Mechanisms

Prof.dr.ing. Csaba Antonya

antonya@unitbv.ro

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Lectures, lab, project

Lectures 3h: Friday 13.30 16.20, venue:

G P 3/H P 13
Laboratory work / Project:
Mechanical Engineering Wednesday 11.4013.20, venue G P 3 / L II 10
Automotive Engineering Wednesday 13.3015.10, venue G P 3 / L II 10

MECHANISMS

Final grade:
Project
Exam (theory and application)

(33%)
(66%)

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MECHANISMS

Subjects - Lecture I

Introduction.
Objectives of this course.
History of Mechanism and Machine
Science
Study of mechanisms: analysis and
synthesis
Study of mechanisms: structure,
kinematics, dynamics
Examples

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The principal objectives of this course are:

MECHANISMS

To develop your understanding of the

fundamentals of kinematics and dynamics
of mechanisms.
Gain experience using computer software
to facilitate the design and analysis of
simple and complex mechanisms.
Gain practical working knowledge,
through design project of some common
linkages.

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Course Objectives

In this course, we will study the motion of

mechanisms and machines (kinematics)
Mobility
Displacement, velocity and acceleration
analysis
Understand the behavior of existing designs

MECHANISMS

Design of mechanisms
Gears
Cams

Machine elements are assumed to be rigid

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Course Outline

MECHANISMS

Introduction & Formal Definitions

Linkage & Mobilities
Kinematics: Position Analysis
Velocity and Acceleration Analysis
Dynamics
Graphical and Analytical Linkage Synthesis
Gears
Cam Design

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Definition of Mechanism

A device that transforms motion to some

desirable pattern
4
D

C
3
B

1
2

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Oscillation motion of the piston translate to rotational motion

of the crank shaft (engine)
Rotational motion of the crank shaft translates to Oscillation
motion of the piston (pump)
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Mechanism Analysis and Synthesis

Analysis

Synthesis

Analysis given a mechanism,

perform kinematics and kinetics
analysis

MECHANISMS

Establishing the structural, kinematic

and dynamic characteristics

Synthesis - design a new

mechanism to perform a desired
function
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MECHANISMS

Literature

Talab, D., Mecanisme articulate. Proiectare

asistat de calculator, Ed.Univ. Transilvania, 2004.
Alexandru, P. .a, Proiectarea funcional a
mecanismelor. Editura Lux Libris. 1999
Antonya, Cs., Simularea grafic a sistemelor de
corpuri, Ed.Univ. Transilvania, 2004.
Erdman, A. G., Sandor, G. N., Kota, S., Mechanism
Design: Analysis and Synthesis, Prentice Hall,
2001.
Haug, J.E., Computers Aided Kinematics and
Dynamics of Mechanical System, vol. I. Allyn and
Bacon, 1989.
Jalon, J.G., Bayo, E., Kinematic and Dynamic
Simulation of Multibody Systems The real time
challenge, Springer-Verlag, 1994.
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Literature

Uicker, J.J. Jr., Pennock, G.R. and Shigley

J.E. Theory of Machines and Mechanisms,
Oxford University Press, 2011
Myska, David H. Machines & Mechanisms:
applied kinematic analysis, 2nd Ed.,
Prentice Hall, 2002

Shabana, A. A.,

MECHANISMS

Dynamics of Multibody
Cambridge University Press,

Systems,
2005
Waldron, Kenneth J. and Kinzel, Gary L.,
Kinematics, Dynamics, and Design of
Machinery, John Wiley & Sons, Inc, 2004.
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MECHANISMS

History of Mechanism and Machine Science

Archimedes (ca. 287212

BC) systematized the design
of simple machines and the
study of their functions
Contributed greatly to the
theory of the lever, screw,
and pulley, although he did
not invent any of these
machines.
He is the founder of statics
and of hydrostatics, and his
machine designs fascinated
subsequent writers
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MECHANISMS

