Introduction

A mechanism considered to be an assembly

of mechanical items designed to achieve a
specific purpose within a machine. There
are clearly an infinite number of
mechanisms available but the notes and
links are concentrating on the specific ones
as listed below. For specific information on
linkages please refer.. Linkages

Motion Control Using Computers

The notes below relate generally to
mechanical methods for providing relative
motion and forces. There is an increasing
tendency to produce motions using servo
hydraulic systems and stepping motors
under the control of digital computers.
Although the mechanism design often
requires creativity and a high level of
analysis the final product is often low priced
and provides reliable, efficient, predictable
performance. However a mechanism is
generally made to perform a fixed
operation, reliably and predictably.
Computer controlled motions can be
continuously monitored and if necessary
modified. If the output motion is changed
from a harmonic motion to a periodic
square wave motion or a sawtooth motion
then changing the control parameters for a
computer controlled system is often very
convenient. If a large number of systems
have been developed then the cost of
modifying the software or firmware is much
less than modifying a large number of
mechanisms..

Although the motions of many of high

technology machines and computer
systems are being controlled by computers.
The need for mechanisms is also
 increasing in consumer goods e.g.
mechanisms in consumer goods, toys, lifting
equipment, vehicles, aircraft, industrial
machines, gardening implements,etc etc
etc... ......

Classification Of Mechanisms
There are many methods of classifying
mechanisms. The following list is a
functional list based on the type of motion
required. This list is based on that provided
in Theory of Machines and Mechanisms
..Uicker, Pennock, ans Shigley. The notes
below are low level descriptions. Over time
additional notes will be included...For
detailed analysis and synthesis please refer
to the books listed in the book section of
this site.
1. Snap-Action Mechanisms
2. Linear Actuators
3. Fine Adjustment Mechanisms
4. Clamping Mechanisms
5. Location Devices
6. Ratchets
7. Escapements
8. Indexing Mechanisms
9. Swinging or Rocking Mechanisms
10. Reciprocating Mechanisms
11. Reversing Mechanisms
12. Couplings and Connectors
13. Sliding Connectors
14. Stop Pause and Hesitation Mechanisms
15. Curve Generators
16. Straight Line generators
 17. Tracing Mechanisms

Snap Action Mechanisms

Snap action mechanisms are also called
toggle and bi-stable mechanism are widely
used for components for simple toggle
switches to clamps. A typical toggle
mechanism is shown below...

Linear Actuators

Stationary Screws with rotating nuts

This group include machine tool traversing
mechanisms, jacks, valve drives etc etc.
These mechanism essentially convert rotary
motion to linear motion. High mechanical
advantages can result from components
which are convenient to design and
engineer. The output motions and forces
are very easy to evaluate for the input
forces.

Stationary Nuts with with rotating screw

This group includes power screw actuators,
valve drives, jacks. The characteristics of
this group is essentially the same as the
group with stationary screws and rotating
nuts

Single and double acting hydraulic and

pneumatic cylinders
This is a massive group including
positioning cylinders, rams jacks . The
motions and forces are very easy to
calculate..The motion involves convertion of
potential energy in fluid to kinetic energy of
 the motion of the component moved by the
cylinder

Fine adjustment mechanisms

A fine adjusting mechanism is primarily
used for control where small movements
are required resulting from larger
movements of the input. The variations of
this group include screws, differential
screws, gears, cams.etc etc. A typical
method of providing small output rotations
from input motions is shown below.. One
rotation of the input shaft will result in a
linear motion of the carriage of 0,5mm..

Clamping Mechanisms
Typical clamping mechanisms include
toolmakers clamps, G clamps, screw
clamps, clamps based on cams. Clamps
result from lever actions, screw forces,
toggle motions..The two important factors in
the engineering of a clamp is the method of
applying a high force and the method of
retaining the force after removal of the
input motion...

Toggle
Toolmakers Clamp
G Clamp Cam Clamp
Clamp
 Horizontal In-Line Vertical Toggle Clamp
ToggleClamp

Location Devices
Location devices often involve positioning
and centralising of the component being
located. Jigs and fixtures are used widely
in industry for locating items prior to
machining or assembly..

Ratchets
A ratchet is used to ensure that the motion
of the output device is only allow in one
direction even though the input motion may
be in either direction or ocillatory. Refer to
Links below

Ratchet Notes.

Escapements
Escapements are used for to control
continuous motion to produce a highly
controlled step motion at a fixed rate.
Escapements are used for mechanically
driven clocks. When used with clocks the
escapement controls the spring driven clock
mechanism such that it moves in regulated
steps controlled by a pendulum or an
oscillating arm . Refer to Links below

Escapement Notes.

Indexing Mechanisms
Indexing mechanisms generally converts a
 rotating,rocking or oscillatory motion to a
series of step movements of the output link
or shaft. Indexing mechanisms are useful
for counters and machine tool feeds. Refer
to Links below

Indexing Notes.

