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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. 
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1 Figure 3: Figure 4: 2 of 3 .Code No: R05411406 Set No.
What is Freudensteins equation? Describe the use of Freudensteins method for synthesis of Four-bar crank-rocker mechanism. l3 = 360 mm. velocities and accelaration of links at an interval of 300 of link l2 . Write the computer program in FORTRAN or C or C ++ . 1 4.Code No: R05411406 Set No.30 rad/s2 (retardation). The angular velocity of link 2 of the four bar linkage in w2 = 40 rad/sec about z-axis.A = 10 cm. Determine the angular displacements.  6. AO2 = 4 in. In a four bar mechanism the length of the links are l1 =600 mm. (b) Explain Bobiller and Hartman’s construction. Determine the force on link ‘4’ that is necessary to be applied for equilibrium of the linkage. AB = 32 cm. Also determine the state of loading on the connecting rod.  3 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.  5. The driving moment applied on link ‘2’ is as shown in ﬁgure 5. The link l1 is ﬁxed and the link l2 has an angular velocity of 10 rad/sec and an angular acceleration of . l2 = 300 mm. (a) State and prove Quinn’s energy distribution method.  Figure 5: 7. l4 = 360 mm. Given data: O2 . BA = 15 in. BO4 = 10 in. [8+8] 8.
Given data: O2 . O2 A = 80 mm.Code No: R05411406 Set No. P is the velocity pole of moving and ﬁxed polodes and ls is the inﬂection point on the ray S. Solve the problem using Analytical approach.  4. 2 IV B. the plane of rotation of the output link.A = 1 cm.  1 of 4 . In the mechanism shown in ﬁgure 1. S is an arbitrary point on ray S. AB = 50 mm and BC = 80 mm. OS P + P1S + P 1S I when OS is the instantaneous centre of curvature of the path of ray S.link RGGR crank-rocker mechanism shown in below. 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. [4+12] 2. and dimensions of all four links. Determine ω6 and α6 by using Goodman’s indirect acceleration approach.5 cm O4 .Tech I Semester Regular Examinations. AB = 3. 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 four. Prove the ﬁrst force of Euler-Savery equation of plane motion.  Figure 1: 1 3. Find the positions of all moving links when the input crank is set to θ2 = −450 as shown in ﬁgure 2.B = 4 cm. The known are the position and plane of rotation of the input link.
if a force 2000 N is applied on link ‘4’ as shown in ﬁgure 3.  6. Given data : O2 .  2 of 4 . Using the following data. ωψ = 2 rad/sec αφ = 2 rad/sec2 . Make a complete inertia force analysis of the reciprocating engine mechanism shown in below ﬁgure 4. 2 Figure 2: 5. Synthesize a 4-bar mechanism or linkage to neat the following speciﬁcation of position. Also. φ = 600 .  8. ψ = 900 . determine the bearing loads. ωφ = 5 rad/sec. Length of the crank = 71/2 cm Length of the connecting rod = 28 cm Distance of C. AB = 30 cm.Code No: R05411406 Set No.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  7. Determine the driving torque available on crank ‘2’. What is function generation? Explain in detail with the help of neat diagrams how to design a four bar mechanism by overlay’s method.A = 10 cm. velocity and acceleration.
Code No: R05411406 Set No. 2 Figure 3: Figure 4: 3 of 4 .
5 1b AG3 = 6 in W4 = 6 1b O4 B = 9 in O4 G = 4 in l02 = 0. taking the eﬀect of the weights into consideration. 3 IV B.Code No: R05411406 Set No. (a) Verify Grublier’s criterion for the following mechanisms as shown ﬁgures 1. Determine the angular acceleration θ2 of the crank 2. A shown in ﬁgure 5.Tech I Semester Regular Examinations.35 1b-insec2 1 of 5  . 4.6 1b-in-sec2 lg3 = 0. [8+8] 2. 2 Figure 1: Figure 2: (b) Calculate the degrees of freedom for the linkages shown ﬁgure 3. 02 A = 6 in W2 = 30 1b AB = 12 in W3 = 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 1.20 1b-in-sec2 l04 = 0.
3 Figure 3: Figure 4: 2 of 5 .Code No: R05411406 Set No.
3 Figure 5: 3 of 5 .Code No: R05411406 Set No.
 Figure 6: 5. A four. Deﬁne Energy contribution coeﬃcient. The knowns are the position and plane of rotation of the input link. Find the positions of all moving links when the input crank is set to ω2 = . 3 (b) Obtain the cognate mechanism for a drag link mechanism (A drag link mechanism has two cranks) [6+10] 4. Given data: O2 . and dimensions of all four links. Synthesize a function linkage for the following instantaneous condition. (a) State Robert’s theorem and explain its application. Set No. θ = 300 ω0 = 200 rad/ sec ωφ = 70 rad/ sec φ = 1000 α0 = 20 rad/ sec2 αφ = 40 rad/ sec2  6. AB = 3.A = 1 cm.5 cm O4 .Code No: R05411406 3.  4 of 5 .B = 4 cm.link RGGR crank-rocker mechanism shown in below. Describe the Quinn’s Energy distribution method for the direct determination of input velocity of the mechanism at any instant.450 as shown in ﬁgure 6. Solve the problem using Analytical approach. the plane of rotation of the output link.
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.  5 of 5 . Explain Equivalent-mass-and force method in Dynamic motion analysis.Code No: R05411406 Set No. 3 7.  8. for the determination of input acceleration of the mechanism at any instant.
[8+8] Figure 1: 2. (b) Determine the degrees of freedom of the following mechanism. Draw the cognate linkage of any four-bar mechanism. 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. [8+8] 3. 4 IV B. 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.Tech I Semester Regular Examinations. 1 of 2 . (a) State Grashoﬀ’s criterion for plane and space mechanisms and illustrate with examples.Code No: R05411406 Set No. (a) State the Goodman’s theorm and explain it in brief.  4. As shown in ﬁgure 1. using Roberts-Chebyshev theorem and explain its procedure.
ωB O4 and V B Set No.  6.  2 of 2 .89k cm i ˆ rad/sec ω2 = ωO2 A = 40k α2 = 0.71ˆ + 10.89k cm RBA = 10i j ˆ RBO4 = 6.Code No: R05411406 ˆ RO4 O2 = 12ˆ + 3k cm i ˆ + 3. Find the frame reactions and torque M12 necessary to maintain equilibrium of the four bar planar linkage shown in ﬁgure 2.17ˆ + 7.  Figure 2: 7. State the ‘two position synthesis of a four-bar mechanism’. O2O4 is the ﬁxed link Find ωB A . Write the computer animation program for a double rocker mechanism motion. 4 [16 5.  8. Give the step by step procedure to obtain the synthesized four-bar crank-rocker and slider crank mechanisms by using two position synthesis.46ˆ cm RA O2 = 2i j ˆ ˆ + 2. Prove the Quinn’s Energy distribution method in Dynamic motion analysis.
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