Chapter one : Basic terminology and Definitions 1. Mechanisms of machinery * Is the study of motion and forces in machinery devices that provide a wide variety of functions. + Is commonly defined as the division of machine design ' which is concerned with the kinematic design of links, cams, gears, gear trains etc. . Kinematic designis the design on the basis of motion requirements. + Kinematics Formally defined, it is a study of the geometry of motion, which involves determination of position, displacement, rotation, speed, velocity and acceleration. Consider the lift platform below;Kinematics analysis provides insight into significant design questions, such as: + What is the significance of the length of the legs that support the platform? + Is itnecessary for necessary for the support legs to cross and be connected at their midspan, or is it better to arrange them so that they cross closer to the platform? + How far must the cylinder extend to raise the platform 10cm? + How fast the platform will raise if the cylinder is extended at the rate of 0.3 m/s? As next step, dynamic force analysis of the platform could provide insight into another important design questions: + What capacity (maximum force) is required of the hydraulic cylinder? + Is the platform free of any tendency to tip over? * — What cross-sectional size of legs and material is required of the support legs so that they don't fail? 2. MACHINES AND MECHANISMS,and STRUCTURE Machines + are defined as the devices , mechanism or collection of mechanisms used to alter, transmit, and direct forces to accomplish a specific objective. Mechanism «_is the mechanical_portion of a machine that has the function of transferring motion and forces from a power source to an output. It is the heart of a machine. «Though a// machines are mechanisms, all mechanisms are not machines. + When a mechanism is required to transmit power or to do some particular type of work it then becomes a machineStructure is an assemblage of a number of resistant bodies (known as members) having no relative motion between them and meant for carrying loads having straining act. Mechanism Machine Structure 1. There is relative motion between the parts of a mechanism Relative motion exists between parts of a machine. There is no relative motion between the members of a structure. It is rigid as a whole. 2. A mechanism modifies and transmits motion. A machine consists of one or more mechanisms A. structure does transform motion. not and hence transforms motion 3. A mechanism does not} A machine —_ modifies | A structure does not do transmit forces and does not do work energy or do some work work. It only transmits forces. 4. Mechanisms are dealt with in kinematics. Machines are dealt with in kinetics. Structures are dealt with in statics. Example DA chain sawis a familiar machine that directs forces to the chain with the objective of cutting wood. “ee For the chain saw, the mechanism takes power from asmall engine-and-delivers it tothe cutting edge of the-chain- a =ii) Another example is an adjustable height platform that is driven by hydraulic cylinder is called a machine. + The mechanism for this case is the part that takes the power from the cylinder and drives the raising and lowering of the platform. To ensure that the motion of a machine will exhibit the desired motion, the mechanism analysis of the machine is required.3. Thermionlogy A) Kinematic link (or) element or Links * Links are the individual parts of the mechanism which are rigid body hing or oe padiaerens(ode) by means of which it may be connected to other bodies for the purpose of transmitting force or motion. + Itcan be a single member or a combination of member which are connected rigidly. fre arwre jos x—th wv a Liaw «Although all real machine parts are flexible to some degree, it is common practice to assume that deflections are negligible and parts are rigid when analyzing a machine's kinematic performance. + Elastic parts, such as springs, are not rigid and, therefore, are not considered links. + Links have at least two nodes which are points for attachment to other links. It classified as:- i) Based on number of node elements of link: ~ Nodes ————, Binary link Ternary link Quaternary link* Binary link - one with two nodes.(it allow 2 links to connect) * Ternary link - one with three nodes.