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http://www.iust.ac.ir/files/mech/madoliat_bcc09/pdf/SUPPLEMENTAL%20EXERCISE%20 PROBLEMS.pdf

**Kinematics, Dynamics, and Design of Machinery
**

by K. J. Waldron and G. L. Kinzel

©1996-97 by K. Waldron and G. Kinzel

Department of Mechanical Engineering

- ii -

**Supplemental Exercise Problems
**

for

**Kinematics, Dynamics, and Design of Machinery
**

by K. J. Waldron and G. L. Kinzel Supplemental Exercise Problems for Chapter 1 Problem S1.1 What are the number of members, number of joints, and mobility of each of the planar linkages shown below?

(a)

(b)

(c)

Problem S1.2 Determine the mobility and the number of idle degrees of freedom of each of the planar linkages shown below. Show the equations used to determine your answers.

(a)

(b)

(c)

-1-

(a) Problem S1.3 Determine the mobility and the number of idle degrees of freedom of the linkages shown below.6 You are given two sets of links. L2 = 3 mm. what type of four-bar linkage is it? Also. Show the equations used to determine your answers.Problem S1. L4 = 19”. and L4 = 5 m m and link 1 is fixed. L3 = 4 mm.5 If the link lengths of a four-bar linkage are L1 = 1 mm. Problem S1. Show the equations used to determine your answers. L3 = 15”. L3 = 4”. is the linkage a Grashof type 1 or 2 linkage? Answer the same questions if L1 = 2 mm. and L5 = 2.4 (b) Determine the mobility and the number of idle degrees of freedom associated with the mechanism. Sketch the linkage and identify the type of four-bar mechanism. L4 = 3. 2 3 4 Problem S1. L2 = 8”. L2 = 2”. a) L1 = 5”.5” -2- . Select four links from each set such that the coupler can rotate fully with respect to the others.5”. and L5 = 28” b) L1 = 5”.

0" DF = 21.4" 5 D E 29.5" -3- .0" 10.5" BC = 22.5" ω 2 = 3 rad s 2 3 34˚ 4 A 50˚ F 6 2.9" CE = 28.Supplemental Exercise Problems for Chapter 2 Problem S2.4" DC = 27.1 Draw the velocity polygon to determine the following: a) Sliding velocity of link 6 b) Angular velocities of links 3 and 5 C B AB = 12.

1vA2 = 15 m/s.2" 5 D 6 B 15 m/s C 4 2.4" BD = 3.2 In the mechanism shown.4" 45˚ X -4- .Problem S2.05" 1vA 2= AC = 2. Y 2 A 3 2. Draw the velocity polygon.7" BC = 1. and determine the velocity of point D on link 6 and the angular velocity of link 5 (show all calculations).

C.05" C E 1ω 4 B 2 2 3 3 60˚ A -5- . Find the velocities of points B. D 6 0.5" AC = 1.Problem S2. points E and B have the same vertical coordinate.75" CD = 2.55" AB = 2.75" 5 EA = 0. and D of the double-slider mechanism shown in the figure if Crank 2 rotates at 42 rad/s CCW.0" CB = 1.3 In the mechanism shown below.

B4 AC = 1 in BC = 3 in r = 2. and find the angular velocity of link 2. 4 1ω 3 3 A 2 C 45˚ B 3 .8 in -6- . Identify the sliding velocity between the block and the slide. and 1ω3 = 30 rad/s. Draw and dimension the velocity polygon. points A and C have the same horizontal coordinate.Problem S2.4 In the figure below.

5 in E -7- .1") Y B 2 A 55˚ X C 3 4 AB = DE = 1.0 in CD = 1. D (2. and locate the velocity of Point E using the image technique.0 in BC = 2. 1.2".Problem S2. 1α 2 = 40 rad/ s2 (CCW) Draw the velocity polygon.5 The following are given for the mechanism shown in the figure: 1ω 2 = 6.5 rad/ s (CCW).

6 In the mechanism shown. link 4 moves to the left with a velocity of 8 in/s and the acceleration is 80 in/s2 to the left. Draw the velocity and acceleration polygons and solve for the angular velocity and acceleration of link 2. 3 B 4.Problem S2.0" 2 4 50˚ A 120˚ -8- .

