Faculty of EMS Department: Mechatronics Mech. of Machines (Mach. Design) Prof. Dr. E. I.

Morgan Tutorial (2, 3, 4) (A) Simple Mechanisms (B) Compound Mechanisms (C) Mechanisms with Simultaneous Motions Part (A) Simple Mechanisms

Prob. 1 For the shown crossed Four bar mechanism: a) Prove that it is GRASHOF's crank rocker mechanism and calculate the stroke of link 4 and time ratio of mechanism b) Draw the velocity diagram in the shown position if 2 = 40 rad/s and hence find 3, 4 and velocity of point c midway of AB. c) Check the results obtained in a using Kennedys theorem. d) Draw the acceleration diagram if 2 is constant and hence find 3 and 4 Prob. 2 Slider - crank mechanism a) Determine the stroke of slider 4. b) In the shown position the slider 4 moves upward with velocity vc = 4 m/s, draw the velocity diagram and angular velocities 3 and 2 as well as the corresponding velocity of point A. c) Check the result obtained in (b) using Kennedys theorem. d) If ac = 2 m/s2 downward, draw the acceleration diagram and hence determine 2 and 3 . Prob. 3 Quick Return mechanism a) for 2 = 10 rad/s in CW, draw the velocity diagram and hence determine 4 and vc . b) Check the results using Kennedys theorem. c) Draw the acceleration diagram for constant 2 and hence find 4 and ac.

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Prob.1
A

2 = 90 O2 O4 = 140 mm O2 A = 50 mm AB = 130 mm O4 B = 70 mm

O2

O4

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Prob.2 2 = 40o r2 = 250 mm r3 = 400 mm e = 100 mm

r2 O2 2

A r3

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Prob.3 O2 B = 200 mm O2 O4 = 200 mm O4 C = 420 mm

C B 2 500 O2

O4

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Part (B)

Compound Mechanisms

Prob. 1 The crank 2 rotates at constant angular velocity 2 = 15 rad/s CCW. The system is drawn to scale mL = 10 cm/cm. the system is shown for an input angle 2 = 40o. a) Solve for complete velocity analysis and then calculate 3, 4, 5 and v6 b) Solve for complete acceleration analysis and then calculate 3, 4, 5 and a6. c) From the velocity and acceleration diagrams find the radius of curvature of point C on the connecting rod Recommended scale are: mv = 100 cm s-1/cm, and ma = 1500 cms-2 /cm Prob. 2 The kinematic diagram of a given mechanism is shown in figure. In the given configuration 2 = 15 rad/s CCW. Draw the velocity and acceleration diagrams and hence: a) Determine 3, 4, 5 and vD . b) Calculate 3, 4, 5 and aD .. c) Find the center of curvature of the path of point E. Given: mL = 10 cm/cm, mv = 100 cm s-1/cm, and ma = 2000 cms-2 /cm Prob. 3 The shown complex mechanism is drawn to scale of length mL = 10 cm/cm for the configuration given by 2 = 60o. The crank 2 has a constant angular velocity 2 = 10 rad/s CW. Draw the velocity and acceleration diagrams and hence: d) Determine 3, 4, 5 and 6 . e) Calculate 3, 4, 5 and 6 . f) Prove that crank 2 can make complete revolution. g) If the input to the system is 6 , how can you perform the velocity analysis in this case? ma = 500 cms-2 /cm Recommended scale: mv = 100 cm s-1/cm

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Prob. 1 O2A = 40 cm AB = 100 cm AC = 50 cm DC = 45 cm O4D = 55 cm

O2

A 2 4 D 3 C B

O4

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Prob. 2 O2A = 30 cm AB = 90 cm O4B = 60cm DC = 60 cm CE = 30 cm

O2

A 2 2 3 5 E

D 6

C O4 4 B

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Prob. 3 (To be delivered) O2O4 = 200 mm O2A = 450 mm O4B = 300 mm O6D = 200 mm AB = 500 mm BC = 250 mm CD = 500 mm b = 700 mm h = 220 mm 2 = 60o

A C 5 h O6 6 D b B 3 4 O4 O2 2 2

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Part (C)

Mechanisms with Simultaneous Motions

Prob. 1 In the figure, 2 = 500 rad/sec CCW (constant). Find 4, 3, 5, vD, 3, 4, 5 & aD.

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Prob. 2 In the figure, 2 = 36 rad/sec CCW. Find the velocity of point B.

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