History of Mechanism and Machine Science

Heron of Alexandria (1085

AD) wrote many books on
Mathematics, Geometry and
Engineering, which were in use
till the medieval times.
His most important invention
was the Aeolipile, the first
steam turbine.
Other inventions include
automated machines for
temples and theaters,
surveying instruments, and
military machines and
weapons.
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MECHANISMS

History of Mechanism and Machine Science

Agustin de Betancourt
(17581824), together
with Jose Maria de Lanz, is
known as co-author of
Essai sur la composition
des machines (1808),
considered to be the first
modern treatise on
machines and the first
book that contains a
proposal for the
classification of
mechanisms based on
criteria of transformation
of motion.
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MECHANISMS

History of Mechanism and Machine Science

Franz Reuleaux
(1829-1905)
developed a system
for classifying
kinematic
mechanisms and
created hundreds
of models to
embody his basic
machine elements.

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Kinematics (History)

Andr-Marie Ampre (1775-1836) first

used the word Cinematique (French), from
the Greek word for motion, describes the
study of motion without regard to forces.

MECHANISMS

Later Cinematique anglecized to

kinematics and germanized to kinematik.

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Kinematics (History)

MECHANISMS

Robert Willis (1800-1875), Prof. of

natural philosophy at the University of
Cambridge, England, summarized the
task of mechanical synthesis.

Five different ways to obtain relative

motions between input and output links:

1.
2.
3.
4.
5.

Rolling contact
Sliding contact
Linkages
Wrapping connectors (belts, chains)
Tackle (rope or chain hoists)
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Kinematics (History)

Reuleaux (1829-1905), published

Theoretitiche Kinematik in 1875, translated
into English by Alexander Kennedy (18471928)

MECHANISMS

This text became the foundation of modern

kinematics.

Reuleaux defined six basic mechanical

components.
1.
2.
3.
4.
5.
6.

The
The
The
The
The
The

link
wheel
cam
screw
ratchet (intermittent-motion devices)
belt
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http://www.iftomm.org
International Federation for the Promotion of
Mechanism and Machine Science

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Technical
Technical
Technical
Technical
Controls
Technical
Technical
Technical
Technical
Technical
Technical
Technical
Technical
Technical

Committee
Committee
Committee
Committee

for
for
for
for

Biomechanical Engineering
Computational Kinematics
Gearing and Transmissions
Linkages and Mechanical

Committee
Committee
Committee
Committee
Committee
Committee
Committee
Committee
Committee

for
for
for
for
for
for
for
for
for

Micromachines
Multi-body Dynamics
Reliability
Robotics and Mechatronics
Rotordynamics
Sustainable Energy Systems
Transportation Machinery
Tribology
Vibrations

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MECHANICS
Science dealing with motion
DIVISIONS OF MECHANICS

MECHANISMS

Statics
Deals with systems which
are not changing with time.
Dynamics Deals with systems which
are changing with time.

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DIVISIONS

OF

DYNAMICS

KINEMATICS Deals with Motion and Time

THE STUDY OF MOTION WITHOUT REGARD TO FORCES
(Kinema Greek Word Motion)
KINETICS (DYNAMICS)

Deals with Motion, Time and

MECHANISMS

Forces.
THE STUDY OF MOTION AND ITS CAUSES (forces, mass,
inertia)
Statics

Kinematics

Dynamics

STRUCTURE

MECHANISM

MACHINE
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Theory of mechanisms

Structure of mechanisms

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Kinematics of
mechanisms
Dynamics of mechanisms
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Examples

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Examples

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Steering mechanisms(Ackerman)

Curs Mecanisme

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Suspension mechanisms

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Windshield Wipers

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Engine

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Full car model

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Software tools

MECHANISMS

MSC Software: ADAMS (Automatic

Dynamic Analysis of Mechanical Systems)