Draw the velocity and acceleration polygons for the mechanism.0" BC = 2.0" CD = 3. C 3 G 4 B 2 A 90˚ D ω 2.0" -9- .0" AD = 3.Problem S2.0" BG = 1. link 2 is turning CCW at the rate of 10 rad/s (constant). and record values for 1aG3 and 1α4. α2 AB = 1.7 In the mechanism shown below.

C vA 90˚ A 15o aA ω2 α2 AB = 4.0" B .8 For the data given in the figure below.05" AC = 2. and 1α2 = 160 rads2 (CCW).Problem S2. 1aA = 400 ft/s2.5" BC = 2. find the velocity and acceleration of points B and C. 1ω2 = 24 rad/s (CW).10 - . Assume 1vA = 20 ft/s.

4" AB = 3.5" FE = 1.0" BD = 1.0" F (-1. determine the acceleration of D3 by image.0". find 1ω6 and 1α3.05" BC = 1.Problem S2. Also. -0.11 - .75") .9 In the mechanism shown.45" ED = 1. Y B D vA 2= 10 in/s (constant) 2 A 6 5 3 E C 4 81˚ X CD = 1.

1ω2 = 1 rad/s (CCW) and 1α2 = 0 rad/s2. 1vE6.8m CD = 0.Problem S2. AD = 1m AB = 0.12 - .52 m 2 A 30˚ 5 B C 3 4 D . Also find the point in link 5 that has zero acceleration for the position given.5m BC = 0. Find 1ω5. 1α5.8m BE = 0.67m 6 E 0.10 In the mechanism shown. 1aE6 for the position given.

0 320˚ in/sec a D 7 = 40 260˚ in/s 2 1. Y E 7 D 6 1. Also find the velocity of G7 by image. Find 1ω7 and 1α7 for the position given.25" 8 X .13 - .65" v D 7 = 5.Problem S2.11 Part of an eight-link mechanism is shown in the figure. Links 7 and 8 are drawn to scale.6" G DE = 1.5" DG = 0. and the velocity and acceleration of point D7 are given.7" GE = 1.

14 - . and C are collinear. B. If 1vA2 = 10 in/s (constant) downward.35" 0. find 1vC3.Problem S2.45" . Cam Contact 2 A 1" 45˚ Rolling Contact B C 3 0. and 1aC3.12 In the figure shown below. points A.

Problem S2.13

Part of an eight-link mechanism is shown in the figure. There is rolling contact at location B. Links 7 and 8 are drawn to scale, and the velocity and acceleration of points A6 and C5 are as shown. Find 1ω8 and 1α7 for the position given. Also find the velocity of E7 by image.

**E D 7 AD = 2.25" DB = 1.0" AC = 2.85" A 6 72˚ 5 B 8 vA6 = 10 60˚ in/s
**

2 a C5 = 20 270˚ in/s 2 aA6 = 20 180˚ in/s

vC5 = 10 0˚ in/s

C

- 15 -

Problem S2.14

In the position shown, find the velocity and acceleration of link 3 using (1) equivalent linkages and (2) direct approach.

C 2 B

1 ω 2

3 45˚

ΑΒ = 0.5" BC = 1.1"

**A ω 2 = 100 rad/ s CCW 1 α 2 = 20,000 rad / s 2 CCW
**

1

- 16 -

Problem S2.15

For the mechanism shown, find 1ω3, 1α3, 1aB3, and the location of the center of curvature of the path that point B3 traces on link 2.

3 C

B 2 A 117˚

1 ω ,1α 2 2

12" AC = 9 in AB = 2 in

1ω = 50 2 1α 2 =0

rad/s

D

- 17 -

7 m = 3 rad/ s2 CCW D B 3m E 2 3 60˚ A C .18 - . 1α3.16 For the mechanism shown. Point B2 moves in a curved slot on link 3. 1ω 2 AB = AC = 5 m = 2 rad/ s CCW 1α 2 CD = 7 m CE = 5.Problem S2. points C. For the position given. 1vD3. B and D are collinear.1aD3. find 1ω3. and the location of the center of curvature of the path that point B3 traces on Link 2.1aB3. 1vB3.

