Rajalakshmi Engineering College, Thandalam. Department of Mechanical Engineering Branch Sem./Year Subject Subject : MECHANICA EN!INEERIN! : III sem.

" II A #ear code : ME $$%%&' Name : (INEMATIC) *+ MACHINER,

*-jecti.e/ To study the mechanism, machine and the geometric aspect of motion. TE0T 1**()/ 1. Rattan S.S., Theory of !achines", Tata !c#ra$%&i'' (ub'ishing )ompany *td., Ne$ +e'hi, 1,,-. .. Shig'ey /.0. and 1ic2er /./., Theory of !achines and !echanisms", !c#ra$% &i'', 3nc. 1,,4. 5. 6hurmi R.S. and #upta /.6., Theory of !achines", 0urasia (ub'ishing &ouse, Ne$ +e'hi,.778 RE+ERENCE)/ 1. Thomas Be9an, Theory of !achines", )BS (ub'ishers and +istributors, 1,-:. .. #hosh ;. and !a''ic2 ;.6., Theory of !echanisms and !achines", ;ffi'iated 0ast%<est (9t. *td., Ne$ +e'hi, 1,--. 5. Rao /.S. and +u22ipati R.=., !echanism and !achine Theory", <i'ey%0astern *td., Ne$ +e'hi, 1,,.. N*TE) *+ E))*N 2nit I 1A)IC) *+ MECHANI)M) Introd3ction/ +efinitions : *in2 or 0'ement, (airing of 0'ements $ith degrees of freedom, #rub'er>s criterion ?$ithout deri9ation@, 6inematic chain, !echanism, !obi'ity of !echanism, 3n9ersions, !achine. (inematic Chains and In.ersions / 6inematic chain $ith three 'o$er pairs, Aour bar chain, Sing'e s'ider cran2 chain and +oub'e s'ider cran2 chain and their in9ersions. Mechanisms/ i@ Buic2 return motion mechanisms C +rag 'in2 mechanism, <hit$orth mechanism and )ran2 and s'otted 'e9er mechanism ii@ Straight 'ine motion mechanisms C (eace'ier>s mechanism and Robert>s mechanism. iii@ 3ntermittent motion mechanisms C #ene9a mechanism and Ratchet D (a$' mechanism. i9@ Togg'e mechanism, (antograph, &oo2e>s joint and ;c2erman Steering gear mechanism.

$. Terminolog# and Definitions4Degree of +reedom, Mo-ilit# (inematics/ The study of motion ?position, 9e'ocity, acce'eration@. ; major goa' of understanding 2inematics is to de9e'op the abi'ity to design a system that $i'' satisfy specified motion reEuirements. This $i'' be the emphasis of this c'ass. (inetics/ The effect of forces on mo9ing bodies. #ood 2inematic design shou'd produce good 2inetics. Mechanism/ ; system design to transmit motion. ?'o$ forces@ Machine/ ; system designed to transmit motion and energy. ?forces in9o'9ed@ 1asic Mechanisms/ 3nc'udes geared systems, cam%fo''o$er systems and 'in2ages ?rigid 'in2s connected by s'iding or rotating joints@. ; mechanism has mu'tip'e mo9ing parts ?for eFamp'e, a simp'e hinged door does not Eua'ify as a mechanism@. E5amples of mechanisms/ Tin snips, 9ise grips, car suspension, bac2hoe, piston engine, fo'ding chair, $indshie'd $iper dri9e system, etc. (e# concepts/ Degrees of freedom/ The number of inputs reEuired to comp'ete'y contro' a system. E5amples/ ; simp'e rotating 'in2. ; t$o 'in2 system. ; four%bar 'in2age. ; fi9e%bar 'in2age. T#pes of motion/ !echanisms may produce motions that are pure rotation, pure trans'ation, or a combination of the t$o. <e reduce the degrees of freedom of a mechanism by restraining the abi'ity of the mechanism to mo9e in trans'ation ?F%y directions for a .+ mechanism@ or in rotation ?about the G% aFis for a .%+ mechanism@. ink/ ; rigid body $ith t$o or more nodes ?joints@ that are used to connect to other rigid bodies. ?<! eFamp'es: binary 'in2, ternary 'in2 ?5 joints@, Euaternary 'in2 ?: joints@@ 6oint/ ; connection bet$een t$o 'in2s that a''o$s motion bet$een the 'in2s. The motion a''o$ed may be rotationa' ?re9o'ute joint@, trans'ationa' ?s'iding or prismatic joint@, or a combination of the t$o ?ro''%s'ide joint@. (inematic chain/ ;n assemb'y of 'in2s and joints used to coordinate an output motion $ith an input motion. ink or element/

; mechanism is made of a number of resistant bodies out of $hich some may ha9e motions re'ati9e to the others. ; resistant body or a group of resistant bodies $ith rigid connections pre9enting their re'ati9e mo9ement is 2no$n as a 'in2.

; 'in2 may a'so be defined as a member or a combination of members of a mechanism, connecting other members and ha9ing motion re'ati9e to them, thus a 'in2 may consist of one or more resistant bodies. ; 'in2 is a'so 2no$n as 6inematic 'in2 or an e'ement. *in2s can be c'assified into 1@ Binary, .@ Ternary, 5@ Buarternary, etc. (inematic 7air/ ; 6inematic (air or simp'y a pair is a joint of t$o 'in2s ha9ing re'ati9e motion bet$een them. E5ample/

3n the abo9e gi9en S'ider cran2 mechanism, 'in2 . rotates re'ati9e to 'in2 1 and constitutes a re9o'ute or turning pair. Simi'ar'y, 'in2s ., 5 and 5, : constitute turning pairs. *in2 : ?S'ider@ reciprocates re'ati9e to 'in2 1 and its a s'iding pair. T#pes of (inematic 7airs/ 6inematic pairs can be c'assified according to i@ Nature of contact. ii@ Nature of mechanica' constraint. iii@ Nature of re'ati9e motion. i8 (inematic pairs according to nat3re of contact / a@ *o$er (air: ; pair of 'in2s ha9ing surface or area contact bet$een the members is 2no$n as a 'o$er pair. The contact surfaces of the t$o 'in2s are simi'ar. 0Famp'es: Nut turning on a scre$, shaft rotating in a bearing, a'' pairs of a s'ider% cran2 mechanism, uni9ersa' joint. b@ &igher (air: <hen a pair has a point or 'ine contact bet$een the 'in2s, it is 2no$n as a higher pair. The contact surfaces of the t$o 'in2s are dissimi'ar. 0Famp'es: <hee' ro''ing on a surface cam and fo''o$er pair, tooth gears, ba'' and ro''er bearings, etc. ii8 (inematic pairs according to nat3re of mechanical constraint. a@ )'osed pair: <hen the e'ements of a pair are he'd together mechanica''y, it is 2no$n as a c'osed pair. The contact bet$een the t$o can on'y be bro2en on'y by the destruction of at 'east one of the members. ;'' the 'o$er pairs and some of the higher pairs are c'osed pairs.

