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S4 Mechanical Engineering
KINEMATICS OF MACHINES (ME 1232)
UNIT-1
SIMPLE MECHANISM.
TWO MARKS :-
Define 1)Kinematic Link 2)Kinematic pair 3)Kinematic chain 4)Klein’s equation for
joints 5)Degree of freedom of mechanism.6)Kutzbach’s relation 7)Grashoff’s law
8)Inversion of mechanism 9)Mechanical advantage of mechanism 10)Transmission
angle?
1)Kinematic link
It is a resistive body which go to make a part of a machine having relative
motion between them.
2)Kinematic pair.
When two links are in contact with each other it is known as a pair.If the pair
makes constrain motion it is known as kinematic pair.
3)Kinematic chain.
When a number of links connected in space make relative motion of any point on
a link with respect to any other point on the other link follow a definite law it is known as
kinematic chain.
4)Klein’s equation for joints.
n-Degree of freedom.
l-Number of links.
h-Higher pair joint
j-Lower pair joint.
7)Grashoff’s law.
Sum of shortest link length and sum of longest link length is not greater than the
sum of remaining link length.
8)Inversion of mechanism.
The method of obtaining different mechanism by fixing different links in a
kinematic chain is known as inversion of mechanism.
9)Mechanical advantage of mechanism.
It is defined as the ratio of output torque to the input torque also defined as the
ratio of load to effort.
10)Transmission angle.
The acute angle between follower and coupler is known as transmission angle.
11)Toggle position.
If the driver and coupler lie in the same straight line at this point mechanical
advantage is maximum.Under this condition the mechanism is known as toggle position.
12)List out few types of rocking mechanism?
Pendulam motion is called rocking mechanism.
1.Quick return motion mechanism.
2.Crank and rocker mechanism.
3.Cam and follower mechanism.
13)Define pantograph?
It is device which is used to reproduce a displacement exactly in a enlarged
scale.
14)Name the application of crank and slotted lever quick return motion mechanism?
1.Shamping machines.
2.Siotting mechanism.
3.Rotary internal combustion engine.
15)Define structure?
It is an assemblage of a number of resistant bodies having no relative motion between
themand meant for carrying loads having straining action.
16)What is simple mechanism?
A mechanism with four link is known as simple mechanism.
17)Define mechanism?
When one of the link of a kinematic chain is fixed,the chain is known as a mechanism.
18)Define equivalent mechanism?
The mechanism, that obtained has the same number of the degree of freedom,as the
original mechanism called equivalent mechanism.
19)Define single slider crank chain mechanism?
A single slider crank chain is a modification of the basic four bar chain. It consist of
one sliding pair and three turning pair.
20)Define double slider crank chain mechanism?
A kinematic chain which consist of two turning pair and two sliding pair is
known as double slider crank mechanism.
16 MARKS : -
2)Turning pair.
In a turning pair also degree of freedom is one.when two links are connected such
that one link revolves around another link it forms a turning pair.
3)Cylindrical pair.
In a cylindrical pair degree of freedom is two.If one link turns and slides along
another link it forms a cylindrical pair.
4)Rolling pair.
In a rolling pair degree of freedom is two.The object moves both linearly and
angularly.
5)Spherical pair.
In a spherical pair degree of freedom is three.It can both move left and right,up and
down,and rotate along the same point.
Assume one revolution of the driver.In 360 degrees,270 degrees makes locking of
follower. Remaining 90 degrees is used to make rotation of the follower.
2) In a crank and slotted lever quick return motion mechanism,the length of the fixed
link is 300mm and that of the crank is 150mm.Determine the maximum angle the slotted
lever will make the fixed link.Also determine the ratio of the time of cutting and return
stroke.If the length of slotted bar is 700mm, What would be the length of the
stroke,assuming that the line of stroke passes through the positions of the free end of the
slotted lever?
Given data:
AB=300mm=0.3m
AE=150mm=0.15m
BP1=700mm=0.7m
Inclination of the slotted bar with fixed link:
Let•ABE=inclination of the slotted bar with the vertical axis.
sin•ABE=sin(900-ß/2)
=AE/AB
=0.15/0.3=0.5
• ABE=(90-ß/2)
=300
Time ratio of cutting stroke to the return stroke:
We know that,
(900-ß/2)=30
ß=1200
Time for cutting stroke=
Time for return stroke=ß
=3600-1200
1200
Answer=2
Length of stroke=p1p2
=2(BP1)sin(900-ß/2)
=2*0.7sin(900-600)
L=450mm.