1α3.Problem S2. 3 1. find 1ω3.3" B 2 60˚ 1ω 2 = 200 rad (constant) sec A .19 - .17 If the mechanism shown is drawn full scale. and the location of the center of curvature of the path that point B3 traces on Link 2. Assume that Link 2 is driven at constant velocity.25" C AB = 1" AC = 4.

2 in AB = 6. ω 4 . α 4 . and the center of curvature of the path that B4 traces on Link 2.18 In the mechanism below.20 - .Problem S2.0 in 1α 2 2 4 1ω 2 75˚ A C Problem S2. D 3 B AC = 5. Determine the following: v B4 .0 in CD = 10. a D4 .19 Resolve Problem S2. v D4 . a B4 . the angular velocity of Link 2 is 2 rad/s CCW and the angular acceleration is 5 rad/s2 CW.18 if 1ω2 = 2 rad/sec (constant) .

Problem S2. 1α3. find 1ω3. and the center of curvature of the path that C3 traces on Link 2.20 If 1ω2 = 20 rad/s (constant).22" Center of curvature of slot B Y R Pin in Slot C 2 102˚ X 1ω 3 A D 2 . CD = 0.0" R = 1.21 - .35" AB = 3.6" AD = 4.

0 in DE = 4.6. 1ω6.0 in GF = 3.65) D C 75˚ 6 AB = 1. 1vF6. and determine the following: 1vD4.22 - .3 in AE = 3. 2.21 In the mechanism below.35 in BC = 3. 1ω4. 1ω2 = 10 rad/s.0 in BD = 4.Problem S2.4 in B 2 A 100˚ X 3 E 5 F . Y 4 G (-5. Complete the velocity polygon.

5 cm BC = 13. B AC = 10.23 - .0 cm 3 2 105˚ A 1ω 2 C . find 1α3.22 If 1ω2 = 10 rad/s (constant).Problem S2.

c) The center of curvature of the path that B3 traces on link 2 (show on drawing).Problem S2.23 If 1ω2 = 10 rad/s CW (constant).24 - . find a) 1ω3 b) The center of curvature of the path that B2 traces on link 3 (show on drawing). AB = 2" AC = 4" B 2 A 40˚ 3 C .

10 in 2 Y 1 ω 1α 4 4 B 3 = 1 rad/s =0 4 A 30˚ X .24 Determine the velocity and acceleration of point B on link 2.25 - .Problem S2.

25 Given vA4 = 1.Problem S2.5" AC = 2.0 ft/s to the left.1" AD = 3.9" CD = 1. use the instant-center method to find 1ω2 and then use 1ω2 to find vB6 (direction and magnitude). Y 4 A 3 C DE = 1.26 - .0" B 6 0.45" BC = 1.5" E D 2 157.5˚ X .3" 5 1.

B BC = CD BD = 3.06" 3 150˚ C A 50˚ D 4 2 .26 Find all of the instant centers of velocity for the mechanism shown below.Problem S2.27 - .

25" 5 G 5 4 E X C5 6 .Problem S2.5" GF = 1.28 - . use the instant center method to find the velocity of point C on link 5.75" AB = 1.5" AD = 0. 1.15".45" B 0.75" BE = 1.5" D A 2 75˚ 3 0.9") Y vA DE = 2.27 If the velocity of point A on link 2 is 10 in/s as shown. F (3.

I15 .8" BG = 0.75" C B 3 6 5 D 7 1.25" AE = 2. 0. find 1ω7 using instant centers.7" BD = 3. and find the following instant centers: I13 .28 Assume that link 7 rolls on link 3 without slipping.95") 2 A 1 ω2 90˚ E X = 2 rad/s . For the given value for 1ω2. and I27 .9" DE = 3.29 - .0" G 4 F (-2.0". Y AB = 1.Problem S2.0" 0.85" GF = 1.

95" DF = 2. DA = 0.2" EC = 1.8" BE = 0. find 1vC5 using the instant-center method.45" BF = 1.29 If 1vA2 = 10 cm/s as shown.30 - .9" D 70˚ F .45" AB = 1.85" EG = 2.Problem S2.2" CG = 1.25" C B G 6 1vA 2 A 2 3 E 4 5 1.

30 If 1ω2 = 10 rad/s CCW.5" DE = 2. E CA = 1.6" Α 18˚ 1ω 2 110˚ 3 Β 4 2 45˚ D C . Show the velocity vector 1vB3 on the figure.5" CD = 4. find the velocity of point B using the instant-center method.Problem S2.31 - .0" AB = 1.

