Mechanisms M h i Commonly used Mechanisms

Pantograph: Pantographs were traditionally used to scale drawings. It can exactly magnify or reduce a drawing. In the days before CAD packages, pantograph was a vital drawing tool. Pantograph are also used in some sensors, to magnify a small motion.

Pantograph (6 links, 5 turning joints)

B A D O Tracing g point Drawing i t( ) point (pen) C E Magnified by the ratio OB/OA

Simple pantograph B C A D o E (pen)

Here scaling ratio is 2 (i.e OB/OA)

Pantograph
B A D O C E

Specifications: 1. AB=AD=DC=BC

(they must form a Parallelogram).

Pantograph
B A D O C E

At any position of pantograph, triangle OAD is similar to OBE. Hence OB/OA =BE/AD. The scaling ratio the Pantograph is OB/OA or BE/AD

Toggle Mechanism: A device for producing large mechanical advantage. Used in applications such as stone crushers.

2 P F = 2 P tan tan =
Small force

For small values of , F << P .

Large force L f

A small force F (obtained by turning the wheel) causes a large force P at the crushing end.

Various Straight Line Motion mechanisms: These are mechanisms which have only turning joints, and produce a straight line motion at some point in a link (i.e. coupler point). The straight line may be exact or approximate, or only a small portion of the path traced by the point. But it is still useful. Mechanisms with sliding joint also produce straight line motion, but get worn out soon. Hence they are not considered here. Straight line producing mechanisms were historically important. Because, Because (a) Difficulty of producing exact straight lines using sliding parts ( (sliding j g joints have to be accurately machined first). y ) (b) To guide certain machine parts to move in a straight line.

Using synthesis of mechanisms concept, four bar mechanisms can be designed to produce portions of straight lines.

input

Level luffing crane. P traces approximately a straight line.

Film advance mechanism in a camera

Approximate Straight Line Mechanisms

1. Watts Mechanism (4 links, 4 turning joints) (originally ( i i ll used t guide th piston/slider i early steam engines) d to id the i t / lid in l t i )

A P O1 B

For limited rotation of O, Point P will trace an approximate vertical straight line. Specification: PA.OA = PB.O1B

Approximate Straight Line Mechanisms

A P O1 B

Approximate Straight Line Mechanisms

o
P B P O1

Approximate Straight Line Mechanisms

A P O1 B

Approximate Straight Line Mechanisms

o
P P A P B O1

Approximate Straight Line Mechanisms

P B

O1

It co ld g ide the imperfectl made pistons of the old steam engines could guide imperfectly in a straight line.

Used in car suspensions It will restrain horizontal movements (i.e swaying)

Scott Russell Mechanism (exact straight line motion)

P B C

slider

P moves in a straight line when the slider C moves back and forth . 1. Used to 1 U d t operate h t hammers or lifti water at P. lifting t tP 2. Also used in automobile suspensions (for arresting horz. motion) Specification: AB = PB=BC

Scott Russell Mechanism (exact straight line motion)

P B

slider

Scott Russell Mechanism (exact straight line motion) P B C slider

Grass Hopper Mechanism - A modification of Scot Russell Mechanism and is an Approximate Straight line motion mechanism
P B C A C

Instead of a slider at C, it , is coupled to a long link CQ

For small angles , the point P will follow an approximate straight line, when C moves in an approximate straight line. Specification: BC2=PB.AB

P B C A CQ is the driving link Q

P P B B A C CQ is the driving link Q

Tchebicheffs Mechanism ( (4 links, 4 turning joints) s, tu g jo ts)

Straight line traced b P St i ht li t d by

O1

Specifications: It has crossed equal links OA and O1B. P is mid point of AB. AB:OO1:OA=1:2:2.5

Tchebicheffs Mechanism (4 li k 4 t i j i t ) links, turning joints)

Straight line traced by P

O1

Tchebicheffs Mechanism (4 li k 4 t i j i t ) links, turning joints)

O1

Tchebicheffs Mechanism (4 li k 4 t i j i t ) links, turning joints)