In this mechanism,the link AC forming the turning pair is fixed.The driving crank CB
revolves with uniform angular speed about the fixed center C.A sliding block attached to
the crank pin at B slides along the slotted bar AP and thus causes AP to oscillate about
the pivorted point A.A short link PR transmits the motion from AP to ram which carries
the tool and reciprocates along the line of stroke R1R2.In the extreme positions,AP1 and
AP2 are tangential to the circle and the cutting tool is at the end of the stroke.The forward
or cutting stroke occurs when the crank rotates from the position CB1 to CB2 in the
clockwise direction.The return stroke occurs when the crank rotates from the position
CB2 to CB1 in the clockwise direction.Since the crank has uniform angular
speed,therefore
Time of cutting stroke
Time of return stroke =
Since the tool travels a distance of R1R2 during cutting and return ,therefore
length of stroke =R1R2=P1P2=2AP
In this mechanism,the link CD forming the turning pair is fixed.The driving crank CA
rotates at a uniform angular speed.The slider attached to the crank pin at A slides along
the slotted bar PA which oscillates at a pivoted point D.The connecting rod PR carries the
ram at R to which a cutting tool is fixed.The motion of the tool is constrained along the
line RD produced along a line passing through D and perpendicular to CD.When the
driving crank CA moves from the position CA1 to CA2 through an angle in the
clockwise direction,the tool moves from left to right through a distance 2PD.Now when
the driving crank moves from the position CA1 to CA2 through an angle in the
clockwise direction,the tool moves back from right to left hand end.Since CA rotates at
uniform angular velocity therefore time taken for return stroke is less than time taken for
cutting stroke.then ratio between time taken for cutting and return stroke is,
D Link (3) C
A Link (1) B
D
Link(4) Link (3)
E Link (5) C
A Link (1) B
In the fig:
No of binary joints = A+B+C
=3
Number of Ternary joints = C+E
Equivalent binary joints = 2+2
=4
Hence total number of binary joints = 3 + 4 = 7
Based on Kline’ s Equation
L = 2/3 (J+2)
6 = 2/3 (9)
6=6
Hence is a Kinematic Chain.
c) Quaternary Joint
If four links are connected to the same joint then it is a Quaternary joint.
One quaternary joint = Three binary joints
C
Link (3)
E
Link (4)
Link (7) Link (5)
D
F
Link (8) Link (6) Link (2)
Link (11) G
A B
Link (1)
Connecting rod
Link(3)
Piston
Crank
Link (2)
Fixed frame (link (1))
D
C
Link (4)
Crank (1) Link (3)
A Crank (2)
Link (1) B
i) This is also known as Double Crank mechanism. Since both cranks rotate about
the points in the fixed link.
ii) It consists of four links
iii) The opposite links are equal in length,
iv) Links (1) and (3) work as two cranks
v) This motion is also known as rotary – rotary converter.
B1 E1
C1
D1 B
1
F
D E
F
Link (4)
A Lever 1→ ac (link (4))
Lever 2 →DFE (link(3))
C
AB → Connecting rod (link
(3))
Piston
Gas Cylinder
Pressure
i) This mechanism was invented by Watt for his steam Engine to guide the
position rod.
ii) It is also known as simple indicator.
iii) It is also known as double lever mechanism
iv) Links BC and DEF work as levers whose displacement is directly
proportional to steam or gas pressure.
iii) Inversion of Basic Single Slider Crank Chain
Single Slider Crank Chain
Link (4) s
Guide way
Link (2) Crank
Fly wheel
A
Link (2)
Crank
B O
Link (4)
Piston Link (3) Connecting rod
Cylinder
(link (1))
TWO MARKS :-
16 MARKS :-
1) .PQRS is a four bar chain with link PS fixed the length of the links
PQ=62.5mm,QR=175mm,RS=112.5mm,PS=200mm.If the crank
PQ rotates at 10 rad/sec clockwise direction.Draw the velocity and
acceleration diagram when angle QPS=60 0 and Q and R lie on the
same side of PS.Find the angular velocity and angular acceleration
of links QR and RS.
arQR=V2QR/QR=.362/0.175=0.74m/s2
3.An engine mechanism is shown in the following figure the crank CB=100mm
and the connecting rod BA=300mm with a center of gravity G 100mm from
point B in the position shown the crank shaft has a speed of 75 rad/sec and
an angular acceleration 0f 1200 rad/sec2.Find
i Velocity of G and angular Velocity of AB
ii Acceleration of G and angular aceeleration of AB
Space diagram: Scale
1cm=50mm
KINAMATICS OF CAMS
TWO MARKS :-
1.What is cam ?