0" . find the velocity of point E using the instant center method.Problem S2.8" AD = 3.31 If 1ω2 = 100 rad/s CCW.0" DE = 0.0" BC = 1. 1ω A 2 D 2 B 3 C 70˚ E 4 AB = 1.32 - .75" CD = 2. Show the velocity vector 1vE4 on the figure.

9" CF = 2.0" 2 A F B C 5 55˚ 3 E 4 D .35" BD = 3.9" BC = 0.9" DE = 0. 3.Problem S2.3" 6 AB = 1.32 In the linkage shown below.33 - . locate all of the instant centers.

0" DE = 1.Problem S2.33 If 1ω2 = 5 rad/s CCW.34 - .5" EF = 1.1" D 4 A 50˚ 3 2 1ω 2 B C .0" AB = 2. E 5 6 F AC = 1.5" AF = 4. find 1ω6 using instant centers.0" BD = 4.

AD = 1.75" AE = 0.75" CB = 1.65" G 125˚ B4 3 C F 4 A D 95˚ 2 E .45" FG = 1.34 If 1ω2 = 100 rad/s CCW.35 - . find 1vB4 using instant centers and the rotating radius method.7" CF = 0.8" CD = 0.Problem S2.0" DB = 1.

85" 2 B 27˚ C 3 F .95" CE = 2. find the angular velocity (1ω6) of link 6 using the instant-center method. 1v A2 E 5 A 6 D 4 AB = 1.0" AD = 2.25" BF = 3.Problem S2.0" EF = 1.35 If 1vA2 = 10 in/s as shown.36 - .0" AC = 0.

3 B 2 A 1ω 2 C 4 32˚ E 5 75˚ D 6 F AB = 1.37 - .36 If 1ω2 = 50 rad/s CCW.16" AD = 1. find the velocity of point G using the instant center method.Problem S2.70" CD = 1.20" G .16" BC = 0. Show the velocity vector 1vG5 on the figure.45" DE = 1.30 EG = 2.30" DF = 1.

0" = 4.Problem S2.0" Y 3 1ω 2 C 5 A F 4 B D 2 X .2" = 6.0".0" = 3. 6.0" = 3. find 1ω6. E (2.37 If 1ω2 = 100 rad/s CCW.0") 6 AB BC CD AD BF = 1.38 - .

3 In the mechanism given.39 - .Supplemental Exercise Problems for Chapter 3 Problem 3. AB = 1 cm. 1vB2 is 10 in/s to the right (constant). ˙ = 1 rad/ s θ Problem 3.1 For the mechanism shown. velocity. 4 A AB = 10 inches 3 O 30˚ 2 B 1v B2 . and acceleration. B 2 θ A 3 C 4 θ = 90°. B 4 3 2 10 inches φ Problem 3. write the loop equations for position. Use the loop equation approach to determine the In the mechanism shown. φ velocity of point B4 for the position defined by φ = 60˚. BC = 4 cm. For the position defined by the data below. Show all angles and vectors used on the drawing and identify all variables. find 1vC4 and 1aC4 if link 2 rotates with constant angular velocity. Use the loop equation approach to determine 1vA4 and 1aA4. Use point O as the origin of your coordinate system.2 ˙ is 10 rad/s CCW.

4 In the mechanism shown.40 - .5 Use loop equations to determine the velocity and acceleration of point B on link 4. y 3 in 2 A 1 θ3 v B4 3 B 4 x . Link 3 slides on link 2. and link 4 is pinned to link 3. 3 4 B 10 inches 2 φ A Problem 3.Problem 3. use the loop-equation approach to determine the velocity of link 4 for the position defined by φ = 45˚.6 Use loop equations to determine the angular velocity and acceleration of link 3 if vB4 is a constant 10 in/s to the left and 1θ3 is 30˚. y 3 in A 2 1ω = 1 rad 2 sec 1α 2 = 0 3 B 4 30˚ x Problem 3. If 1ω2 = 10 rad/s CCW. Link 4 also slides on the frame (link 1).

