This document outlines a course on mechanisms and kinematics. It includes the course objectives, which are for students to solve basic machine problems using theory, design machine motion using theory, display mechanism models using software, and present concepts through reports. Assessment is based on tests, projects, and a final exam. The document then covers mechanism terminology, including links, joints, actuators, and kinematic diagrams. It provides examples of different mechanism types and discusses analysis methods.
Original Description:
Analysis and Mechanics machines
Original Title
W1 Introduction to Mechanisms and Kinematics 20140724
This document outlines a course on mechanisms and kinematics. It includes the course objectives, which are for students to solve basic machine problems using theory, design machine motion using theory, display mechanism models using software, and present concepts through reports. Assessment is based on tests, projects, and a final exam. The document then covers mechanism terminology, including links, joints, actuators, and kinematic diagrams. It provides examples of different mechanism types and discusses analysis methods.
This document outlines a course on mechanisms and kinematics. It includes the course objectives, which are for students to solve basic machine problems using theory, design machine motion using theory, display mechanism models using software, and present concepts through reports. Assessment is based on tests, projects, and a final exam. The document then covers mechanism terminology, including links, joints, actuators, and kinematic diagrams. It provides examples of different mechanism types and discusses analysis methods.
- Mechanisms & Kinematics Noor Aliah Abdul Majid Dept. of Mechanical & Manufacturing Eng.
COUSE OUTLINE Introduction to Mechanisms and Kinematics, N. Aliah A. M Sept 2014 2
By the end of this course, students should be able to: Solve basic problems of machines and mechanisms using Theory of Machines and Mechanisms. Design motion of machines and mechanisms using Theory of Machines and Mechanisms. Display model of mechanisms using Working Model software. Present basic concepts of machines and mechanisms using effective presentation and written report. Weightage:
55%
25%
10%
10%
ASSESSMENT Introduction to Mechanisms and Kinematics, N. Aliah A. M Sept 2014 3
Assessment Method Percentage Test 1 & Test 2 30 % Group Project on Working Model Software 20 % Final Exam 50 % Reference 1) H. M. David (2011). Machines and Mechanisms: Applied Kinematic Analysis. 4th Edition. Pearson, Prentice Hall. 2) L. M. Robert (2013). Machine Elements in Mechanical Design. 5th Edition. Pearson, Prentice Hall. Available to buy @Pn Aliahs office RM 99.95 All students are encouraged to have this book !! CONTENTS Introduction to Mechanisms and Kinematics, N. Aliah A. M Sept 2014 4
Machines & Mechanisms 1 Kinematics
2 Mechanism Terminology 3 Kinematics Diagram 4 5
Introduction to Mechanisms and Kinematics OBJECTIVES OF THIS CHAPTER Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 6
The students will be able to: 1. Explain the need for kinematics analysis of mechanism. 2. Define the basic components that comprise a mechanism. 3. Draw a kinematics diagram from a view of a complex machine. Decide on the tasks that need to be done to accomplish the design Imagine being on a design team. The team is responsible for the design of an automotive windshield wiper system for a sports model car. ACTIVITY: Partner up with a friend and discuss on these questions. How to design an automotive windshield wiper system? 7 Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 8 Design Task:
Determine appropriate movements Movement must be sufficient to clear critical portions of the windshield Configure an assembly of components to produce the wipe pattern Analyze other motion issues i.e. timing of the wipers and wiping tendencies Understanding & analyzing the motion is necessary for proper operation = MOVEMENT & MOTION ANALYSES!! Determining the effects of force acting on the machine (i.e. friction when wiping) = FORCE ANALYSES!!
Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 9
a) Most common geometry, found on vast majority of vehicles. b) The SEAT Altea is a compact MPV produced by Spanish automaker SEAT, S.A. d) Buses, some school buses, Mercedes-Benz O305 c) U.S. military wheeled vehicles, some school buses. Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 1 0
MACHINES AND MECHANISMS Machines Definition: Devices used to alter, transmit, and direct forces to accomplish a specific objective.
Example) A chain saw is a machine that directs forces to the chain with the objective of cutting wood. Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 1 1
Mechanism Definition: 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 the machine. Rigid parts that are arranged & connected so that they produced the desired motion of a machine.
Example) For a chain saw, the mechanism takes power from a small engine and delivers it to the cutting edge of the chain
MACHINES AND MECHANISMS MACHINES AND MECHANISMS Output (Purpose) of a machine is formed by motion of various mechanisms that builds the machines The performance of a machine is analyzed by calculating the position, velocity and acceleration of points on the different parts of the mechanisms and tracing the trajectory they follow. Analysis of mechanisms is the study of motion of different members constituting a mechanism and the mechanism as a whole entity while it is being operated.
Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 1 2
TYPES OF MECHANISM ANALYSIS METHODS 1. Graphical method starts with position analysis by simply drawing the linkage mechanism to scale. Then the velocity analysis is performed which requires the angular position of the links to be determined beforehand. Similarly it is necessary to know angular velocities of links for acceleration analysis. 2. Analytical method is used when repetitive and extensive analysis of mechanisms is required, as the analytical equations and solutions obtained can be conveniently calculated or programmed on a computer. Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 1 3
Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 1 4
KINEMATICS Kinematics Deals with the way things move. The study of the geometry of motion.
