Code No: R05411406

Set No. 1

IV B.Tech I Semester Regular Examinations, November 2008 ADVANCED KINEMATICS AND DYNAMICS OF MACHINERY (Mecatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks

1. (a) State Grubler’s mobility criterian and verify the same for the following mechanism. As shown in figure 1.

Figure 1: (b) Calculate the degrees of freedom for the linkages shown in figure 2, 3. [8+8]

Figure 2: 2. (a) Write about complex mechanisms and give example. (b) Write the applications of Goodman’s method to the analysis of low and high complexity mechanisms. (c) Write about sign conventions of Goodman’s approach. [5+5+6]

3. State the Robert’s-chebyshev theorm, prove it by considering a four-bar mechanism. [16]

1 of 3

Code No: R05411406 Set No. 1 Figure 3: Figure 4: 2 of 3 .

Find the angular velocity and angular acceleration of links 3 and 4 and the velocity and acceleration of point B for the position shown in figure 4. In a four bar mechanism the length of the links are l1 =600 mm. The link l1 is fixed and the link l2 has an angular velocity of 10 rad/sec and an angular acceleration of . What is Freudensteins equation? Describe the use of Freudensteins method for synthesis of Four-bar crank-rocker mechanism. BA = 15 in. [16] Figure 5: 7. [16] 5. AO2 = 4 in. Given data: O2 . [8+8] 8. The driving moment applied on link ‘2’ is as shown in figure 5. BO4 = 10 in.Code No: R05411406 Set No. 1 4. velocities and accelaration of links at an interval of 300 of link l2 . l4 = 360 mm.A = 10 cm. (a) State and prove Quinn’s energy distribution method. l3 = 360 mm. Determine the force on link ‘4’ that is necessary to be applied for equilibrium of the linkage. Determine the angular displacements. Write the computer program in FORTRAN or C or C ++ . (b) Explain Bobiller and Hartman’s construction. Also determine the state of loading on the connecting rod. l2 = 300 mm. [16] 6.30 rad/s2 (retardation). AB = 32 cm. The angular velocity of link 2 of the four bar linkage in w2 = 40 rad/sec about z-axis. [16] 3 of 3 .

A = 1 cm. Find the positions of all moving links when the input crank is set to θ2 = −450 as shown in figure 2. AB = 50 mm and BC = 80 mm. O2 A = 80 mm. Prove the first force of Euler-Savery equation of plane motion. 2 IV B. OS P + P1S + P 1S I when OS is the instantaneous centre of curvature of the path of ray S.B = 4 cm. [16] Figure 1: 1 3. [16] 1 of 4 . ω2 = 10 rad/sec (constant) clockwise. (a) What are the various inversions of Grashoff’s law? (b) Derive the minimum numbers of binary links in a constrained mechanism with simple hinges using Grubler’s criterion. Solve the problem using Analytical approach. [16] 4. In the mechanism shown in figure 1.link RGGR crank-rocker mechanism shown in below.5 cm O4 . and dimensions of all four links.Code No: R05411406 Set No. November 2008 ADVANCED KINEMATICS AND DYNAMICS OF MACHINERY (Mecatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks 1. Determine ω6 and α6 by using Goodman’s indirect acceleration approach. The known are the position and plane of rotation of the input link. P is the velocity pole of moving and fixed polodes and ls is the inflection point on the ray S.Tech I Semester Regular Examinations. AB = 3. the plane of rotation of the output link. Given data: O2 . S is an arbitrary point on ray S. [4+12] 2. A four.

What is function generation? Explain in detail with the help of neat diagrams how to design a four bar mechanism by overlay’s method. φ = 600 .A = 10 cm. 2 Figure 2: 5. velocity and acceleration. Also. Length of the crank = 71/2 cm Length of the connecting rod = 28 cm Distance of C. if a force 2000 N is applied on link ‘4’ as shown in figure 3. ωφ = 5 rad/sec. determine the bearing loads. [16] 2 of 4 . AB = 30 cm. Synthesize a 4-bar mechanism or linkage to neat the following specification of position. Using the following data. Make a complete inertia force analysis of the reciprocating engine mechanism shown in below figure 4.G of link2 from crank pin = 12 cm Crank makes an angle θ with the line of stroke = 600 Crank speed = 2000 RPM cw Mass of the link 2 = 21/2 kg Mass of the link 3 = 4 kg Mass of the link 4 = 3 kg Mass moment of inertia of link 2 = 6−kg−cm2 Mass moment of inertia of link 3 = 500 kg-cm2 [16] 7. [16] 6. ωψ = 2 rad/sec αφ = 2 rad/sec2 . [16] 8.Code No: R05411406 Set No. Determine the driving torque available on crank ‘2’. ψ = 900 . Given data : O2 .