As the bicycle goes over a bump in the position shown. The frame of the bike is link 1.55" 1 D 1. and the angular acceleration is 1α2 is 60 (rad/s2). where the car acts as the base link. both in the clockwise direction.82 rad/s clockwise and the angular acceleration is 0.41 - . This is done by the use of an air cylinder. Assume that the angular velocity of the driver (link 2) is a constant 0.Problem 3. and the connecting linkage are links 2 and 4. which helps to support the hatch while it closes and holds it up in the open position.22" Problem 3.88" 1. The mechanism is an inverted slider-crank linkage. and the angular velocity and angular acceleration of link 3 for the position shown .7 The shock absorber mechanism on a mountain bicycle is a four-bar linkage as shown. Compute the angular velocity and angular acceleration of link 3 for the position shown 201˚ A B 2 1ω 2 61˚ 1.8 The purpose of this mechanism is to close the hatch easily and also have it remain in an open position while the owner removes items from the back. the angular velocity of link 2 relative to the frame is 1ω2 is 205 (rad/s).64" 3 4 C 2. the fork and tire assembly is link 3. There are two identical linkages one on each side of the car. Compute the linear velocity of point D2.

74˚ 145˚ 12. are known.50" C Problem 3. r1.D 42. Link 3 slides on link 2 and link 1.60" 40. and ˙˙ 1 .42 - .91" A 2 35. r 2 . Assume that link 3 is the input link so that r4. Derive expressions for r 2 . r r2 in terms of the r ˙ ˙ 1 . Determine the relationship among β. Link 2 slides on link 3 and link 1. and γ which permits the mechanism to move. δ. Compute the degrees of freedom of the mechanism.30" B 3 2 4 1ω 12. ˙˙ variables given.9 The wedge mechanism has three links and three sliding joints. 2 γ r2 β r1 x δ 3 .

AB = 6 cm. 0) X B3 B2 Problem S4.2 Design a four-bar linkage to move its coupler through the three positions shown below using points A and B as moving pivots. 3) A1 (6. and positions A2B2 and A3B3 are vertical.4) 50˚ A 2 (2. 4.43 - . 0) B1 X . and use Grashof’s equation to identify the type of four-bar linkage designed. Draw the linkage in position 1.1 Design a four-bar linkage to move a coupler containing the line AB through the three positions shown. What is the Grashof type of the linkage generated? Y B3 B2 60˚ A3(2. Position A1B1 is horizontal. 0.3) C *(0. Y B1 A3 (-2. The moving pivot (circle point) of one crank is at A and the fixed pivot (center point) of the other crank is at C*. AB = 4 cm.85) A1 (0. 3) A2 (2. 2.Supplemental Exercise Problems for Chapter 4 Problem S4.

5) B2 A3 (2. 1. Y D* (3.0. 4.7. Point A is a circle point. 1. Position A1B1 and position A3B3 are horizontal.7.4. AB = 4 cm. and point C* is a center point.7) A1 (0.1.Problem S4.5) 45˚ A2 (2.0. 2. Position A1B1 and position A3B3 are horizontal.8) B1 B3 X Problem S4.0. 3.3. AB = 4 cm.3 Synthesize a four-bar mechanism in position 2 that moves its coupler through the three positions shown below if points C* and D* are center points.6) C* 45˚ A2 (2.4 Synthesize a four-bar mechanism in position 2 that moves its coupler through the three positions shown below. .6) B2 A 3 (3.7.0) A1 B1 X B3 . Y C* (2.44 - . .

Draw the linkage in position 2 and use Grashof’s equation to identify the type of four-bar linkage designed. Draw the linkage in position 1 and determine the classification of the resulting linkage (e. and the fixed pivot for the other crank is to be at C*.5) A1 B 1(-1. Position A1B1 is horizontal. The moving pivot (circle point) of one crank is at A and the fixed pivot (center point) of the other crank is at C*. AB = 4 in.Problem S4. double crank). AB = 2. 1. Y A2 B2 (0.0) B 3 Problem S4.5. -2. 0) (2.5) A3 C* X (-0.0 in. and position A3B3 is vertical. and positions A2B2 and A3B3 are vertical. Positions A1B1 and A2B2 are horizontal. 0. 0) B3 X . 0) B2 (4.5 Design a four-bar linkage to move the coupler containing line segment AB through the three positions shown. Y A2 A3 A1 (0.6 Design a four-bar linkage to move a coupler containing the line AB through the three positions shown..0. The moving pivot for one crank is to be at A.0. 2) B1 C1 * (0. crank rocker.g.45 - .