O1

Tchebicheffs Mechanism is used to guide Saw blades in wood mill

Only Horizontal motion allowed

O1

O1

Exact Straight Line Mechanisms

They produce exact straight line motion when another link is rotated through a limited angle angle. The two well known devices are, 1. Peaucellier Mechanism 2. Harts Mechanism

They are used where precise linear motion is needed. Eg. Mechatronics applications, Cameras etc

Peaucellier Mechanism (8 links, 6 turning joints) Was invented in 1864 by Peaucellier and was considered a milestone at that time.
C P Q B A O OQ is the rotating link. Then P will move in a straight line perpendicular to OA.

Specifications: 1. OQ=OA 2. AB=AC 3. PBQC is a parallelogram (i.e links are equal)

Peaucellier Mechanism (8 links, 6 turning joints)

C P Q B A O

Peaucellier Mechanism (8 links, 6 turning joints)

P A O

Peaucellier Mechanism (8 links, 6 turning joints)

P O

Harts Mechanism

C P

crank
O D

E (pivoted to the ground)

Needs 6 links and 7 turning joints. More compact than Peaucellier Mechanism. Specifications: It is basically a crossed paralellogram. So CD=AB and AD=BC. p OP is the crank. Link AB is pivoted to the ground at E. Also, OP=OE.

C P

crank
O D

Draw lines through AC and DB. They will be always parallel to each other.

C Q P

crank
O

Now locate the point Q (on BC) by drawing a parallel line thru P. This is the straight line generation point.

C Q P

E
O

900
D B

It can be shown that, when the crank OP rotates, Q will move in a straight line perpendicular t OE . t i ht li di l to

Some other important Mechanisms

1. Hookes Joint (Universal Joint)

This is used when two shafts have a misalignment between them them.

Pump (driven) Motor (driving unit)

Driven shaft 2

Driving shaft 1,

=angle between shafts

Hookes joint When the driving shaft makes one revolution at constant 1, driven shaft also makes one revolution. But 2 is not constant during the revolution. It varies as a function of . Even driving E en if dri ing shaft r ns at constant 1 , 2 will fluctuate abo e runs ill fl ct ate above and below 1 .

Hookes Joint

Cross piece

Forked ends of shaft

Shaft-1

Hookes Joint

1,

Shaft-1 (Driving)

How does 2 fluctuate with 1 ? It can be shown that,

cos 2 = 1 1 sin 2 cos 2 when 0 (shafts are perfectly aligned) then 2 1 . Also it can be summarized that in a 3600 rotation 2 will fluctuate between,

2 .max = 1 / cos and 2 .min = 1 cos .

Usually the speed fluctuation of 2 must be kept within 5% of 1. Hence it is necessary to keep as small as possible ( H i t k ll ibl (say <150 )

Double Hookes Joint (used in old cars with rear wheel drive)

Engine Rear Wheel 1

2 Driven shaft (2)

Driving shaft (1)

Here the speed (2) of driving shaft depends on 1 and 2. If 1 = 2 and all shafts are in the same plane, it can be p , shown that 2= 1.

Oldhams coupling
Used to connect two misaligned shafts, but parallel to each other.

Flange 1

Intermediate piece

motion possible p

Flange 2

Intermediate piece

The intermediate piece will co ple the t o flanges It has an eccentric ill couple two flanges. motion as the shafts rotate. The angular velocities of the driving and driven shafts are same same.

Geneva Mechanism
This is used to convert uniform rotary input to intermittent rotary s s co e t u o ota y put te tte t ota y output. It has many applications where intermittent motion is needed: Eg. movie projector film advance, assembly lines. Uniformly rotating link li k

Intermittently rotating Geneva wheel.