b@ 1nc'osed pair: <hen t$o 'in2s of a pair are in contact either due to force of gra9ity or some spring action, they constitute an unc'osed pair. 3n this the 'in2s are not he'd together mechanica''y. 0F.: )am and fo''o$er pair. iii8 (inematic pairs according to nat3re of relati.e motion. a@ S'iding pair: 3f t$o 'in2s ha9e a s'iding motion re'ati9e to each other, they form a s'iding pair. ; rectangu'ar rod in a rectangu'ar ho'e in a prism is an eFamp'e of a s'iding pair. b@ Turning (air: <hen on 'in2 has a turning or re9o'9ing motion re'ati9e to the other, they constitute a turning pair or re9o'9ing pair. c@ Ro''ing pair: <hen the 'in2s of a pair ha9e a ro''ing motion re'ati9e to each other, they form a ro''ing pair. ; ro''ing $hee' on a f'at surface, ba'' ad ro''er bearings, etc. are some of the eFamp'es for a Ro''ing pair. d@ Scre$ pair ?&e'ica' (air@: if t$o mating 'in2s ha9e a turning as $e'' as s'iding motion bet$een them, they form a scre$ pair. This is achie9ed by cutting matching threads on the t$o 'in2s. The 'ead scre$ and the nut of a 'athe is a scre$ (air e@ Spherica' pair: <hen one 'in2 in the form of a sphere turns inside a fiFed 'in2, it is a spherica' pair. The ba'' and soc2et joint is a spherica' pair. Degrees of +reedom/ ;n unconstrained rigid body mo9ing in space can describe the fo''o$ing independent motions. 1. Trans'ationa' !otions a'ong any three mutua''y perpendicu'ar aFes F, y and G, .. Rotationa' motions a'ong these aFes. Thus a rigid body possesses siF degrees of freedom. The connection of a 'in2 $ith another imposes certain constraints on their re'ati9e motion. The number of restraints can ne9er be Gero ?joint is disconnected@ or siF ?joint becomes so'id@. +egrees of freedom of a pair is defined as the number of independent re'ati9e motions, both trans'ationa' and rotationa', a pair can ha9e. +egrees of freedom H 8 C no. of restraints. To find the number of degrees of freedom for a p'ane mechanism $e ha9e an eEuation 2no$n as !r3-ler9s e:3ation and is gi.en -# + ; % < n = $ 8 = ' j$ = j' A H !obi'ity or number of degrees of freedom n H Number of 'in2s inc'uding frame. j1 H /oints $ith sing'e ?one@ degree of freedom. /. H /oints $ith t$o degrees of freedom. 3f A I 7, resu'ts in a mechanism $ith JA> degrees of freedom. A H 7, resu'ts in a statica''y determinate structure. A K 7, resu'ts in a statica''y indeterminate structure. (inematic Chain/ ; 6inematic chain is an assemb'y of 'in2s in $hich the re'ati9e motions of the 'in2s is possib'e and the motion of each re'ati9e to the others is definite ?fig. a, b, and c.@

3n case, the motion of a 'in2 resu'ts in indefinite motions of other 'in2s, it is a non% 2inematic chain. &o$e9er, some authors prefer to ca'' a'' chains ha9ing re'ati9e motions of the 'in2s as 2inematic chains. inkage, Mechanism and str3ct3re/ ; 'in2age is obtained if one of the 'in2s of 2inematic chain is fiFed to the ground. 3f motion of each 'in2 resu'ts in definite motion of the others, the 'in2age is 2no$n as mechanism. 3f one of the 'in2s of a redundant chain is fiFed, it is 2no$n as a structure. To obtain constrained or definite motions of some of the 'in2s of a 'in2age, it is necessary to 2no$ ho$ many inputs are needed. 3n some mechanisms, on'y one input is necessary that determines the motion of other 'in2s and are said to ha9e one degree of freedom. 3n other mechanisms, t$o inputs may be necessary to get a constrained motion of the other 'in2s and are said to ha9e t$o degrees of freedom and so on. The degree of freedom of a structure is Gero or 'ess. ; structure $ith negati9e degrees of freedom is 2no$n as a )3perstr3ct3re. Motion and its t#pes/

)omp'ete'y )onstrained !otion

(artia''y )onstrained !otion

3ncomp'ete'y )onstrained !otion

The three main types of constrained motion in kinematic pair are,

1.Completel# constrained motion : 3f the motion bet$een a pair of 'in2s is 'imited to a definite direction, then it is comp'ete'y constrained motion. 0.g.: !otion of a shaft or rod $ith co''ars at each end in a ho'e as sho$n in fig.

'. Incompletel# Constrained motion / 3f the motion bet$een a pair of 'in2s is not confined to a definite direction, then it is incomp'ete'y constrained motion. 0.g.: ; spherica' ba'' or circu'ar shaft in a circu'ar ho'e may either rotate or s'ide in the ho'e as sho$n in fig.

%. )3ccessf3ll# constrained motion or 7artiall# constrained motion/ 3f the motion in a definite direction is not brought about by itse'f but by some other means, then it is 2no$n as successfu''y constrained motion. 0.g.: Aoot step Bearing.

Machine: 3t is a combination of resistant bodies $ith successfu''y constrained motion $hich is used to transmit or transform motion to do some usefu' $or2. 0.g.: *athe, Shaper, Steam 0ngine, etc. Kinematic chain with three lower pairs 3t is impossib'e to ha9e a 2inematic chain consisting of three turning pairs on'y. But it is possib'e to ha9e a chain $hich consists of three s'iding pairs or $hich consists of a turning, s'iding and a scre$ pair. The figure sho$s a 2inematic chain $ith three s'iding pairs. 3t consists of a frame B, $edge ) and a s'iding rod ;. So the three s'iding pairs are, one bet$een the $edge ) and the frame B, second bet$een $edge ) and s'iding rod ; and the frame B.

This figure shows the mechanism of a fly press. The e'ement B forms a s'iding $ith ; and turning pair $ith scre$ rod ) $hich in turn forms a scre$ pair $ith ;. <hen 'in2 ; is fiFed, the reEuired f'y press mechanism is obtained.