Cam is a rotating mechanical member used for transmitting desired motion to a
follower by direct contact
2.Classification of cam?
(i) according to cam shape
(ii) according to follower movement
(iii) according to manner of constraint of the follower
4.classification of follower ?
(i) According to follower shape
(ii)according to motion of follower
6.Spherical follower ?
In the contacting end of the follower is of spherical shape .
7.Angle of ascend ?
The angle of rotation of the cam from the position when the follower begins to rise
till it reaches its highest points . it is dHQRWHGE\
8. Angle of descend?
The angle through which the cam rotates during the time the follower returns to the
LQLWLDOSRVLWLRQ,WLVGHQRWHGE\ U
9.Angle of dwell?
It is the angle through which the cam rotates while the follower remains stationary at
the highest or the lowest .
10. Angle of action ?
The total angle moved by the cam during its rotation between the beginning of rise
and the end of return of the follower
12.What is dwell?
The zero displacement or the absence of motion of the follower during the motion of the
cam is called dwell.
Vo (max) = 2 V
R
Vr (max)= V
R
16 MARKS :-
BRIEF ANSWERS
Displacement diagram(8)
Draw a rectangular block of length 18cm breath 50cm
Divided the block for forward dwell of return stroke
Divide forward and return stroke to equal halves.
Join the diagonal of the forward and return stroke block and mark the
mid points
Then divide the c4ntre line in to six equal parts
the remain four and in to with divide in and that corresponding points are
marked
Join all the points
Offset type;(8)
Draw a circle of radius of 50mm and a roller of diameter of 10mm on
the centre
Now draw another circle join center of the roller
Join them tangentially and then transfer the points from the
displacement diameter to here .
Take the degree for forward dwell and out stroke and divide the form
and latter to six equal parts.
Draw a roller at each points and joining its ends gives the cam profile.
(2)Draw the profile of the cam when the roller follower moves with cycloid
motion during outstroke and return stroke as given below:
(i) Out stroke with max displacement of 31.4mm during 180 of cam
rotation.
(ii) Return stroke for the next 150of cam rotations.
(iii) Dwell for the remaining 30 of cam rotation min radius of the cam is
15mm and roller diameter of follower is 10mm . draw the profile for
(iv) (a) Radial type (b)offset type(16)
Displacement diagram (4)
Draw a rectangular block of length 18cm breath 50cm
Divided the block for forward dwell of return stroke
Divide forward and return stroke to equal halves.
Join the diagonal of the forward and return stroke block and mark the
mid points
Draw a circle of radius 4.99 mm from the end of forward stroke and
starting of return stroke and join opposite angles parallel to the block .
From the middle of the upper and lower of block parallel to the middle
line .
Plot the points and join them.
Radial type:(6)
Draw the circle radius of 30mm and roller diameter 20mm
Now draw another circle join center of the roller
Take the degree for forward dwell and out stroke and divide the form
and latter to six equal parts.
Join them tangentially and then transfer the points from the displacement
Join them to the centre of the circle trans for the points from the
displacement diagram
Draw a roller at each points and joining its ends gives the cam profile.
Offset type(6):
Draw the circle radius of 30mm roller and 20mm
Now draw another circle join center of the roller
Offset 10mm.
Join them tangentially and then transfer the points from the displacement
diameter to here .
Take the degree for forward dwell and out stroke and divide the form
and latter to six equal parts.
Draw a roller at each points and joining its ends gives the cam profile.