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Software tools

MECHANISMS

SIMPACK INTEC GmbH

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Software tools

MECHANISMS

LMS Virtual.Lab Motion

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Software tools

MECHANISMS

SimMechanics MATLAB Mathworks

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Software tools

alaska Technical University of Chemnitz, Germany

AUTOLEV OnLine Dynamics Inc., United States
AutoSim Mechanical Simulation Corp., United States
AVL EXCITE AVL, Austria
CAMeL-View IXtronics GmbH, Germany
COMPAMM CEIT, Spain
Dynawiz Concurrent Dynamics International
Hyperview Motionview Altair Engineering, United States
MapleSim Maplesoft, Canada
MECANO Samtech, Belgium
MBDyn Politecnico di Milano, Italy
MBSoft Universite Catholique de Louvain, Belgium
NEWEUL University of Stuttgart, Germany
RecurDyn Function Bay Inc., Korea
RoboAnalyzer Avon Enterprises, India
Robotran Universite Catholique de Louvain, Belgium
SAM Artas Engineering Software, The Netherlands
SD/FAST PTC, United States
SimCreator Realtime Technologies Inc., United States
SimMechanics The Mathworks, United States
SPACAR University of Twente, The Netherlands
TRUE True-World, France
Universal Mechanism Bryansk State Technical University, Russia
Working Model Knowledge Revolution, United States

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Definitions - MACHINE

Machines are mechanical devices used to

accomplish work, to transfer or transform
energy to do useful work.
An assemblage of parts that transmit
forces, motion and energy in a
predetermined manner

MECHANISMS

modifies mechanical energy and transmits

it in a more useful form

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MECHANISMS

Definitions - MECHAMISN

A mechanism is a heart of a machine.

It is the mechanical portion of the
machine that has the function of
transferring motion and forces from a
power source to an output.
Mechanism is a system of rigid elements
(linkages) arranged and connected to
transmit motion and/or force in a
predetermined fashion.
Mechanism consists of linkages and joints.
In contrast: Structure a single body with
no motion / combination of bodies with no
relative motion
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MECHANISMS

Mechanism and machine parts or links

move with respect to one another,
because adjacent links are connected by
articulations called joints (kinematic pair)
A link is assumed to be completely rigid

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Classification of Mechanisms

MECHANISMS

Based on the nature of

output speed
Uniform motion
mechanism - Equal
Displacement For Equal
Time Interval
All Gear Drives
Non-uniform motion
mechanism Unequal
Displacement For Equal
Time Interval Examples :
Linkage Mechanisms
Cam Mechanisms
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Components of Mechanisms

Link / element
Kinematic pairs / joints

MECHANISMS

Kinematic chain

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MECHANISMS

Four-Bar Linkage

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The Slider-Crank Mechanism

MECHANISMS

Input
link,
crank

Coupler link,
connecting
rod
Output
link,
piston
(slider)

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Categories of Mechanisms

Function generation mechanisms

Output is a specified function of input

Motion generation mechanisms

MECHANISMS

The orientation of the object is important,

rigid body guidance

Path generation mechanisms

A point on a link moves on a specified path

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Function Generation Mechanisms

A function generator is a linkage in which

the relative motion between links
connected to the ground is of interest.

A four-bar hand actuated

wheelchair brake
mechanism
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MECHANISMS

Function Generation Mechanisms

Function Generation Mechanisms

A four-bar drive linkage for a lawn sprinkler

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Function Generation Mechanisms

MECHANISMS

A four-bar function
generation mechanism to
lower an attic stairway.

A four-bar function generation

mechanism to operate an
artificial hand used for gripping.
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Motion Generation Mechanisms

In motion generation, the entire motion of the
coupler link is of interest (rigid body guidance).

MECHANISMS

Fixed pivot points

Moving
joints

Rollerblade brake system

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Motion Generation Mechanisms

Four-bar automobile hood linkage

design
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Motion Generation Mechanisms

Six bar
Six bar

MECHANISMS

4
3

3
5

4
1

Microwave carrier
to assist people on
wheelchair

Lift platform

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Path generation mechanisms

MECHANISMS

In path generation, we are concerned only

with the path of a tracer point and not
with the motion (rotation) of the coupler
link.

Crane straight line motion

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Straight line Mechanisms

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Straight line Mechanisms

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