'. (3t>-ach criterion, !rashoff?s la@ (3t>-ach criterion/ +3ndamental E:3ation for '4D Mechanisms/ ! H 5?* C 1@ C ./1 C /. Can @e int3iti.el# deri.e (3t>-ach9s modification of !r3-ler9s e:3ationA )onsider a rigid 'in2 constrained to mo9e in a p'ane. &o$ many degrees of freedom does the 'in2 ha9eL ?5: trans'ation in F and y directions, rotation about G%aFis@ 3f you pin one end of the 'in2 to the p'ane, ho$ many degrees of freedom does it no$ ha9eL ;dd a second 'in2 to the picture so that you ha9e one 'in2 pinned to the p'ane and one free to mo9e in the p'ane. &o$ many degrees of freedom eFist bet$een the t$o 'in2sL ?: is the correct ans$er@ (in the second 'in2 to the free end of the first 'in2. &o$ many degrees of freedom do you no$ ha9eL &o$ many degrees of freedom do you ha9e each time you introduce a mo9ing 'in2L &o$ many degrees of freedom do you ta2e a$ay $hen you add a simp'e jointL &o$ many degrees of freedom $ou'd you ta2e a$ay by adding a ha'f jointL +o the different terms in eEuation ma2e sense in 'ight of this 2no$'edgeL !rashoff?s la@/ !rashoff B4-ar linkage/ ; 'in2age that contains one or more 'in2s capab'e of undergoing a fu'' rotation. ; 'in2age is #rashoff if: S M * K ( M B ?$here: S H shortest 'in2 'ength, * H 'ongest, (, B H intermediate 'ength 'in2s@. Both joints of the shortest 'in2 are capab'e of 587 degrees of rotation in a #rashoff 'in2ages. This gi9es us : possib'e 'in2ages: cran2%roc2er ?input rotates 587@, roc2er%cran2%roc2er ?coup'er rotates 587@, roc2er%cran2 ?fo''o$er@N doub'e cran2 ?a'' 'in2s rotate 587@. Note that these mechanisms are simp'y the possib'e in9ersions ?section ..11, Aigure .%18@ of a #rashoff mechanism. Non !rashoff B -ar/ No 'in2 can rotate 587 if: S M * I ( M B et9s e5amine @h# the !rashoff condition @orks/ )onsider a 'in2age $ith the shortest and 'ongest sides joined together. 0Famine the 'in2age $hen the shortest side is para''e' to the 'ongest side ?. positions possib'e, fo'ded o9er on the 'ong side and eFtended a$ay from the 'ong side@. &o$ 'ong do ( and B ha9e to be to a''o$ the 'in2age to achie9e these positionsL )onsider a 'in2age $here the 'ong and short sides are not joined. )an you figure out the reEuired 'engths for ( and B in this type of mechanism %. (inematic In.ersions of B4-ar chain and slider crank chains/ Types of Kinematic Chain: 1@ Aour bar chain .@ Sing'e s'ider chain 5@ +oub'e S'ider chain +o3r -ar Chain/ The chain has four 'in2s and it 'oo2s 'i2e a cyc'e frame and hence it is a'so ca''ed quadric cycle chain. 3t is sho$n in the figure. 3n this type of chain a'' four pairs $i'' be turning pairs.

 In.ersions/ By fiFing each 'in2 at a time $e get as many mechanisms as the number of 'in2s, then each mechanism is ca''ed J3n9ersion> of the origina' 6inematic )hain. In.ersions of fo3r -ar chain mechanism/ There are three in9ersions: 1@ Beam 0ngine or )ran2 and 'e9er mechanism. .@ )oup'ing rod of 'ocomoti9e or doub'e cran2 mechanism. 5@ <att>s straight 'ine mechanism or doub'e 'e9er mechanism. 1eam Engine/ <hen the cran2 ;B rotates about ;, the 'in2 )0 pi9oted at + ma2es 9ertica' reciprocating motion at end 0. This is used to con9ert rotary motion to reciprocating motion and 9ice 9ersa. 3t is a'so 2no$n as )ran2 and 'e9er mechanism. This mechanism is sho$n in the figure be'o$.

'. Co3pling rod of locomoti.e/ 3n this mechanism the 'ength of 'in2 ;+ H 'ength of 'in2 ). ;'so 'ength of 'in2 ;B H 'ength of 'in2 )+. <hen ;B rotates about ;, the cran2 +) rotates about +. this mechanism is used for coup'ing 'ocomoti9e $hee's. Since 'in2s ;B and )+ $or2 as cran2s, this mechanism is a'so 2no$n as doub'e cran2 mechanism. This is sho$n in the figure be'o$.

 5. Catt9s straight line mechanism or Do3-le le.er mechanism/ 3n this mechanism, the 'in2s ;B D +0 act as 'e9ers at the ends ; D 0 of these 'e9ers are fiFed. The ;B D +0 are para''e' in the mean position of the mechanism and coup'ing rod B+ is perpendicu'ar to the 'e9ers ;B D +0. On any sma'' disp'acement of the mechanism the tracing point J)> traces the shape of number J->, a portion of $hich $i'' be approFimate'y straight. &ence this is a'so an eFamp'e for the approFimate straight 'ine mechanism. This mechanism is sho$n be'o$.

'. )lider crank Chain/ 3t is a four bar chain ha9ing one s'iding pair and three turning pairs. 3t is sho$n in the figure be'o$ the purpose of this mechanism is to con9ert rotary motion to reciprocating motion and 9ice 9ersa. 3n9ersions of a S'ider cran2 chain: There are fo3r in.ersions in a single slider chain mechanism. The# are/ 1@ Reciprocating engine mechanism ?1st in9ersion@ .@ Osci''ating cy'inder engine mechanism ?.nd in9ersion@ 5@ )ran2 and s'otted 'e9er mechanism ?.nd in9ersion@ :@ <hit$orth Euic2 return motion mechanism ?5rd in9ersion@ 4@ Rotary engine mechanism ?5rd in9ersion@ 8@ Bu'' engine mechanism ?:th in9ersion@ P@ &and (ump ?:th in9ersion@ $. Reciprocating engine mechanism / 3n the first in9ersion, the 'in2 1 i.e., the cy'inder and the frame is 2ept fiFed. The fig be'o$ sho$s a reciprocating engine.

; s'otted 'in2 1 is fiFed. <hen the cran2 . rotates about O, the s'iding piston : reciprocates in the s'otted 'in2 1. This mechanism is used in steam engine, pumps, compressors, 3.). engines, etc. '. Crank and slotted le.er mechanism/ 3t is an app'ication of second in9ersion. The cran2 and s'otted 'e9er mechanism is sho$n in figure be'o$.