(3)A cam rotating clock wise at uniform speed pf 1000r.p.m is required to give
a knife edge follower the motion defined below
(a)follower to move outward through 2.5m during 120 of cam rotation
(b)follower to dwell for next 60 of cam rotation
(c) follower to set up to its starting position during next 90 of cam rotation
(d)follower to dwell for the next of the rotation
The minimum radius of the cam is 50mm an the line of stroke of the follower
is axial . If the displacement of the follower takes place with uniform and equal
acceleration and retardation on both outward and return stroke dean
the cam profile.(16)
(4)A cam profile is to give the following motion to a knife edge follower
(i)out stroke during 60 of cam rotation.
Dwell for the next 30 of am rotation.
Return stroke dieing next60 of cam rotation .
Dwell for the remaining 210 of cam rotation.
The stroke of follower is 40mm and the minimum radius of the cam is 50mm. The
follower moves with uniform velocity during both the outstroke and return stroke . Draw
the profile of the outstroke and return stroke. Drawn the profile of the cam when
(a)The axis of the follower passes through the axis of the cm shaft
(b)Axis of the follower id offset by 20mm right hand side from axis of the
cam shaft . (16)
5.For the following data draw the profile of a cam with a flat faced follower line of
motion which passes through the cam centre.
Least radius of the cam = 30mm
Angle of asce4nt an descent each = 72
Angle of dwell in lifted position =30
Follower lift =27.5mm
The out ward stroke takes place with s.h.m and the inward strokes with uniform
acceleration and retardation . If the uniform speed of rotation of the cam is 3000r.p.m
What will be the maximum velocity and acceleration during out ward and inward stroke
of the follower?(16)
Displacement diagram(7)
Radial type:(9)
MODULE -4
TW O MARKS :-
11. What are the conditions to be satisfied for interchangeability of all gears.
For interchangeability of all gears, the set must have the same circular pitch, module,
diameter pitch, pressure, angle, addendum and dedendum and tooth thickness must be
one half of the circular pitch.
16. What is the principle reason for employing non standard gears?
a) To eliminate the undercutting.
b) To prevent interference.
c) To maintain reasonable contact ratio.
16 MARKS :-
1. In a reverted gear train two shafts A and B are in the straight line and are geared
through an intermediate parallel
shaft C .the gears connecting A and C have a module of 2 and those connecting C and
B have a module of 3.5.
Speed of B is less than 1/10 that of A .if two pinions have each 24 teeth ,find suitable
teeth for gears , the actual velocity ratio and corresponding distance of shaft C from
A.
Given data:
Module of gears 1, 2 = m A =2;
Module of gears 3,4 = m B =3.5;
NB < 1/10 NA;
T1 = T3 =24;
To find:
1. Suitable teeth for gears.
2. Actual velocity ratio, and
3. Distance between shafts C and A.
Solution
1. SUITABLE TEETH FOR GEARS:
N B < 1/10 NA .
Let NB = 1/11 NA .
We know that for reverted gear train
R1 + R2 = R3 + R4
Or mAT1/2 + mAT2/2 = mB T3 /2 + mBT4/2
MA(T1 +T2) = MB(T3 +T4)
2(24 + T2) = 3.5(24 + T4)
T2 =18 +1.75T4
Now speed ratio, NB/NA =T1*T3 /T2*T4
1/11 =24*24/T2*T4
T2*T4 =6336.
Sub the value of T2 ,we get
(18 +1.7574)T4 = 6336
T4 = 56
T2 =116.
2. ACTUAL VELOCITY RATIO.
NA/NB = T2*T4/T1*T3
NA/NB =11.28.
3. DISTANCE BETWEEN SHAFTS C AND A:
C = d1 + d2/2
= mA(T1 + T2 )/2
= 2(116+24)/2
C=140mm.
MODULE –5
FRICTION
TWO MARKS :-
1. Define clutch.
Clutch is a transmission device of an automobile which is used to engage and
disengage the power from the engine to the rest of the system.
2. What are the types of friction clutches?
Types of friction clutches are:
*Disc or plate clutches.
*Cone clutches.
*Centrifugal clutches.
3. Define centrifugal clutch.
Centrifugal clutch is being increasingly used in automobile and machines
obviously it works on the principle of centrifugal force.
4. What are the types of flat drives?
The types of flat drives are:
*Compound belt drive.
*Stepped or cone pulley drive.
*Fast and loose pulley.
5. Define slip.
Slip is defined as the relative motion between the belt and pulley.