( it connects 3 links ) + Quaternary link - one with four nodes. (it connect 4 links) Note that, binary links are also called simple link and links which has more than two pairing elements(nodes) are also called compound links. Example + Identify the type of links associated with this dump track mechanism iii) Based on type of structural behavior: In order to transmit motion, the driver and the follower may be connected by the following three types of links Rigid link. A rigid link is one which does not undergo any deformation while transmitting motion. * — Strictly speaking, rigid links do not exist. + However, as the deformation of a connecting rod, crank etc. of a reciprocating steam engine is not appreciable, they can be considered as rigid links. Flexible link. A flexible link is one which is partly deformed ina manner not to affect the transmission of motion. + For example, belts, ropes, chains and wires are flexible links and transmit tensile forces only. Fluid link. A fluid link is one which is formed by having a fluid in a receptacle and the motion is transmitted through the fluid by pressure or compression only, as in the case of hydraulic presses, jacks and brakes.,C) song SS - is ovable cdnnection between links and allows relative ere eeeetuele + The two primary joints, also called full joints, are the revolute and sliding joints. + The revolute joint is also called a pin or hinge joint. It allows pure rotation between the two links that it connects. + The sliding joint is also called a piston or prismatic joint. It allows linear sliding between the links that it connects. + Acam jointis It allows for both rotation and sliding between the two links that it connects. Because of the complex motion permitted, the cam connection is called a higher- order joint, also called half joint. + Agear connection also allows rotation and sliding between two gears as their teeth mesh. Different joint types with graphical representation —| aa | ca CA | i a ‘s Lik 1 Gear Joint panD) Kinematic Pair + _ itis a pair of elements or rigid bodies permanently kept in =géntact, go that there exists a relative movement between these elements. + they are simple formed when two links are joined by pairing elements which allow the relative motion. They can be classified in several ways, i) by type of motion ii) By the type of c ct between th: ert{Qeleaux cae) iii) by type of mechanical constraint i) by type of motion a)Turning pair: one can only turn or revolve about a fixed axis of another link. putas Bearing motion Turning pair b) Sliding pair: one can only slide relative to another example:-piston and cylinder , and tail stock in lath bed Fixed block with ~_ Rectangular rectangular siot block oo Sliding pairc)Rolling pair: one roll over another fixed link. e.g Ball and roller bearing _ Bearing Ball Rolling pair d)Screw pair: one link can turn about another by screw tread. example :-Lead screw of lath with nut and bolt and nut e)Spherical pair: one element (with spherical shape) turn or swivels about the another fixed element. example:-ball and socket joint, and attachment of car mirror << C7ii) By the type of contact between the elements (Reuleaux crateria) A)LOWER PAIR * — to describe joints with surface contact (as with a pin surrounded by a hole). * such as Revolute joint (Pin joint) and hinges Prismatic pair such as sliders. Pa Six Types of Lower Pairs . Revolute (R) joint—1 DOF A < x Ae Cylindric (C) joint—2 DOF FIGURE 2-3 Joints (pairs) of various types Prismatic (P) joint—1 DOF Q4 AQ, See ay - Spherical (S) joint—3 DOF (a) The six lower pairs prams Planar (F) joint—3 DOF B)higher pair to describe joints with point or line contact. e.g gear teeth, cam and follower, friction disks ,Wheel rolling on a surface.+ However, if there is any clearance between pin and hole (as there must be for motion), so-called surface contact in the pin joint actually becomes line contact, as the pin contacts only one "side" of the hole. iii) by type of mechanical constraint + Closed pair and unclosed pair a)Self Closed pair + when the two elements.of {air are connected together, mechanically in such way that onlyTéquired kind of relative motion is occurs. Example all lower pairs and some fi pair arrangements. b)Force closed(unclosed) pair * when the two element of pair are not connected mechanically but kept in contact by the action of external forces . Example, cam and follower ,they are kept in contact by the forces exerted by Spring and gravity.Component ‘Simple Link.MOBILITY (degree of freedom) + the minimum number of independent ceerdinates required to define its position of link m. + It can also be defined as the fumber of, actuator: needed to operate the mechanism. + Most commercially produced mechanisms haveBQe? degreeof freedom. In constrast, robotic arms can ha three, or more, degrees of freedom. + Linkages wit ), or negative( due