3n this mechanism 'in2 5 is fiFed. The s'ider ?'in2 1@ reciprocates in osci''ating s'otted 'e9er ?'in2 :@ and cran2 ?'in2 .@ rotates. *in2 4 connects 'in2 : to the ram ?'in2 8@. The ram $ith the cutting too' reciprocates perpendicu'ar to the fiFed 'in2 5. The ram $ith the too' re9erses its direction of motion $hen 'in2 . is perpendicu'ar to 'in2 :. Thus the cutting stro2e is eFecuted during the rotation of the cran2 through ang'e Q and the return stro2e is eFecuted $hen the cran2 rotates through ang'e R or 587 C Q. Therefore, $hen the cran2 rotates uniform'y, $e get, Time to cutting H Q H Q Time of return R 587 C Q This mechanism is used in shaping machines, s'otting machines and in rotary engines. %. Chit@orth :3ick ret3rn motion mechanism/

Third inversion is obtained by fixing the crank i.e. link 2. Whitworth quick return mechanism is an application of third inversion. This mechanism is shown in the figure below. The crank OC is fixed and OQ rotates about O. The slider slides in the slotted link and generates a circle of radius CP. Link 5 connects the extension OQ provided on the opposite side of the link 1 to the ram (link 6). The rotary motion of P is taken to the ram R which reciprocates. The quick return motion mechanism is used in shapers and slotting machines. The angle covered during cutting stroke from P1 to P2 in counter c'oc2$ise direction is Q or 587 %.S. +uring the return stro2e, the ang'e co9ered is .S or R.

Therefore,

Time to cutting H 587 %.S H 1-7 C S Time of return .SS H Q H Q . R 587 C Q

B. Rotar# engine mechanism or !nome Engine/ Rotary engine mechanism or gnome engine is another app'ication of third in9ersion. 3t is a rotary cy'inder = C type interna' combustion engine used as an aero C engine. But no$ #nome engine has been rep'aced by #as turbines. The #nome engine has genera''y se9en cy'inders in one p'ane. The cran2 O; is fiFed and a'' the connecting rods from the pistons are connected to ;. 3n this mechanism $hen the pistons reciprocate in the cy'inders, the $ho'e assemb'y of cy'inders, pistons and connecting rods rotate about the aFis O, $here the entire mechanica' po$er de9e'oped, is obtained in the form of rotation of the cran2 shaft. This mechanism is sho$n in the figure be'o$.

Do3-le )lider Crank Chain/ ; four bar chain ha9ing t$o turning and t$o s'iding pairs such that t$o pairs of the same 2ind are adjacent is 2no$n as doub'e s'ider cran2 chain. In.ersions of Do3-le slider Crank chain/ 3t consists of t$o s'iding pairs and t$o turning pairs. They are three important in9ersions of doub'e s'ider cran2 chain. 1@ 0''iptica' tramme'. .@ Scotch yo2e mechanism. 5@ O'dham>s )oup'ing. $. Elliptical Trammel/ This is an instrument for dra$ing e''ipses. &ere the s'otted 'in2 is fiFed. The s'iding b'oc2 ( and B in 9ertica' and horiGonta' s'ots respecti9e'y. The end R generates an e''ipse $ith the disp'acement of s'iders ( and B.

The co%ordinates of the point R are F and y. Arom the fig. cos S H F. (R and Sin S H y. BR Squaring and adding (i) and (ii) we get x2 + y2 = cos2 + sin2 (PR)2 (QR)2

x2 + y2 = 1 (PR)2 (QR)2 The equation is that of an ellipse, Hence the instrument traces an ellipse. Path traced by mid-point of PQ is a circle. In this case, PR = PQ and so x2+y2 =1 (PR)2 (QR)2 It is an equation of circle with PR = QR = radius of a circle. '. )cotch #oke mechanism/ This mechanism, the s'ider ( is fiFed. <hen (B rotates abo9e (, the s'ider B reciprocates in the 9ertica' s'ot. The mechanism is used to con9ert rotary to reciprocating mechanism.

%. *ldham9s co3pling/ The third in9ersion of obtained by fiFing the 'in2 connecting the . b'oc2s ( D B. 3f one b'oc2 is turning through an ang'e, the frame and the other b'oc2 $i'' a'so turn through the same ang'e. 3t is sho$n in the figure be'o$.

;n app'ication of the third in9ersion of the doub'e s'ider cran2 mechanism is O'dham>s coup'ing sho$n in the figure. This coup'ing is used for connecting t$o para''e' shafts $hen the distance bet$een the shafts is sma''. The t$o shafts to be connected ha9e f'anges at their ends, secured by forging. S'ots are cut in the f'anges. These f'anges form 1 and 5. ;n intermediate disc ha9ing tongues at right ang'es and opposite sides is fitted in bet$een the f'anges. The intermediate piece forms the 'in2 : $hich s'ides or reciprocates in f'anges 1 D 5. The 'in2 t$o is fiFed as sho$n. <hen f'ange 1 turns, the intermediate disc : must turn through the same ang'e and $hate9er ang'e : turns, the f'ange 5 must turn through the same ang'e. &ence 1, : D 5 must ha9e the same angu'ar 9e'ocity at e9ery instant. 3f the distance bet$een the aFis of the shaft is F, it $i'' be the diameter if the circ'e traced by the centre of the intermediate piece. The maFimum s'iding speed of each tongue a'ong its s'ot is gi9en by v=x where, = angular velocity of each shaft in rad/sec v = linear velocity in m/sec B. Mechanical Ad.antage, Transmission angle/ The mechanica' ad9antage ?!;@ is defined as the ratio of output torEue to the input torEue. ?or@ ratio of 'oad to output. Transmission ang'e.

The eFtreme 9a'ues of the transmission ang'e occur $hen the cran2 'ies a'ong the 'ine of frame.