7* π + 3p cos θ + 2p φ = 4. (15 points)A mechanical device characterized by the following input-output relationship: 2. and determine the values for the unknown design variables which will allow the device to approximate the function. Use Chebyshev spacing and determine the values of x1 and x2 which will allow the device to best approximate the function. θ is to be proportional to x and φ is to be proportional to y.10 2. y. ∆ φ = -90˚. Determine: ∆θ = 60˚ ∆φ = 40˚ a) The number of precision points required to complete the design of the system. Exterior constraints on the design require that the parameter a1 = 1.8 Use Freudenstein's equation to design a four-bar linkage to generate approximately the function y=1/x2. Problem S4.7 Design a four-bar linkage to generate the function y=ex -x for values of x between 0 and 1. c) Compute the error generated by the device for x = π/6. Assume that the device will be used over the ranges 0 ≤ θ ≤ π / 4 and 0 ≤ φ ≤ π / 3 .Problem S4. φ 1 = 135˚.11 3. Use the following angle information: θ0 = 65˚ φ0 = 40˚ Problem S4. and the base length be 2 in. 1 ≤ x ≤ 2.6p1 2 3 . ∆ θ = 90˚. and θ are all in radians.8 + 3a tanθ + a is to A mechanical device characterized by the input-output relationship φ = 2a1 2 3 3 be used to generate (approximately) the function y = 2 x over the range 0 ≤ x ≤ π / 4 where x.8 cm. b) Use Chebyshev spacing. Let θ1 = 45˚. Use Chebyshev spacing with three position points. Use three precision points with Chebyshev spacing.46 - . φ .9 A device characterized by the input-output relationship φ = x1 + x2 sinθ is to be used to generate (approximately) the function φ = θ 2 (θ and φ both in radians) over the range 0 ≤ θ ≤ π / 4 . Problem S4. The base length of the linkage must be 0. Accurately sketch the linkage at the three precision point positions. Problem S4.

47 - .12 Design a crank-rocker mechanism such that with the crank turning at constant speed. Assume that the device will be used over the ranges 0 ≤ θ ≤ π and 0 ≤ φ ≤ π . a time ratio of 1. Determine: 1) The number of precision points required to complete the design of the system. p2.25.. i. and a rocker oscillation angle of 40˚. and determine the values for the unknown design variables which will allow the device to approximate the function. The lever is to oscillate through an angle of 80o. 2) Use Chebyshev spacing. pick a value for one of p1.0. The oscillation is to be symmetric about a vertical line through O4. and θ are all in radians. and the length of the base link is to be 2 in. φ .is to be used to generate (approximately) the function y = 2 x over the range 0 ≤ x ≤ π where 4 x. p3 and solve for the other two.e. y. Specify the length of each of the links.13 Design a crank-rocker mechanism which has a base length of 1. 3) Compute the error generated by the device for x = π/6. the oscillating lever will have a time ratio of advance to return of 3:2. Problem S4. . Problem S4. The problem is such that you may pick any value for any one of the 3 3 design variables and solve for the other two.

and angles CAB and CBA both equal 45˚. Notice that the cognates will also be drag-link mechanisms. θ B Q M C 45˚ A . AB =2 m. Draw the cognates in the position for θ = 180˚.14 Determine the two 4-bar linkages cognate for the drag-link mechanism shown. The dimensions are MQ = 1 m.48 - .Problem S4. AM = BQ = 4 m.

0 cm Dwell β B θ Problem S6. The rise is 1.0 cm after β degrees of rotation. and find the coefficients Ci which will satisfy the requirements. so displacement. .2 Assume that s is the cam-follower displacement and θ is the cam rotation. If h is 1 cm and β is 90˚. b) If the follower is a radial flat-faced follower and the base circle radius for the cam is 1 cm. The displacement equation for the follower during the rise period is s = h∑ Ci θ β i=0 n i a) If the position. To satisfy these conditions. velocity. determine the minimum base circle radius to avoid cusps if the cam is used with a flat-faced follower. dynamic effects are important. Show all equations used. determine the number of terms required and the corresponding values for the coefficients Ci if the cam velocity is constant. and the position and velocity are continuous at θ = β. The displacement equation for the follower during the rise period is s = h∑ Ci θ β i=0 n i At A. Supplemental Exercise Problems for Chapter 6 Problem S6. and acceleration must be continuous there. velocity. The rise is h after β radians of rotation.Supplemental Exercise Problems for Chapter 5 No supplemental problems were developed for Chapter 5. At B only displacement and velocity are important. S Slope = 1/β 1.1 Assume that s is the cam-follower displacement and θ is the cam rotation. and the rise begins and ends at a dwell.49 - . determine whether the cam will have a cusp corresponding to θ = 0. and the rise begins at a dwell and ends with a constant-velocity segment. and acceleration are continuous at θ = 0. determine the n required in the equation.

