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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

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

φ23 = 300 [10+6] 8. θ23 = 450 . the output link however is moving in the counter clock wise direction. 1 direction. [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. Use the given data: θ12 = 300 . φ2 = 300 . use three precision points with chebyshev spacing.

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

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

w.c. and dimensions of all four links. using Roberts-chebyshev theorem and explain its procedure. [16] Figure 2 3.Tech I Semester Supplimentary Examinations. 3 IV B. A four -link RGGR crank-rocker mechanism shown in ﬁgure 4. (ﬁgure 1) [10+6] Figure 1 2. Find the positions of all moving links 1 of 3 .Code No: RR411405 Set No. Draw the cognate linkage of any Four-bar mechanism.4 rad/s and α6 = 1.5 rad/s2 both c. (a) State Grubler’s criterion for determining mobility of a planar mechanisms. The mechanism shown in ﬁgure 2 is driven by link ‘6’ with ω6 = 0. February 2008 ADVANCED KINEMATICS AND DYNAMICS (Mechatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. the plane of rotation of the output link. [16] 4. The knowns are the position and plane of rotation of the input link. (b) Find the mobility of the selected planar mechanisms. Determine ω2 and α2 using Goodman indirect acceleration analysis method. Verify the criterion with example for a four bar mechanism.

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

[16] ⋆⋆⋆⋆⋆ 3 of 3 . 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 . use three precision points with chebyshev spacing.

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

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

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

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