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4933222 Rr411405 Advanced Kinematics and Dynamics

4933222 Rr411405 Advanced Kinematics and Dynamics

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KINEMATICS
KINEMATICS

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11/09/2015

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Code No: RR411405

Set No. 1

IV B.Tech I Semester Supplimentary Examinations, February 2008 ADVANCED KINEMATICS AND DYNAMICS (Mechatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. (a) State Grubler’s criterion for determining mobility of a planar mechanisms. Verify the criterion with example for a four bar mechanism. (b) Find the mobility of the selected planar mechanisms. (figure 1) [10+6]

Figure 1 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+6+5]

3. Use the Bobillier’s theorem to find the center of curvature of the coupler curve of point ‘C’ of the four-bar linkage shown in figure 3. OA . A = 3 cm, AB=4 cm, OB .B = 8 cm. AC = 3 cm. [16]

1 of 3

A = 15 cm. output angles ψ2. (a) Explain the Hartman’s construction in detail. [16] 7. Determine the couple on crank ‘2’ to be applied for equilibrium of the system. ∆ψ = 900 (b) Using an inversion technique.C = 12 cm [16] Figure 5 6. ψ4. Define Energy contribution coefficient. and determine input angles φ2 .Code No: RR411405 Set No. φ3 . Given data: O2 . A. [16] 5. 1 Figure 3 4. (b) Explain about the position-analysis problem of Spatial system. A. ψ3. φ4 . when a force of 500 N acts on the connecting rod at point ‘C’ as shown in figure 5 also determine the resultant of forces exerted on its frame. Describe the Quinn’s Energy distribution method for the direct determination of input velocity of the mechanism at any instant.B = 45 cm. where four precision point required. (a) Determine the chebyshev spacing for function y=2x2 ? x for the range 0 ≤ x ≤ 2. The input link is rotating in a clockwise 2 of 3 . if ∆φ = 450 . design a four link mechanism for the three positions of input and output links.

θ23 = 450 . use three precision points with chebyshev spacing. φ23 = 300 [10+6] 8. the output link however is moving in the counter clock wise direction. φ2 = 300 . Use the given data: θ12 = 300 . [16] ⋆⋆⋆⋆⋆ 3 of 3 . Synthesize a slider crank mechanism so that the displacement of the slider is proportional to the square of the crank rotation in the interval 450 ≤ θ ≤ 1350 .Code No: RR411405 Set No. 1 direction.

Determine the force on link ‘4’ that is necessary to be applied for equilibrium of the linkage. [16] Figure 2 3. [16] 1 of 2 .B = 32 cm. (b) Explain about the position-analysis problem of Spatial system.Code No: RR411405 Set No. The driving moment applied on link ‘2’ is shown in figure 5.4 rad/s and α6 = 1. A.A = 10 cm. (a) State kutz batch criterion for determining mobility of a Spatial mechanism.5 rad/s2 both c. [16] 5.Tech I Semester Supplimentary Examinations. Given data: O2 . [16] 4. Determine ω2 and α2 using Goodman indirect acceleration analysis method. (figure 1) [6+10] Figure 1 2. (b) Find the mobility of the selected planar mechanisms. (a) Explain the Hartman’s construction in detail. explain its procedure. What is meant by coupler? Draw any coupler curve. mark on it four precision points and construct four bar mechanism passing through the selected precision points.w. February 2008 ADVANCED KINEMATICS AND DYNAMICS (Mechatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. The mechanism shown in figure 2 is driven by link ‘6’ with ω6 = 0. Also determine the state of loading on the connecting rod. 2 IV B.c.

2 .Code No: RR411405 Set No. Take φ0 = 300 . [16] 7. Prove the Quinn’s Energy distribution method in Dynamic motion analysis. Synthesize a four-bar function generator to solve the equation y = x1. Give the step by step procedure to obtain the synthesized four-bar crank-rocker and slider crank mechanisms by using two position synthesis. 2 Figure 5 6. [16] ⋆⋆⋆⋆⋆ 2 of 2 . State the ‘two position synthesis of a four-bar mechanism’. [16] 8. 1 ≤ x ≤ 5 using chebyshev spacing for three precision points. ψ0 = 600 and ∆φ = ∆ψ = 900 .