rad Problem S6..12 if the cam velocity is 2 rad/s constant.5 Resolve Problem 6. If h is 1 cm and β is 90˚.3 Resolve Problem 6. determine the minimum base circle radius to avoid cusps if the cam is used with a flat-faced follower. .. and acceleration functions are continuous at the end points of the rise portion. The displacement equation for the follower during the rise period is s = h∑ ai θ β i=0 5 i Determine the required values for a0 . velocity. a5 such that the displacement. If h is 3 cm and β is 60˚. Note: Use the minimum number of Ci possible. Problem S6. determine the minimum base circle radius to avoid cusps if the cam is used with a flat-faced follower. S h Β Dwell Dwell Α β θ . and s is the displacement at any given angle θ .14 if the cam will be used for a low-speed application so that acceleration effects can be neglected. β is the angle through which the rise takes place.50 - . determine the minimum base circle radius to avoid cusps if the cam is used with a flat-faced follower. If h is 1 cm and β = π / 3 . h is the rise.S h Β Dwell Dwell Α β θ . rad Problem S6. Determine the number of terms required and the corresponding values for the constants (Ci ) if the displacement and velocity are continuous at the end points of the rise (points A and B) and if the cam velocity is constant.4 For the cam displacement schedule given.

. and the base circle radius is to be 2 in. flat-faced follower which is offset in the clockwise direction by 0. Lay out the cam profile using 20˚ plotting intervals. Assume that the follower is to dwell at zero lift for the first 100˚ of the motion cycle and to dwell at 1 in lift for cam angles from 220˚ to 240˚.6 Lay out a cam profile using a harmonic follower displacement profile for both the rise and return.51 - .2 in.Problem S6. The cam is to have a translating. The cam will rotate clockwise.

and 1 α 3. ˙ = 0 in / s . link 3 is vertical (parallel to Z). For the position to be analyzed. link 2 lies in a plane parallel to the XY plane and points along a line parallel to the Y axis.52 - . Z C A 2 3 θ = 90°. The joint between link 2 and the frame at A is a cylindrical joint. φ Y s s = 1in / s2 . θ ˙˙ = 0 rad / s2. 1aB3/A1.Supplemental Exercise Problems for Chapter 7 Problem S7. ˙ = 1rad / s. φ ˙˙ = 0 rad / s2. Supplemental Exercise Problems for Chapter 9 No supplemental problems were developed for Chapter 9. the joint axes at A and B are oriented along the z and m axes.1 In the manipulator shown. In the position to be analyzed. and link 3 is perpendicular to link 2. θ s X θ B ˙ = 1rad / s. ˙˙ AB = 1in. BC = 1in φ m Supplemental Exercise Problems for Chapter 8 No supplemental problems were developed for Chapter 8. and that at B is a revolute joint. Determine 1vC3/A1. respectively. .

Make up a table of possible gear ratios where the maximum number of teeth on all gears is 100.3 Resolve Problem 10.Supplemental Exercise Problems for Chapter 10 Problem S10.2 A simple gear reduction unit is to be used to generate the gear ratio 2. .105399. determine the hand of the hob. Finally.53 - . N3 = 30T. If the gear blank is to be driven clockwise. Note that this can be done most easily with a computer program. Gears are available which have all of the tooth numbers from 15 to 40. Idler Gear 3 2 Right-Handed Single Tooth Worm 4 6 (35T) 5 7 (180T) To motor 105T Hob (1T) 9 Gear blank Problem S10. select gears 3 and 5 which will satisfy the ratio.20 when N2 = 80T. Identify the gear set that most closely approximates the desired ratio. What is the error? Problem S10.1 An alternative gear train is shown as a candidate for the spindle drive of a gear hobbing machine. Next determine the velocity ratio ( ω3 / ω5 ) to cut 75 teeth on the gear blank. N4 = 20T and N5 = 130. The gear blank and the worm gear (gear 9) are mounted on the same shaft and rotate together.