to e Constraints) degrees of freedom are termed locked mechanisms. These mechanisms are unable to move and form a‘structure» A truss is a structure com-posed of simple links, and connected with pin joints and zero degrees of freedom. A locked mechanism is shown in Figure b. (a) Single degree-of freedom (M = 1) (b) Locked mechanism (M = 0) (c) Multisdegre Degrees of freedom for planar linkages joined with common joints can be calculated throug igEeERSeuatoD m=3(n-1 )-2i,Where, mz=total degree of freedom of mechanism n= total number of link (including the frame) j1=total number of lower pair( kinematic pair with one degree of freedom) j2=total number of higher pair( kinematic pair with two degree of freedom) Ml \S- ly te" M= S61) 2O)— | cageiseg O ei nrc 6 54 noo 3-6 O19 6-1Problem: For the following mechanism a)Identify the Frame b)Draw the Kinematic Di m c)ldentify All Other Links D)Identify the type of Joints E) calculate mobility Mt Zin-\)-231- 0, Ie IN Jr12904-2-5 RY ane ae 6 6-| Mz 3l6-1S—- 267) = 6-1 — Ras 2 mere) 2-3 mi Ba . 4-)\ . 4 Dex »£ XevlLis0e ae eeLinkage and inversion of mechanisms + A linkage is a kinematic chain in which one of the links i: fixed to the ground{vhich usually is the frame. - Alinkagepermits - ~~ between its have one or more degrees of freedom. + There are very many linkages formed by different connections of members. Inversion + If,inamechanism or linkages, the link which was originally fixed is allowed to move and another link becomes fixed, the mechanism is said to be inverted. + _ Itis the process grounding a different link in the kinematic chain to obtain different motion. Different types of linkages and their inversion is discussed as follow 1, Four bar mechanisms. + The simplest and most common linkage is the four-bar linkage. * It is a combination of four links, one being designated as the frame and connected nf go + Because the four-bar mechanisfrhas one degree of freedo it is constrained or fully operated with one driver.Xe ti p + Link 1 is the frame or ground; generally, it is stationary. + Link 2is the driver-which may rotat¢ or oscillate. «Link 3 is thécoupler (cqnniscting ed) ndergoes general plane motion. + Link 4is the follo ertariven eis ent), may rotate or oscillate depending on the rotary-ereseittatory motion of tink 2,)and on link dimensions. These four links are joined by four revolute joints. As example consider the wiper system in Figure below which is activated by a single DC electric motor. 9 \ QD y ee FIGURE 133 Rear-window wiper mechanism.+ The link 1, that is unable to move is referred to as the frame . * Typically, the pivoted link that is connected to the driver or power source is called the input link or crank( link 2). + The other pivoted link that is attached to the frame is designated the outputlinkerfellower. * The coupler or connecting arm “couples” the motion of the input link to the output link. Motion of four bar mechanism + The type of m bar link: utes depends on the@roportional size of its links: + There are Of motion which a four-bar linkage can produce. These basic types of motion are characterized by the terms | + crank-rocker * double crank + double-rocker To determine whether a four-bar link will operate as a crank- rocker, a double-crank or a double-rocker, Grashoff's law applied. Grashoff's Law (Criterion) ee * It states that a four-bar mechanism has at least one revolving link if the sum of the length-efthe shortest and longest link is + Conversely, a three nonfixed link: fo Aif sum of the length of the-shertest and longest link is greater than the sum of intermediate links. Let . = length of the shortest link | = length of the longest link = length of one of the intermediate length links q.= length of the other intermediate length linksZSrh & P44 -- — - Atleast Ore Crore Oo CVancke . Str > Fre ne A) Crank rocker / ~ . Mithas the shortest link of the four-bar mechanism configured 3 — + iff ortest link is continuously rotated, the output link will oscillate between limits. «Thus, the shortest link is called the crank, and the output link is called the rocker. " * The wiper system in Figure above is designed to be a crank- J rocker. + — As the motor continuously rotates the input link, the output 1 link oscillates, or “tocks.” The wanst anand Blade are firmly 4 attached to the output link, oscillating the wiper across a 4 windshield. _* Additionally beam engine is also considered as a crank rocker mechanismDouble Crank * it has the shortest link of the four-bar mechanism configured as the frame. + If one of the pivoted links is rotated continuously, the other pivoted