D. Description of common mechanisms4)ingle, Do3-le and offset slider mechanisms 4 E3ick ret3rn mechanisms/ E3ick Ret3rn Motion Mechanisms/ !any a times mechanisms are designed to perform repetiti9e operations. +uring these operations for a certain period the mechanisms $i'' be under 'oad 2no$n as $or2ing stro2e and the remaining period is 2no$n as the return stro2e, the mechanism returns to repeat the operation $ithout 'oad. The ratio of time of $or2ing stro2e to that of the return stro2e is 2no$n a time ratio. Buic2 return mechanisms are used in machine too's to gi9e a s'o$ cutting stro2e and a Euic2 return stro2e. The 9arious Euic2 return mechanisms common'y used are i@ <hit$orth ii@ +rag 'in2. iii@ )ran2 and s'otted 'e9er mechanism $. Chit@orth :3ick ret3rn mechanism/ <hit$orth Euic2 return mechanism is an app'ication of third in9ersion of the sing'e s'ider cran2 chain. This mechanism is sho$n in the figure be'o$. The cran2 O) is fiFed and OB rotates about O. The s'ider s'ides in the s'otted 'in2 and generates a circ'e of radius )(. *in2 4 connects the eFtension OB pro9ided on the opposite side of the 'in2 1 to the ram ?'in2 8@. The rotary motion of ( is ta2en to the ram R $hich reciprocates. The Euic2 return motion mechanism is used in shapers and s'otting machines.

The ang'e co9ered during cutting stro2e from (1 to (. in counter c'oc2$ise direction is Q or 587 %.S. +uring the return stro2e, the ang'e co9ered is .S or R. '. Drag link mechanism /

This is four bar mechanism $ith doub'e cran2 in $hich the shortest 'in2 is fiFed. 3f the cran2 ;B rotates at a uniform speed, the cran2 )+ rotate at a non%uniform speed. This rotation of 'in2 )+ is transformed to Euic2 return reciprocatory motion of the ram 0 by the 'in2 )0 as sho$n in figure. <hen the cran2 ;B rotates through an ang'e Q in )ounter c'oc2$ise direction during $or2ing stro2e, the 'in2 )+ rotates through

1-7. <e can obser9e that / Q I/ R. &ence time of $or2ing stro2e is Q /R times more or the return stro2e is Q /R times Euic2er. Shortest 'in2 is a'$ays stationary 'in2. Sum of the shortest and the 'ongest 'in2s of the four 'in2s 1, ., 5 and : are 'ess than the sum of the other t$o. 3t is the necessary condition for the drag 'in2 Euic2 return mechanism. %. Crank and slotted le.er mechanism/ 3t is an app'ication of second in9ersion. The cran2 and s'otted 'e9er mechanism is sho$n in figure be'o$.

In this mechanism link 3 is fixed. The slider (link 1) reciprocates in oscillating slotted lever (link 4) and crank (link 2) rotates. Link 5 connects link 4 to the ram (link 6). The ram with the cutting tool reciprocates perpendicular to the fixed link 3. The ram with the tool reverses its direction of motion when link 2 is perpendicular to link 4. Thus the cutting stroke is executed during the rotation of the crank through angle and the return stroke is executed when the crank rotates through angle or 360 . Therefore, when the crank rotates uniformly, we get, Time to cutting H Q H Q Time of return R 587 C Q This mechanism is used in shaping machines, s'otting machines and in rotary engines. F. Ratchets and escapements 4 Inde5ing Mechanisms 4 Rocking Mechanisms/ Intermittent motion mechanism/ 1. Ratchet and Pawl mechanism: This mechanism is used in producing intermittent rotary motion member. A ratchet and Pawl mechanism consists of a ratchet wheel 2 and a pawl 3 as shown in the figure. When the lever 4 carrying pawl is raised, the ratchet wheel rotates in the counter clock wise direction (driven by pawl). As the pawl lever is lowered the pawl slides over the ratchet teeth. One more pawl 5 is used to prevent the ratchet from reversing. Ratchets are used in feed mechanisms, lifting jacks, clocks, watches and counting devices.

 '. !ene.a mechanism/ #ene9a mechanism is an intermittent motion mechanism. 3t consists of a dri9ing $hee' + carrying a pin ( $hich engages in a s'ot of fo''o$er A as sho$n in figure. +uring one Euarter re9o'ution of the dri9ing p'ate, the (in and fo''o$er remain in contact and hence the fo''o$er is turned by one Euarter of a turn. +uring the remaining time of one re9o'ution of the dri9er, the fo''o$er remains in rest 'oc2ed in position by the circu'ar arc.

%. 7antograph/ (antograph is used to copy the cur9es in reduced or en'arged sca'es. &ence this mechanism finds its use in copying de9ices such as engra9ing or profi'ing machines.

This is a simp'e figure of a (antograph. The 'in2s are pin jointed at ;, B, ) and +. ;B is para''e' to +) and ;+ is para''e' to B). *in2 B; is eFtended to fiFed pin O. B is a point on the 'in2 ;+. 3f the motion of B is to be en'arged then the 'in2 B) is eFtended to ( such that O, B and ( are in a straight 'ine. Then it can be sho$n that the points ( and B a'$ays mo9e para''e' and simi'ar to each other o9er any path straight or cur9ed. Their motions $i'' be proportiona' to their distance from the fiFed point. *et ;B)+ be the initia' position. Suppose if point B mo9es to B1 , then a'' the 'in2s and the joints $i'' mo9e to the ne$ positions ?such as ; mo9es to ;1 , B mo9es to B1, ) mo9es to B1 , + mo9es to +1 and ( to (1 @ and the ne$ configuration of the mechanism is sho$n by dotted 'ines. The mo9ement of B ?B B1@ $i'' be en'arged to ((1 in a definite ratio. B. Toggle Mechanism/

3n s'ider cran2 mechanism as the cran2 approaches one of its dead centre position, the s'ider approaches Gero. The ratio of the cran2 mo9ement to the s'ider mo9ement approaching infinity is proportiona' to the mechanica' ad9antage. This is the princip'e used in togg'e mechanism. ; togg'e mechanism is used $hen 'arge forces act through a short distance is reEuired. The figure be'o$ sho$s a togg'e mechanism. *in2s )+ and )0 are of same 'ength. Reso'9ing the forces at ) 9ertica''y + )in G ;7 Cos G ' Therefore, A H ( . ?because Sin Q/)os Q H Tan Q@ . tan Q Thus for the gi9en 9a'ue of (, as the 'in2s )+ and )0 approaches co''inear position ?QO@, the force A rises rapid'y. D. Hooke9s joint/

&oo2e>s joint used to connect t$o para''e' intersecting shafts as sho$n in figure. This can a'so be used for shaft $ith angu'ar misa'ignment $here f'eFib'e coup'ing does not ser9e the purpose. &ence &oo2e>s joint is a means of connecting t$o rotating shafts $hose aFes 'ie in the same p'ane and their directions ma2ing a sma'' ang'e $ith each other. 3t is common'y 2no$n as 1ni9ersa' joint. 3n 0urope it is ca''ed as )ardan joint. D. Ackermann steering gear mechanism/