4. N4. Derive an expression for the angular velocity of gear 8. N6 = 120. N7 = 20.5 In Problem S10. N3. ω8 ω2 3 2 4 5 8 7 6 Problem 10. N5 = 140.54 - . let the input be gear 2 and assume that all of the gear tooth numbers (N2. assume that ω2 = 50 rpm . and N8 = 80. N6. and N8) are known. N5. N3 = 30. .4 In the mechanism shown. Determine the angular velocity of gear 8.Problem S10. N2 = 60. N4 = 50. N7.

B ω2 T12 A 2 40˚ 3 AB = 2 in BC = 3.4 in 1.1 Find the torque T12 for a coefficients of friction µ of 0.2.0 and 0.Supplemental Exercise Problems for Chapter 11 Problem S11.0" 0. Consider friction at the slider only and neglect the masses of the links.45" 4 C 20 lb .55 - .

You may assume that the rollers which support point A are frictionless and that they remain in contact with the rail. allowing the plate to swing downward. You may also assume that the angular displacement from the initial position is small. The moment of inertia of a uniform rectangular plate with sides 2a and 2b about an axis normal to its plane passing through its centroid is m(2a+2b)/12.Supplemental Exercise Problems for Chapter 12 Problem S12.1 A uniform rectangular plate is suspended from a rail by means of two bogies as shown. where m is the mass of the plate. Hence find its initial angular acceleration and the initial acceleration of point A. The plate is connected to the bogies by means of frictionless hinge joints at A and at B.56 - . At time t=0 the pin of joint B breaks. A b b a B G a . Write the equations of motion of the plate as it starts to move.

φ1 = 0 a1 = 0 φ2 = 180˚ a2 = a φ3 = 90˚ a3 = 2a φ4 = 270˚ a4 = 3a Problem S13.40 lb G3 45˚ A G2 AB = 3 in BC = 12 in BG 3 = 6 in C 4 G4 Problem S13. The smallest vertical shaking force Problem S13. The V angle is ψ = 60˚ .1 For the mechanism and data given. determine the shaking force and its location relative to point A. Draw the shaking force vector on the figure.1085 lb-s2-in B 3 W3= 3.4 The four-cylinder V engine shown below has identical cranks.11. The rotary masses are perfectly balanced.2 For the engine given in Problem 13. lump the weight of the connecting rod at the crank pin and piston pin and locate the counterbalancing weight at the crank radius.40 lb W4= 2.16 for the following values for the phase angles and offset distances. Are the primary or secondary shaking forces balanced? What about the primary and . and the phase angle is φ2 = 180˚ .57 - . Derive an expression for the shaking forces and shaking moments for the angles and offset values indicated.Supplemental Exercise Problems for Chapter 13 Problem S13. and pistons. connecting rods.85 lb IG3= 0. The smallest horizontal shaking force 2. Determine the optimum counter balancing weight which will give 1. 1ω 2= 210 rad/s CCW 1α = 2 rad/s2 W2 = 3.3 Resolve Problem 13.

and a7 = 6a Determine the type of unbalance which exists in the engine.secondary shaking moments? Suggest a means for balancing any shaking forces or couples which result. a5 = 4a. The engine is characterized by the following phase angles: φ1 = 0. a2 = a. and φ7 = 240˚ a1 = 0.4 if the V angle is ψ = 90˚ . a4 = 3a. Estimate the optimum value for ψ . Problem S13. φ4 = 180˚. φ2 = 90˚.58 - . φ3 = 180˚.5 Resolve Problem S13. X y B1 B4 Cylinders 2 and 4 Cylinders 1 and 3 B3 L B2 ψ φ 2 θ A1 φ1 = 0 φ 2 = 180˚ a R A2 Problem S13. a6 = 5a. a3 = 2a. .6 Assume that a seven-cylinder in-line engine is being considered for an engine power plant. φ6 = 120˚. φ5 = 0˚.

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