Find the positions of all moving links 1 of 3 . (figure 1) [10+6] Figure 1 2.5 rad/s2 both c.4 rad/s and α6 = 1. the plane of rotation of the output link. Determine ω2 and α2 using Goodman indirect acceleration analysis method. using Roberts-chebyshev theorem and explain its procedure. (a) State Grubler’s criterion for determining mobility of a planar mechanisms. February 2008 ADVANCED KINEMATICS AND DYNAMICS (Mechatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1.Code No: RR411405 Set No. Verify the criterion with example for a four bar mechanism. The knowns are the position and plane of rotation of the input link. [16] Figure 2 3. 3 IV B.c. A four -link RGGR crank-rocker mechanism shown in figure 4.w. Draw the cognate linkage of any Four-bar mechanism. The mechanism shown in figure 2 is driven by link ‘6’ with ω6 = 0. (b) Find the mobility of the selected planar mechanisms. [16] 4.Tech I Semester Supplimentary Examinations. and dimensions of all four links.

Determine the force on link ‘4’ that is necessary to be applied for equilibrium of the linkage. The driving moment applied on link ‘2’ is shown in figure 5. Given data: O2 . A.B = 32 cm. (a) Write about chebyshev spacing of precision points (b) What is dwell mechanism? Explain it clearly.A = 10 cm. Also determine the state of loading on the connecting rod. 3 when the input crank is set to θ2 = −450 as shown below. AB = 3. B = 4 cm [16] Figure 4 5. (c) What are the errors in function generation synthesis problems? 2 of 3 [5+6+5] . Define Energy contribution coefficient. [16] Figure 5 6. A = 1 cm. Describe the Quinn’s Energy distribution method for the direct determination of input velocity of the mechanism at any instant. Given data: O2 . Solve the problem using Analytical approach.5 cm O4 .Code No: RR411405 Set No. [16] 7.

3 8.Code No: RR411405 Set No. Synthesize a slider crank mechanism so that the displacement of the slider is proportional to the square of the crank rotation in the interval 450 ≤ θ ≤ 1350 . [16] ⋆⋆⋆⋆⋆ 3 of 3 . use three precision points with chebyshev spacing.

(a) State Grubler’s criterion for determining mobility of a planar mechanisms. February 2008 ADVANCED KINEMATICS AND DYNAMICS (Mechatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1.A = 50 mm.w. OB = 100 mm. α = 400 . OA . [16] Figure 2 3. AB = 66 mm. Verify the criterion with example for a four bar mechanism.4 rad/s and α6 = 1.c. (b) Find the mobility of the selected planar mechanisms.5 rad/s2 both c. 4 IV B. OB . (figure 3) [16] 1 of 3 . The mechanism shown in figure 2 is driven by link ‘6’ with ω6 = 0. OA .B = 90 mm. use the following data. (figure 1) [10+6] Figure 1 2. assume input link inclination (θ) = 300 .Tech I Semester Supplimentary Examinations. AC = 30 mm. Determine ω2 and α2 using Goodman indirect acceleration analysis method. Find the fixed end coordinates of cognate four-bar mechanism.Code No: RR411405 Set No.

Determine the force acting perpendicular to link ‘2’ passing through its mid point. [16] 7.Q = 8 cm. (a) Explain the Hartman’s construction in detail. O4 .Code No: RR411405 Set No.B = 15 cm.A = 10 cm. Give the step by step procedure to obtain the synthesized four-bar crank-rocker and slider crank mechanisms by using two position synthesis. A. ψ0 = 2 of 3 . Synthesize a four-bar function generator to solve the equation y = sin x in the range 0 ≤ x ≤ 900 use three precision points and chebyshev spacing φ0 = 300 . State the ‘two position synthesis of a four-bar mechanism’.B = 15 cm. A. Explain the rate-of-change-of-Energy method in dynamic motion analysis . O4. What are the pin forces? Given data: O2 . (b) Explain about the position-analysis problem of Spatial system. [16] 5. [16] 8.P = 7 cm (figure 5) [16] Figure 5 6. 4 Figure 3 4.for the determination of input acceleration of the mechanism at any instant.

Code No: RR411405 600 and ∆φ = 600 . ∆ψ = 900 . ⋆⋆⋆⋆⋆ Set No. 4 [16] 3 of 3 .

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