This mechanism is made of on'y turning pairs and is made of on'y turning pairs $ear and tear of the parts is 'ess and cheaper in manufacturing. The cross 'in2 6* connects t$o short aF'es ;) and B+ of the front $hee's through the short 'in2s ;6 and B* $hich forms be'' cran2 'e9ers );6 and +B* respecti9e'y as sho$n in fig, the 'onger 'in2s ;B and 6* are para''e' and the shorter 'in2s ;6 and B* are inc'ined at an ang'e Q. <hen the 9ehic'es steer to the right as sho$n in the figure, the short 'in2 B* is turned so as to increase Q, $here as the 'in2 *6 causes the other short 'in2 ;6 to turn so as to reduce Q. The fundamenta' eEuation for correct steering is, CotH=CosI ; b / l In the above arrangement it is clear that the angle through which AK turns is less than the angle through which the BL turns and therefore the left front axle turns through a smaller angle than the right front axle. For different angle of turn , the corresponding value of and (Cot Cos ) are noted. This is done by actually drawing the mechanism to a scale or by calculations. Therefore for different value of the corresponding value of and are tabulated. Approximate value of b/l for correct steering should be between 0.4 and 0.5. In an Ackermann steering gear mechanism,

the instantaneous centre I does not lie on the axis of the rear axle but on a line parallel to the rear axle axis at an approximate distance of 0.3l above it.

Three correct steering positions @ill -e/ 1@ <hen mo9ing straight. .@ <hen mo9ing one correct ang'e to the right corresponding to the 'in2 ratio ;6/;B and ang'e Q. 5@ Simi'ar position $hen mo9ing to the 'eft. In all other positions p3re rolling is not o-taina-le. Some Of The Mechanisms Which Are Used In ay To ay !ife" 1E CRAN(/ !ENEJA )T*7/

1E CRAN(/ The be'' cran2 $as origina''y used in 'arge house to operate the ser9ant>s be'', hence the name. The be'' cran2 is used to con9ert the direction of reciprocating mo9ement. By 9arying the ang'e of the cran2 piece it can be used to change the ang'e of mo9ement from 1 degree to 1-7 degrees. !ENEJA )T*7/ The #ene9a stop is named after the #ene9a cross, a simi'ar shape to the main part of the mechanism. The #ene9a stop is used to pro9ide intermittent motion, the orange $hee' turns continuous'y, the dar2 b'ue pin then turns the b'ue cross Euarter of a turn for each re9o'ution of the dri9e $hee'. The crescent shaped cut out in dar2 orange section 'ets the points of the cross past, then 'oc2s the $hee' in p'ace $hen it is stationary. The #ene9a stop mechanism is used common'y in fi'm cameras. E I7TICA TRAMME 7I)T*N ARRAN!EMENT

ELLIPTICAL TRAMMEL: This fascinating mechanism converts rotary motion to reciprocating motion in two axis. Notice that the handle traces out an ellipse rather than a circle. A similar mechanism is used in ellipse drawing tools. PISTON ARRANGEMENT: This mechanism is used to convert between rotary motion and reciprocating motion, it works either way. Notice how the speed of the

piston changes. The piston starts from one end, and increases its speed. It reaches maximum speed in the middle of its travel then gradually slows down until it reaches the end of its travel. RAC( AND 7INI*N RATCHET

RAC( AND 7INI*N/ The rac2 and pinion is used to con9ert bet$een rotary and 'inear motion. The rac2 is the f'at, toothed part, the pinion is the gear. Rac2 and pinion can con9ert from rotary to 'inear of from 'inear to rotary. The diameter of the gear determines the speed that the rac2 mo9es as the pinion turns. Rac2 and pinions are common'y used in the steering system of cars to con9ert the rotary motion of the steering $hee' to the side to side motion in the $hee's. Rac2 and pinion gears gi9e a positi9e motion especia''y compared to the friction dri9e of a $hee' in tarmac. 3n the rac2 and pinion rai'$ay a centra' rac2 bet$een the t$o rai's engages $ith a pinion on the engine a''o$ing the train to be pu''ed up 9ery steep s'opes. RATCHET/ The ratchet can be used to mo9e a toothed $hee' one tooth at a time. The part used to mo9e the ratchet is 2no$n as the pa$'. The ratchet can be used as a $ay of gearing do$n motion. By its nature motion created by a ratchet is intermittent. By using t$o pa$'s simu'taneous'y this intermittent effect can be a'most, but not Euite, remo9ed. Ratchets are a'so used to ensure that motion on'y occurs in on'y one direction, usefu' for $inding gear $hich must not be a''o$ed to drop. Ratchets are a'so used in the free$hee' mechanism of a bicyc'e. C*RM !EAR CATCH E)CA7EMENT.

C*RM !EAR/ ; $orm is used to reduce speed. Aor each comp'ete turn of the $orm shaft the gear shaft ad9ances on'y one tooth of the gear. 3n this case, $ith a t$e'9e tooth gear, the speed is reduced by a factor of t$e'9e. ;'so, the aFis of rotation is turned by ,7 degrees. 1n'i2e ordinary gears, the motion is not re9ersib'e, a $orm can dri9e a gear to reduce speed but a gear cannot dri9e a $orm to increase it. ;s the speed is reduced the po$er to the dri9e increases corresponding'y. <orm gears are a compact, efficient means of substantia''y decreasing speed and increasing po$er. 3dea' for use $ith sma'' e'ectric motors.

WATCH ESCAPEMENT: The watch escapement is the centre of the time piece. It is the escapement which divides the time into equal segments. The balance wheel, the gold wheel, oscillates backwards and forwards on a hairspring (not shown) as the balance wheel moves the lever is moved allowing the escape wheel (green) to rotate by one tooth. The power comes through the escape wheel which gives a small 'kick' to the palettes (purple) at each tick. !EAR) CAM +* *CER.

!EAR)/ #ears are used to change speed in rotationa' mo9ement. 3n the eFamp'e abo9e the b'ue gear has e'e9en teeth and the orange gear has t$enty fi9e. To turn the orange gear one fu'' turn the b'ue gear must turn .4/11 or ...P.Pr turns. Notice that as the b'ue gear turns c'oc2$ise the orange gear turns anti%c'oc2$ise. 3n the abo9e eFamp'e the number of teeth on the orange gear is not di9isib'e by the number of teeth on the b'ue gear. This is de'iberate. 3f the orange gear had thirty three teeth then e9ery three turns of the b'ue gear the same teeth $ou'd mesh together $hich cou'd cause eFcessi9e $ear. By using none di9isib'e numbers the same teeth mesh on'y e9ery se9enteen turns of the b'ue gear. CAM)/ )ams are used to con9ert rotary motion into reciprocating motion. The motion created can be simp'e and regu'ar or comp'eF and irregu'ar. ;s the cam turns, dri9en by the circu'ar motion, the cam fo''o$er traces the surface of the cam transmitting its motion to the reEuired mechanism. )am fo''o$er design is important in the $ay the profi'e of the cam is fo''o$ed. ; fine pointed fo''o$er $i'' more accurate'y trace the out'ine of the cam. This more accurate mo9ement is at the eFpense of the strength of the cam fo''o$er. )TEAM EN!INE.