Kinematics Analysis Involves determination of position, displacement, rotation, speed, velocity and acceleration of a mechanism.
KINEMATICS ANALYSIS Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 1 5
Design Questions:
What is the significance of the length of the legs that support platform?
Is it necessary for the support legs to cross and be connected at the midspan, or is it better to arrange so that they cross closer to the platform? Hydraulic Lift Table Kinematics Analysis Involves determination of position, displacement, rotation, speed, velocity and acceleration of a mechanism. RECALL !! Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 16 Define: Machine Mechanism Kinematics Kinematics Analysis MECHANISM TERMINOLOGY
Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 1 7
Linkage A mechanism where all parts are connected together to form a closed chain.
Frame (base, no motion) Links individual rigid bodies Joints moveable connection between links & allow relative motion Point of interest A point on a link where the motion is of special interest. MECHANISM TERMINOLOGY Actuator The component that drive the mechanism. Example: motors (electric and hydraulic), engines, cylinders (hydraulic and pneumatic), ball screw motors and solenoids.
Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 1 8
JOINTS Moveable connection between links and allows relative motion between the links.
Primary Joints (Full Joints): 1. Revolute Joint (also called Pin or Hinge Joint) Allows pure rotation between the two links that it connects. 2. Sliding Joint (also called Piston or Prismatic Joint) Allows linear sliding between the links that it connects. Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 1 9
Pin Slider JOINTS Higher Order Joints (also called Half Joint): 1. Cam Joint It allows for both rotation and sliding between the two link that it connects. 2. Gear Joint It also allows rotation and sliding between two gears as their teeth mesh.
Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 2 0
Higher-order Joints: (Left) Cam Joint; (Right) Gear Joint LINKS Considered rigid bodies and are connected with other links to transmit motion and forces. Types of Links: 1. Simple Link Is a rigid body that contains only two joints which connects it to other links.
2. Complex Link Is a rigid body that contains three or more joints.
Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 2 1
EXAMPLE 1 Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 22 Identify the number of links and the type of joints contained in the bolt cutters EXAMPLE 2 Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 23 Identify the number of links and the type of joints contained in the foot pump EXAMPLE 3 Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 24 Identify the number of links and the type of joints contained in the folding chair in the stadium MECHANISM VS LINKAGE Mechanism A group of links, connected together, with one link fixed
Linkage A mechanism, where all parts are connected to form either closed or open chain.
* Basically they are same Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 2 5
KINEMATIC DIAGRAM A representation of a mechanism that only shows the dimensions that influence the motion. Remove any superfluous detail. Simplify the drawing of the mechanism for further analysis. For convenient reference, the links are numbered, starting with the frame as link number 1 and the joints are lettered.
1 2 3 4 A B C D X 2 6
More kinematic diagram 1 2 3 A B C X 4 2 7
SYMBOLS USED IN KINEMATIC DIAGRAMS Component Typical Form Kinematic Representation
1. Simple Link
2. Simple Link (With point of interest)
3. Complex Link
4. Pin Joint Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 2 8
Component Typical Form Kinematic Representation
5. Slider Joint
6. Cam Joint
7. Gear Joint Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 2 9
SYMBOLS USED IN KINEMATIC DIAGRAMS EXAMPLE PROBLEM 1.1 Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 3 0
Figure below shows a shear that is used to cut and trim electronic circuit board laminates. Draw a kinematic diagram.
Shear Press 1. Identify the Frame Decide the part that will be designated as the frame The large base (Link 1) that is bolted to the table is designated as the frame The motion of all other links will be determined relative to the frame 2. Identify All Other Links Link 2: Handle Link 3: Cutting Blade Link 4: Bar that connects the cutter with the handle
Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 3 1
1 2 3 4 SOLUTION PROB. 1.1 3. Identify the Joints Three pin joints (lettered A to C) One sliding joint (cutter slides up and down along the base, lettered D) 4. Identify Any Points of Interest The motion of the end of the handle is desired. This is designated as Point of Interest X 5. Draw the Kinematic Diagram
Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 3 2
1 2 3 4 EXAMPLE PROBLEM 1.2 Figure below shows a pair of vise grip. Draw a kinematic diagram. Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 3 3
1. Identify the Frame No parts are fixed choose your frame! Link 1: Handle 2. Identify All Other Links Link 2: Bottom Handle Link 3: Bottom Jaw Link 4: Bar that connects the top and bottom handle 3. Identify the Joints Four Pin joints are used (lettered A through D) 4. Identify Any Points of Interest The motion of the end of bottom jaw is desired. Point of Interest X The motion of the lower handle is desired. Point of Interest Y 5. Draw the Kinematic Diagram
Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 3 4
SOLUTION PROB. 1.2 Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 3 5
SOLUTION PROB. 1.2 1 2 3 4 A B C D X Y EXERCISES 1 A foot pump that can be used to fill bike tires, toys and so forth is shown below. Draw a kinematic diagram of the pump mechanism. The food pad should be identified as a point of interest. Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 3 6
EXERCISES 2 A folding chair that is commonly used in stadiums is shown in figure below. Draw a kinematic diagram of the folding mechanism. Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 3 7
EXERCISE 3 A sketch of a lift platform is shown in figure below. Draw kinematic diagram of the mechanism. Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept 2014 3 8