90 0 (rotate thru 900 Idle for 2700)

Basic Geneva Mechanism

b o

Basic Geneva Mechanism

The actual Geneva mechanism has some refinements for locking of Geneva wheel wheel. Uniformly rotating link oa p is fashioned with a circular portion p o

r a oa= r; Also there is a circle of radius p (p<r)

Geneva Wheel

p p

Geneva Wheel

p r p

2 r

This is the center distance for Geneva wheel with 4 slots

Geneva Wheel

Assembled Geneva Wheel

Uniform Rotation

Intermittent Rotation

Geneva is Locked because of the radius

Plug enters the next Geneva wheel slot, forcing it to rotate.

Applications:
Movie projectors: Each film has to pause 1/24 sec in front of the projection lens. The film roll has to be rotated intermittently. The film roll is advanced through a Geneva Mechanism. The Ge e a Mechanism is d e by a motor with u o RPM. e Geneva ec a s s driven oto t uniform

Automobile Steering Mechanism Simplified representation of Automobile Steering.

Front wheels, axis can be swivelled.

Chassis

Rear Wheels, axle direction is fixed

Automobile Steering Mechanism

Instantaneous Center

Automobile Steering Mechanism

Instantaneous Center

For the vehicle to turn smoothly, all wheels must turn about a common instantaneous center. Front wheels have to be swivelled thru different angles.

Instantaneous Center

Steering Mechanism must turn Inner wheel thru and outer wheel thru .

Instantaneous Center

Condition for correct steering : From the geometry it can be shown that, cot cot = (W/H) .

H (wheel base)

W (track width)

Davis Steering Gear: Obeys the law of steering, cot cot = (W/H), y g, ( ), (for all angles)

Two slotted bell crank levers

Davis Steering Gear: Obeys the law of steering, cot cot = (W/H), y g, ( ), (for all angles)
Slider bar is moved left l ft or right i ht

Davis Steering Gear: Obeys the law of steering, cot cot = (W/H), y g, ( ), (for all angles)
b

tan = W / (2H) = Track width 2 x Wheel base Then chose b and h such that; tan = b/h

Davis Steering Gear: Obeys the law of steering, cot cot = (W/H), y g, ( ), (for all angles)

Davis Steering Gear: Obeys the law of steering, cot cot = (W/H), y g, ( ), (for all angles)

>

Davis Steering Gear

Advantage: Obeys law of steering

Disadvantage: Due to sliding joints, the mechanism gets worn out after a period of use. There will be slackness (play) during t i d i steering.

Ackermans Steering Gear:

It is a steering gear with all turning joints. Only approximately follows law of steering. It is extensively used as steering gear for most modern vehicles. It is a compromise between law of steering and practicality.

Ackermans mechanism is set behind the front wheels

B A D

Steering bar is moved left or right

Usually, the center lines of Links CD and AB are designed to meet the rear axle center.

Ackerman steering gear will satisfy law of steering for only one steering position on each side. This i Thi is usually set as the ll t th smallest turning radius.

For larger turning radius the front wheel inst. centers will intersect above the rear axle.

But the effect of this error is less for large turning radius

SLIP: If all the instantaneous centres of all tyres perfectly coincide the tyres coincide, point in the direction of motion of the vehicle (i.e concentric circular arcs) -No Slip. If the instantaneous centres do not coincide there is mismatch between where each tyre is pointed and the general direction of motion of the vehicle. This is the slip angle of each tyre, and it must be kept to a minimum. Because of slip angle sidewise forces occur, which force the vehicle off from its path.

FrontwheelIndependentsuspensionforAutomobiles MacPhersonstrut(since1945)

Thefrontwheelsneed independentsuspensions sincethey y needtobesteered throughdifferentangles.

MacPhersonstrutisaninversionofSliderCrank (sameinversionasCrankandSlottedlever ( i i C k d Sl tt d l Quickreturnmechanism)

Planarrepresentationof MacPherson suspension

Mac Pherson suspension has to be modified for practical use ti l 1. provision for steering. 2. Spring suspension
Spring+viscous damper

Swiveljointforsteering. (Steeringarmnot shown)

Actual Mac Pherson suspension in 3 D

Spring+viscous damper

Steeringrod

Swiveljointforsteering.

END