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NOTHING IS IMPOSSIBLE
CODE : ME 2203
KINEMATICS OF MECHINERY
SUGGESTED READINGS :
1. Khurmi,R.S and Guptha,J.K - Theory of machines
SYLLABUS :
1. BASICS OF MECHANISMS 2. KINEMATIC ANALYSIS
3. KINEMATICS OF CAM
4. GEARS 5. FRICTION
UNIT : 1
BASICS OF MECHANISMS
CONTENTS :
BASICS OF MECHANISMS:
1.Terminology and Definitions
2.Degree of freedom. 3.Mobility
BASICS OF MECHANISMS:
9.Description of common mechanisms-offset slider mechanism as quick return mechanisms 10.Pantograph 11.Straight line generators (Peaucellier & Watt mechanisms) 12. Steering gear for automobile 13.Hookes joint 14.Toggle mechanism 15.Ratchets and escapements 16.Indexing mechanisms
THEORY OF MACHINE :
It is branch of science which deals with the study of relative
TYPE :
Divided into
1.Kinematics (no force consider)
1.MACHINE :
It is a device which receives energy and transforms it into some useful work. EXAMPLE:
fig
CHARACTERISTICS: 1.It should have relative motion and 2.It should be a resistant body
: : : :
Piston, piston rod and crosshead constitute a first link. Connecting rod with big end and small end bearings. Crank, crank shaft and flywheel. Cylinder, engine frame and main bearings.
TYPES OF LINK :
Three Types:
1.Rigid link (connecting rod and crank pin)
3.STRUCTURE:
Structure is an assemblage of number of resistant bodies having no relative motion between them. EXAMPLE: Roof trusses, bridges, buildings, machine frames.
4.KINEMATIC PAIR:
The two links or element of a machine, when in contact with each other, are said to form a pair. If the relative motion between them is completely or successfully constrained, the pair is known as kinematic pair. EXAMPLE: Crank and connecting rod, Piston and engine cylinder.
fig
1.Type of contact: lower pair, higher pair. 2.Type of relative motion: sliding pair, turning pair, rolling pair, screw pair, spherical pair. 3. Type of constraint: closed pair, unclosed pair.
3.SLIDING PAIR:
4.TURNING PAIR:
5.ROLLING PAIR:
6.SCREW PAIR:
7.SPHERICAL PAIR:
8.CLOSED PAIR: 9.UNCLOSED PAIR:
1.LOWER PAIR: A kinematic pair is known as lower pair if the two links has surface contact or area contact between them. Also the contact surfaces are similar. Eg.: shaft rotating in a bearing and Nut turning on a screw.
2.HIGER PAIR:
3.SLIDING PAIR:
4.TURNING PAIR:
5.ROLLING PAIR:
6.SCREW PAIR:
7.SPHERICAL PAIR:
5.CONSTRAINED MOTION:
When the motion between the pair is limited to a definite direction then the motion is said to be a constrained motion.
6.KINEMATIC CHAIN:
A Kinematic chain is defined as a combination of kinematic pair, joined in such a way that the relative motion between the links or elements is completely or successfully constrained.
To determine the given assemblage of links forms the kinematic chain or not:
The two equations are:
1. l = 2p 4
Three possible cases are: (i) If L.H.S=R.H.S Constrained kinematic chain (ii) If L.H.S>R.H.S locked chain
(iii) If L.H.S<R.H.S
ILLUSTRATIONS:
1.Arrangement of three links:
Link-2
3 = 2*3 - 4 3 = 2 L.H.S>R.HS
2. J = 3/2 * l - 2
Link-1
- 2
D
Link-4 A Link-1 B Link-2
4= 2*4 - 4 4= 4 L.H.S=R.H.S
2. J = 3/2 * l - 2
4= 3/2*4 - 2 4 = 4 L.H.S=R.H.S
Link-4
E
Link-3
C Link-2
5= 2*5 - 4 5= 6 L.H.S<R.H.S
2. J = 3/2 * l - 2
Link-5
A Link-1 B
D
Link-4
Link-6
Link-2 Link-1 B
Link-5 E
7.TYPES OF JOINTS:
The usual types of joints in a chain are: 1.Binary joint 2.Ternary joint 3.Quaternary joint
J +h/2 = 3/2 * l - 2
DEGREES OF FREEDOM:
Degree of freedom is defined as the number of independent motion (both translation and rotational) a body can have.
fig
1.A body have 6 independent motions. 2.This body is said to have 6 degrees of freedom. 3.Mathematically degree of freedom in a space is given by Degree of freedom=6-number of constraints
KUTZBACH CRITERION:
n = 3(l 1) 2j - h
l = number of links h = number of higher pairs j = number of binary joints or lower pairs n = number of degree of freedom.
1.Application of kutzbach criterion to plane mechanisms mechanisms with lower pair: (i) three bar (ii) four bar (iii) five bar (iv) six bar mechanisms with higher pair: (i) cam and follower. 2.Application of kutzbach criterion to spatial mechanisms
1.Three bar:
2.Four bar:
1.Five bar:
1.Six bar:
n = 3(l 1) 2j - h
l=3 j=3
l=4 j=4
n = 3(l 1) 2j - h
l=5 j=5
l=5 j = (f)=6
n = 3(5-1) 2 * 4 n=2
To drive, two input motion
n = 3(5-1) 2 * 6 n=0
Structure, no motion
n = 3(l 1) 2j - h
l=6 j=6
n = 3(6-1) 2 * 6 n=3
To drive, 3 input motion
n = 6(l 1) 5p1 4p2 3p3 2p4 1p5 l = number of links n = number of degree of freedom p1=number of pair having one degree of freedom p2=number of pair having two degree of freedom
GRUBLERS CRITERION FOR SPATIAL MECHANISM: 6l 5p1 7 = 0 l = total number of links p1 = number of pairs having single degree of freedom
MECHANISM:
- When one of the links of kinematic chain is fixed, then the chain is known as mechanism. - To transmit motion. - type writers
INVERSION OF MECHANISM:
The method of obtaining different mechanisms by fixing different links in a kinematic chain, is known as inversion of the mechanism
GRASHOFS LAW:
Grashofs law states that the sum of the shortest and longest links cannot be greater than the sum of the remaining two links lengths, if there is to be continuous Relative motion between two members. l = length of the longest link. s = length of the shortest link. p & q = length of the other two links. s+l<p+q
fig