2 Figure 3: Figure 4: 3 of 4 .Code No: R05411406 Set No.

4. A shown in figure 5. 02 A = 6 in W2 = 30 1b AB = 12 in W3 = 5.6 1b-in-sec2 lg3 = 0. November 2008 ADVANCED KINEMATICS AND DYNAMICS OF MACHINERY (Mecatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks 1.35 1b-insec2 1 of 5 [16] .5 1b AG3 = 6 in W4 = 6 1b O4 B = 9 in O4 G = 4 in l02 = 0. 2 Figure 1: Figure 2: (b) Calculate the degrees of freedom for the linkages shown figure 3. (a) Verify Grublier’s criterion for the following mechanisms as shown figures 1.Code No: R05411406 Set No.Tech I Semester Regular Examinations.20 1b-in-sec2 l04 = 0. [8+8] 2. taking the effect of the weights into consideration. 3 IV B. Determine the angular acceleration θ2 of the crank 2.

3 Figure 3: Figure 4: 2 of 5 .Code No: R05411406 Set No.

3 Figure 5: 3 of 5 .Code No: R05411406 Set No.

the plane of rotation of the output link. Given data: O2 . [16] Figure 6: 5. Find the positions of all moving links when the input crank is set to ω2 = . and dimensions of all four links. The knowns are the position and plane of rotation of the input link. A four. θ = 300 ω0 = 200 rad/ sec ωφ = 70 rad/ sec φ = 1000 α0 = 20 rad/ sec2 αφ = 40 rad/ sec2 [16] 6. Set No. 3 (b) Obtain the cognate mechanism for a drag link mechanism (A drag link mechanism has two cranks) [6+10] 4.5 cm O4 . Synthesize a function linkage for the following instantaneous condition. Define Energy contribution coefficient. Describe the Quinn’s Energy distribution method for the direct determination of input velocity of the mechanism at any instant.A = 1 cm.Code No: R05411406 3. (a) State Robert’s theorem and explain its application.link RGGR crank-rocker mechanism shown in below. AB = 3. [16] 4 of 5 .B = 4 cm. Solve the problem using Analytical approach.450 as shown in figure 6.

Write short notes on any THREE of the following: (a) Properties of rotopole (b) Optimization of transmission angles (c) Dynamic motion simulation (d) Application of computer graphics for animation and simulation of motion bodies. Explain Equivalent-mass-and force method in Dynamic motion analysis.Code No: R05411406 Set No. 3 7. [16] 8. for the determination of input acceleration of the mechanism at any instant. [16] 5 of 5 .

November 2008 ADVANCED KINEMATICS AND DYNAMICS OF MACHINERY (Mecatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks 1.Tech I Semester Regular Examinations. [8+8] 3. [8+8] Figure 1: 2. Draw the cognate linkage of any four-bar mechanism. (b) Determine the degrees of freedom of the following mechanism. (a) State the Goodman’s theorm and explain it in brief. 1 of 2 . (a) State Grashoff’s criterion for plane and space mechanisms and illustrate with examples. using Roberts-Chebyshev theorem and explain its procedure. 4 IV B.Code No: R05411406 Set No. [16] 4. In a Four-link RGGR (Revolute Globular Globuler Revolute) linkage the following data is given. (b) What are the methods of drawing instantaneous centers? Explain any one method indetail. As shown in figure 1.

46ˆ cm RA O2 = 2i j ˆ ˆ + 2.Code No: R05411406 ˆ RO4 O2 = 12ˆ + 3k cm i ˆ + 3. 4 [16 5. Prove the Quinn’s Energy distribution method in Dynamic motion analysis. O2O4 is the fixed link Find ωB A . Give the step by step procedure to obtain the synthesized four-bar crank-rocker and slider crank mechanisms by using two position synthesis.89k cm RBA = 10i j ˆ RBO4 = 6. Write the computer animation program for a double rocker mechanism motion. [16] 2 of 2 . [16] 8.89k cm i ˆ rad/sec ω2 = ωO2 A = 40k α2 = 0. State the ‘two position synthesis of a four-bar mechanism’. [16] Figure 2: 7.17ˆ + 7. ωB O4 and V B Set No. Find the frame reactions and torque M12 necessary to maintain equilibrium of the four bar planar linkage shown in figure 2. [16] 6.71ˆ + 10.