Steam engines $ere the bac2bone of the industria' re9o'ution. 3n this common design high pressure steam is pumped a'ternate'y into one side of the piston, then the other forcing it bac2 and forth. The reciprocating motion of the piston is con9erted to usefu' rotary motion using a cran2.

As the large wheel (the fly wheel) turns a small crank or cam is used to move the small red control valve back and forth controlling where the steam flows. In this animation the oval crank has been made transparent so that you can see how the control valve crank is attached. K. )traight line generators, Design of Crank4rocker Mechanisms/ )traight ine Motion Mechanisms/ The easiest $ay to generate a straight 'ine motion is by using a s'iding pair but in precision machines s'iding pairs are not preferred because of $ear and tear. &ence in such cases different methods are used to generate straight 'ine motion mechanisms: $. E5act straight line motion mechanism. a. (eauce''ier mechanism, b. &art mechanism, c. Scott Russe'' mechanism '. Appro5imate straight line motion mechanisms a. <att mechanism, b. #rasshopper>s mechanism, c. Robert>s mechanism, d. Tchebicheff>s mechanism a. 7ea3cillier mechanism / The pin Q is constrained to move long the circumference of a circle by means of the link OQ. The link OQ and the fixed link are equal in length. The pins P and Q are on opposite corners of a four bar chain which has all four links QC, CP, PB and BQ of equal length to the fixed pin A. i.e., link AB = link AC. The product AQ x AP remain constant as the link OQ rotates may be proved as follows: Join BC to bisect PQ at F; then, from the right angled triangles AFB, BFP, we have ;BH;AMAB and B(HBAMA(. Subtracting, ;B%B(H ;A%A(H?;ACA(@?;AMA(@ H ;B F ;( . Since AB and BP are links of a constant length, the product AQ x AP is constant. Therefore the point P traces out a straight path normal to AR. -. Ro-ert9s mechanism/ This is also a four bar chain. The link PQ and RS are of eEua' 'ength and the tracing pint JO> is rigid'y attached to the 'in2 BR on a 'ine $hich bisects BR at right ang'es. The best position for O may be found by ma2ing use of the instantaneous centre of BR. The path of O is c'ear'y approFimate'y horiGonta' in the Robert>s mechanism.

a. 7ea3cillier mechanism

-. Hart mechanism

2nit II (INEMATIC) Jelocit# and Acceleration anal#sis of mechanisms <!raphical Methods8/

=e'ocity and acce'eration ana'ysis by 9ector po'ygons: Re'ati9e 9e'ocity and acce'erations of partic'es in a common 'in2, re'ati9e 9e'ocity and acce'erations of coincident partic'es on separate 'in2, )orio'is component of acce'eration. =e'ocity and acce'eration ana'ysis by comp'eF numbers: ;na'ysis of sing'e s'ider cran2 mechanism and four bar mechanism by 'oop c'osure eEuations and comp'eF numbers. L. Displacement, .elocit# and acceleration anal#sis in simple mechanisms/ Important Concepts in Jelocit# Anal#sis 1. The abso'ute 9e'ocity of any point on a mechanism is the 9e'ocity of that point $ith reference to ground. .. Re'ati9e 9e'ocity describes ho$ one point on a mechanism mo9es re'ati9e to another point on the mechanism. 5. The 9e'ocity of a point on a mo9ing 'in2 re'ati9e to the pi9ot of the 'in2 is gi9en by the eEuation: = H r, $here H angu'ar 9e'ocity of the 'in2 and r H distance from pi9ot. Acceleration Components #ormal Acceleration: An H .r. (oints to$ard the center of rotation Tan$ential Acceleration: At H r. 3n a direction perpendicu'ar to the 'in2 Coriolis Acceleration: Ac H .?dr/dt@. 3n a direction perpendicu'ar to the 'in2 Slidin$ Acceleration: As H d.r/dt.. 3n the direction of s'iding. ; rotating 'in2 $i'' produce norma' and tangentia' acce'eration components at any point a distance, r, from the rotationa' pi9ot of the 'in2. The tota' acce'eration of that point is the 9ector sum of the components. ; s'ider attached to ground eFperiences on'y s'iding acce'eration. ; s'ider attached to a rotating 'in2 ?such that the s'ider is mo9ing in or out a'ong the 'in2 as the 'in2 rotates@ eFperiences a'' : components of acce'eration. (erhaps the most confusing of these is the corio'is acce'eration, though the concept of corio'is acce'eration is fair'y simp'e. 3magine yourse'f standing at the center of a merry%go%round as it spins at a constant speed ? @. You begin to $a'2 to$ard the outer edge of the merry%go%round at a constant speed ?dr/dt@. 09en though you are $a'2ing at a constant speed and the merry%go%round is spinning at a constant speed, your tota' 9e'ocity is increasing because you are mo9ing a$ay from the center of rotation ?i.e. the edge of the merry%go%round is mo9ing faster than the center@. This is the corio'is acce'eration. 3n $hat direction did your speed increaseL This is the direction of the corio'is acce'eration. The tota' acce'eration of a point is the 9ector sum of a'' app'icab'e acce'eration components: A H An M At M Ac M As These 9ectors and the abo9e eEuation can be bro2en into F and y components by app'ying sines and cosines to the 9ector diagrams to determine the F and y components of each 9ector. 3n this $ay, the F and y components of the tota' acce'eration can be found.