6. Define law of belting.
Law of belting states that the centre line of the belt, as if approaches the pulley lie
in a plane perpendicular to the axis of that pulley or must lie in the plane of the pulley
otherwise the belt will run off the pulley.
7. Rope drive: Utility.
The rope drives are widely used when large power is to be transmitted
continuously from one pulley to another over a considerable distance. One advantage of
rope drives is that a number of separate driver may be from the driving pulley.
8. Belt drive: Utility.
Belt drive is commonly used for transmission of power when exact velocity ratio
is not required. Generally, belt drives are used to transmit power from one pulley to
another, when the two pulleys are not more than 10 meters apart.
9. What are the types of ropes?
The types of ropes are:
*Fiber ropes.
*Wire ropes.
10. Quarter turn left drive.
The quarter turn left drive is used with shafts arranged at right angles and rotating
in one definite direction.
11. Define the velocity ratio of the belt drive.
The velocity ratio of the belt drive is defined as the ratio between the velocities of
the driver and the follower or the driven.
12. Advantages of V-belt.
*Power transmitted is more due to wedging action in the grooved pulleys.
*V-belt is more compact, quite and shock absorbing.
*The V-belt drive is positive because of negligible slip between the belt and the
groove.
*High velocity ratio may be obtained.
13. Disadvantages of V-belt.
*It cannot be used with large center distances.
*It is not as durable as flat belt.
*It is a costlier system.
14. Circular belts or ropes.
*Ropes are circular in cross section.
*It is used to transmit more power.
*Distance between two pulleys is more than 8metres.
15. Belt materials.
1) Explain limiting of friction.Draw a neat sketch of a body over the surface with all the
forces acting on it.
2. Explain with neat sketch the working of centrifugal clutch. Deduce the expression for
the total torque transmitted.
Draw the required figure.
Centrifugal clutch works on the principle of centrifugal force. The driving shaft
carries the shoes and springs. While the drivers shaft is connected to the pulley. Shoes are
mounted radially and the springs keep them away from inner rim of the pulley. When the
centrifugal force is less than the spring force, brake lining cannot make any contact with
the pulley rims.
Let
n = no: of shoes.
m = mass of each shoe.
R = inside radius of the pulley rim.
N = speed of pulley.
w = angular speed of pulley.
w1 = angular speed at which the begins.
Centrifugal force on each shoe Fc = mw²r
Spring force exerted by each spring Fs = mw1²r
Net force on the shoe =Fc-Fs
= mw²r-mw1²r
)ULFWLRQDOIRUFHDFWLQJRQHDFKVKRHI )c-Fs)
Frictional torque Fr = F*R
)c-Fs) R
7RWDOIULFWLRQDOWRUTXHWUDQVPLWWHG7 Q
)c-Fs) R
= nFR.
3) Define screw jack and screw jack with square threads.
Screw jack
The screw jack is the device used to lift the heavy loads by applying a
comparatively small effort at its handle. The working principle of screw jack is similar to
that of an inclined plane.
The load to be raised or lowered is placed on the square threaded rod. It is rotated
by the application of an effort at the end of the Tommy bar (lever). The motion of nut on
the screw is analogous to sliding along an inclined plane.
Let,
W = load to be lifted.
P = horizontal force.
l = horizontal distance between the central axis of the screw and end E of the bar.
IULFWLRQDQJOH
WDQ FR-efficient of friction.
DQJOHRIUHSRVH
P = the pitch of the screw.
d = mean diameter of the screw.
The nut is rotated so that the screw moves against the axial load W. it is treated as
motion upwards the inclined plane. All the forces acting on the screw are considered and
the relation.
P = :VLQ
&RV
:WDQ
4. Turning moment required to overcome friction in screw jack.
Torque required to overcome friction T1 = p.d/2
:WDQ G
When the axial load is taken up by a thrust collar, then the torque required to
overcome friction at the collar T2 1 W R.
Where,
1 = co efficient of friction of the collar.
R1 = outside radius.
R2 = inside radius.
R = (R1+R2)/2.
7RWDOWRUTXH7 77 :WDQ G 1 W R.
If F is the horizontal force applied tangentially, then
T = F*L = W tDQ G
In case the nut rotates in the opposite direction, i.e. the load is to be lowered, and
then the effort applied tangentially at the end of the Tommy bar is given by