial value is 10 mm when the crank angle is set at 0, and
increases to reach a maximum value of 14.300 mm when the crank angle reaches 75
o
. The
displacement curve then decreases back to its initial value when the crank angle is at 165
o
. At
a crank angle of 225
o
, the displacement reaches a minimum value of 5.500 mm, and increases
back again to reach the initial value (10 mm) when the crank angle is at 360
o.

The velocity was determined by differentiating the displacement function, and the
velocity diagram was obtained by plotting the velocity against the crank angle (Fig.4.11). The
velocity starts with a value of 0.017 mm/s when the crank angle is at 0, and then reaches a
maximum value of 0.42 mm/s at a crank angle of 360
o
.
To get the acceleration function, the velocity function was differentiated; the obtained
function was then plotted against the crank angle as shown in (Fig.4.12). Initially the
acceleration has a value of 0.005 mm/s
2
, this value decreases to its minimum value .004
mm/s
2
) when the crank angle is equal to 360
o
.
4.6 Sources of error :
a. Human error source
human error according to the wrong readings or plugging a wrong values on the equations .
b. Device accuracy
The device have a specific accuracy and resolution
In our case :
The accuracy of the length measuring device ( ruler ) is .5 mm
And the devices resolution = .5
o

c. Device defects .



41















42

Chapter 5



























5.1) Conclusion:



After covering the discussed experiments many conclusions and
statements are reported and learned. All the functions and properties of commonly
used mechanisms are well studied. The importance of the mechanisms is shown
clearly and their most common types also. Each type has its own output motion and is
used according to the needed application.








43



































5.2) References

- http://en.wikipedia.org
- http://www.sportdevices.com/shockabsorber/
- http://www.technologystudent.com/cams/crank1.htm
- http://www.google.com






44