Swinging Or Rocking Mechanisms

This type of mechanism produces a
swinging or rocking motion of a link. The
motion is generally less than 360o and is an
oscillatory motion.

Rocking/ Oscillatory Mechanism Notes.

Reciprocating Mechanisms
Reciprocating straight line motion is most
generally completed using pneumatic,
hydraulic, and electric linear actuators.
Reciprocating motion is also achieved using
rack and pinion, and cams. Historically a
number of machines have been operated
very successfully using specially developed
mechanisms.

Reciprocating Mechanism Notes.

Reversing Mechanisms
It is comparatively easy to obtain reversing
motion using pneumatic, hydraulic, levers
and gears methods.

Reverse Linear Motion Revers

Using 2-Racks and a Pinion e Reverse Linear
Rotatio Motion using Links
nal
 Motion
using 2
Pinions
A mechanism capable of delivering output
motion in either direction can also be
achieved using pneumatic and hydraulic
systems with appropriate direction control
valves. A lever or gear type system would
require the use of some type of
clutch. Some two-way clutches which
connect one output shaft to one of two drive
shafts rotating in the opposite directions
can result in a direction reversal of the
output shaft without stopping the drive
shaft. This, of course assumes no problems
due to inertia.

Rotational Couplings / Connectors

Transmitting motion between parallel,
coaxial, intersecting and skewed shafts is
achieved using mechanical coupling
systems. There are a wide range of
different designs of couplings. The basic
simple design of coupling is used to
transmit rotary motion in both directions
between two co-axial shaft. The design of
these couplings is based on the torque to be
transmitted, the speed, and the degree of
misalignment..

The available range of gear designs can be

used to connect shafts of virtually any
relative orientation. Gears not only allow the
transfer of rotation but also direction and
speed.

Belt drives can also be used to couple shafts

together. The method can accomodate
various relative shaft positions and can be
designed such that the relative shaft
positions can vary as rotation is taking
 place.

Chain drives provide more positive coupling

than belt drives but are not as positive as
gear drives..

Typical couplings based on simple link

systems are shown below. These methods
are limited in the power that can be
transmitted and the evenness of the output
shaft motion.

Universal Coupling
Realeaux Coupling

Sliding Connectors
Sliding connectors are used when one slider
is used to drive another slider. The normal
problem is that the sliders operate on the
same plane but in different
directions..Different methods of solving this
problem include.
1. Using Rigid links between the slider with
pivot points on the sliders
2. Joining the sliders with belts, chains or
guided chains- push_pull chains
3. Fastening racks to each slider and
mechanically joining the sliders using
gears
4. Using Rigid links between the slider with
pivot points on the sliders
5. Using Flexible drive systems
 6. Using hydraulic cylinders.

Simple sliding coupling

Simple sliding linkage coupling using Rack & Pinions

Stop and Dwell Mechanisms

The most obvious example of this type of
mechanism is that used to control the
valves on and internal combustion
engine. The valve has to open, remain
open for a fixed part of the cycle, close, and
remain close for a fixed part of the
cycle. The solution for this type of
mechanism is to use of cam controlling the
motion of the valve stem.

Indexing mechanisms as described in the

indexing section can often provide stop and
dwell motions.

Curve Generators
The four bar chain can be used to generate
an infinite range of curves by adjusting the
two fixed pivot points and the lengths of the
links. The curves generated by the free
pivot points are obviously circles with radii
= to the length of the links to the adjacent
fixed pivot points. The motion of points
along the coupler between the two free
pivot points is however complex and
variable.
 The modern method of developing curve
motion is to use Numerical control methods
combined with hydraulic, or electronic servo
drives. There are however opportunities for
using direct mechanical systems for low
cost components.

Straight Line Generators

The clear obvious method of developing a
straight line motion is to use a machined
slideway. The obvious alternative method is
to use computer controlled electric or
hydraulic drive systems. However in the
early days of the engineering industry these
options were not available and methods of
generating straight lines using linkages
were developed. These systems all resulted
in approximate straight lines but they were
generally sufficient for the requirements.

Whitworth Straight
Line Mechanism Roberts < Cheb
Straight ychev Straight Line
Line Mechanism
Mechanism

Path Following Mechananisms

The pantograph (ref figure below) is a
linkage mechanism that is used to trace the
movement of a point at a larger or small
scale. Movement of point p is copied by
movement of point p'. The geometric
requirement of the pantagraph linkage are
 that the links a,b,c & d form an equal sided
parallelogram.

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RACK AND PINION

 The rack and pinion is

used to convert between

rotary and linear motion.
The rack is the flat,
toothed part, the pinion is
the gear. Rack and pinion
can convert from rotary to
linear of from linear to
rotary.

RECIPROCATOR

This mechanism
converts rotary
motion to
reciprocating motion
in two axis.
 QUICK RETURN MECHANISM

 A quick return mechanism

such as the one seen below 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 the school workshop the
 best example is the shaping
machine.
Different Kinds of Mechanisms
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