link will also rotate continuously. + Thus, the two pivoted links, 2 and 4, are both able to rotate through a full revolution. + The double crank mechanism is also called a drag link mechanism Change Point Mechanism + the sum of two sides is the same as the sum of the other two.The double rocker, or rocker-rocker + it has the link opposite to the shortest link of the four-bar mechanism configured as the frame. + In this configuration, neither link connected to the frame will be able to complete a full revolution. : + Thus, both input and output links are constrained to oscillate between limits, and are called rockers. + However, the coupler is able to complete a full revolution. Triple Rocker « _ has no links that are able to complete a full revolution. * Thus, all three moving links rock. Triple Rocker Mechanism s+l>p+qAll four-bar mechanisms fall into one of the five categories listed in Table 1.2. Categories of Four-Bar Mechanisms Case Criteria Shortest Link Category 1 stl Sie OC Any Triple rocker Slider crank mechanism « Asslider-crank mechanism is basically a four-bar mechanism with three revolute joints, or turning pairs and a prismatic joint oo + The mechanism converts rotary motion into recipr i otion and vice-versa + Because the slider-crank mechanism has'one degree of slider-cran freedom, it is constrained or fully operated with one driver.Fig. above shows the basic slider crank mechanism + Jink Lis the frame, considered to be fixed link 2 is the crank which is the driver; link 3 is the connecting rod, the link between the driver and the follower; link 4 is the slider which is the driven element. The pump in Figure above is activated manually by pushing on the handle (link 3). In general, the pivoted link connected to the frame is called the crank. This link is not always capable of completing a full revolution. The link that translates is called the slider. This link is the piston/rod of the pump. Inversion of the Slider-crank mechanism It is known that a mechanism is formed by fixing one of the OS eS i f the kinematic chain. If a different link is fixed in turn, an inversion of the mechanism in consideration 1s formed. edFirst inversion + _ This inversion is obtained when link 1 is fixed and links 2 and 4 are made the crank and slider respectively. ae uring ft a Bete 3 Poe a ve wW. 7 fee en Ss 2 Power Stroke Fuel mixture to eylinder/ ‘Burned fel pushed out Applications: a Reciprocating engine b Reciprocating compressor «__ first inversion Figure 1.27 a., which is found in most internal “combustion engiies-where the frame is the cylinder block, link 1. Link 4, the piston, is driven by the expanding gases, and this movement provides the input. Link 3, the connecting rod, connects link 2, the crank, which rotates as the driven output. + Byreversing the roles of the input and output, this linkage can be used as a compressor. Second inversion* — Fixing of the link 2 of a slider-crank chain results in the second inversion. + Figure 1.27b shows another kinematic inversion, where link 2 is stationary. Link 1, formerly the frame, now rotates about revolute A. * This inversion of the slider-crank linkage was the basis of the rotary engine found in many early aircraft. a Whitworth quick-return mechanism b Rotary engine Connecting rod (Link 4) Fixed crank : (Link 2) Piston (Link 3) i [-+- Cylinder (Link 1) Rotary 1 engine It consists of seven cylinders in one plane and all revolves about fixed center D, as shown in Fig. , while the crank (link 2) is fixed. In this mechanism, when the connecting rod (link 4) rotates, the piston (link 3) reciprocates inside the cylinders forming link 1.Third Inversion + By Fixing of the link 3 of the slider-crank mechanism, the third inversion is obtained. + Now the link 2 again acts as a crank and the link 4 oscillates. Applications: a Oscillating cylinder engine b Crank and slotted-lever mechanism CC ——— ———————_ Piston rod (Link 1) Connecting » roi a (Link 3) eal. ser + In OSILATING CYLINDER mechanism, the link 3 forming the turning pair is fixed. + The link 3 corresponds to the connecting rod of a reciprocating steam engine mechanism. + When the crank (link 2) rotates, the piston attached to piston rod (link 1) reciprocates and the cylinder (link 4) oscillates about a pin pivoted to the fixed link at A. Fourth Inversion + If the link 4 of the slider-crank mechanism is fixed, the fourth inversion is obtained. + Link 3 can oscillates about the fixed pivot B on the link 4. + This makes the end A of the link 2 to oscillate about B and the end O to reciprocate along the axis of the fixed link 4.Application: Hand Pump