M. !raphical Method, Jelocit# and Acceleration pol#gons / !raphical .elocit# anal#sis/ 3t is a 9ery short step ?using basic trigonometry $ith sines and cosines@ to con9ert the graphica' resu'ts into numerica' resu'ts. The basic steps are these: 1. Set up a 9e'ocity reference p'ane $ith a point of Gero 9e'ocity designated. .. 1se the eEuation, = H r, to ca'cu'ate any 2no$n 'in2age 9e'ocities. 5. ('ot your 2no$n 'in2age 9e'ocities on the 9e'ocity p'ot. ; 'in2age that is rotating about ground gi9es an abso'ute 9e'ocity. This is a 9ector that originates at the Gero 9e'ocity point and runs perpendicu'ar to the 'in2 to sho$ the direction of motion. The 9ector, J;, gi9es the 9e'ocity of point ;. :. ('ot a'' other 9e'ocity 9ector directions. ; point on a grounded 'in2 ?such as point B@ $i'' produce an abso'ute 9e'ocity 9ector passing through the Gero 9e'ocity point and perpendicu'ar to the 'in2. ; point on a f'oating 'in2 ?such as B re'ati9e to point ;@ $i'' produce a re'ati9e 9e'ocity 9ector. This 9ector $i'' be perpendicu'ar to the 'in2 ;B and pass through the reference point ?;@ on the 9e'ocity diagram. 4. One shou'd be ab'e to form a c'osed triang'e ?for a :%bar@ that sho$s the 9ector eEuation: JB H J; M JB/; $here JB H abso'ute 9e'ocity of point B, J; H abso'ute 9e'ocity of point ;, and JB/; is the 9e'ocity of point B re'ati9e to point ;. $&. Jelocit# Anal#sis of +o3r 1ar Mechanisms/ (rob'ems so'9ing in Aour Bar !echanisms and additiona' 'in2s. $$. Jelocit# Anal#sis of )lider Crank Mechanisms/ (rob'ems so'9ing in S'ider )ran2 !echanisms and additiona' 'in2s. $'. Acceleration Anal#sis of +o3r 1ar Mechanisms/ (rob'ems so'9ing in Aour Bar !echanisms and additiona' 'in2s. $%. Acceleration Anal#sis of )lider Crank Mechanisms/ (rob'ems so'9ing in S'ider )ran2 !echanisms and additiona' 'in2s. $B. (inematic anal#sis -# Comple5 Alge-ra methods/ ;na'ysis of sing'e s'ider cran2 mechanism and four bar mechanism by 'oop c'osure eEuations and comp'eF numbers.

$D. Jector Approach/ Re'ati9e 9e'ocity and acce'erations of partic'es in a common 'in2, re'ati9e 9e'ocity and acce'erations of coincident partic'es on separate 'in2 $F. Comp3ter applications in the kinematic anal#sis of simple mechanisms/ )omputer programming for simp'e mechanisms $K. Coincident points, Coriolis Acceleration/ Coriolis Acceleration: Ac H .?dr/dt@. 3n a direction perpendicu'ar to the 'in2. ; s'ider attached to ground eFperiences on'y s'iding acce'eration. ; s'ider attached to a rotating 'in2 ?such that the s'ider is mo9ing in or out a'ong the 'in2 as the 'in2 rotates@ eFperiences a'' : components of acce'eration. (erhaps

the most confusing of these is the corio'is acce'eration, though the concept of corio'is acce'eration is fair'y simp'e. 3magine yourse'f standing at the center of a merry%go%round as it spins at a constant speed ? @. You begin to $a'2 to$ard the outer edge of the merry%go%round at a constant speed ?dr/dt@. 09en though you are $a'2ing at a constant speed and the merry%go%round is spinning at a constant speed, your tota' 9e'ocity is increasing because you are mo9ing a$ay from the center of rotation ?i.e. the edge of the merry%go%round is mo9ing faster than the center@. This is the corio'is acce'eration. 3n $hat direction did your speed increaseL This is the direction of the corio'is acce'eration. E5ample/$

2nit III (INEMATIC) *+ CAM Cams/ Type of cams, Type of fo''o$ers, +isp'acement, =e'ocity and acce'eration time cur9es for cam profi'es, +isc cam $ith reciprocating fo''o$er ha9ing 2nife edge, ro''er fo''o$er, Ao''o$er motions inc'uding S&!, 1niform 9e'ocity, 1niform acce'eration and retardation and )yc'oida' motion.

)ams are used to con9ert rotary motion into reciprocating motion. The motion created can be simp'e and regu'ar or comp'eF and irregu'ar. ;s the cam turns, dri9en by the circu'ar motion, the cam fo''o$er traces the surface of the cam transmitting its motion to the reEuired mechanism. )am fo''o$er design is important in the $ay the profi'e of the cam is fo''o$ed. ; fine pointed fo''o$er $i'' more accurate'y trace the out'ine of the cam. This more accurate mo9ement is at the eFpense of the strength of the cam fo''o$er. $L. Classifications 4 Displacement diagrams Cam Terminolog#/ 7h#sical components/ )am, fo''o$er, spring T#pes of cam s#stems/ Osci'''ating ?rotating@, trans'ating T#pes of joint clos3re/ Aorce c'osed, form c'osed T#pes of follo@ers/ A'at%faced, ro''er, mushroom T#pes of cams/ radia', aFia', p'ate ?a specia' c'ass of radia' cams@. T#pes of motion constraints/ Critical extreme position C the positions of the fo''o$er that are of primary concern are the eFtreme positions, $ith considerab'e freedom as to design the cam to mo9e the fo''o$er bet$een these positions. This is the motion constraint type that $e $i'' focus upon. Critical path motion C The path by $hich the fo''o$er satisfies a gi9en motion is of interest in addition to the eFtreme positions. This is a more difficu't ?and 'ess common@ design prob'em. T#pes of motion/ rise, fa'', d$e'' !eometric and (inematic parameters/ fo''o$er disp'acement, 9e'ocity, acce'eration, and jer2N base circ'eN prime circ'eN fo''o$er radiusN eccentricityN pressure ang'eN radius of cur9ature. $M. 7ara-olic, )imple harmonic and C#cloidal motions/ Descri-ing the motion/ ; cam is designed by considering the desired motion of the fo''o$er. This motion is specified through the use of S=;/ diagrams ?diagrams that describe the desired disp'acement%9e'ocity%acce'eration and jer2 of the fo''o$er motion@ '&. a#o3t of plate cam profiles/

+ra$ing the disp'acement diagrams for the different 2inds of the motions and the p'ate cam profi'es for these different motions and different fo''o$ers. S&!, 1niform 9e'ocity, 1niform acce'eration and retardation and )yc'oida' motions 6nife%edge, Ro''er, A'at%faced and !ushroom fo''o$ers.

'$. Deri.ati.es of +ollo@er motion/ =e'ocity and acce'eration of the fo''o$ers for 9arious types of motions. )a'cu'ation of =e'ocity and acce'eration of the fo''o$ers for 9arious types of motions. ''. High speed cams/ &igh speed cams '%. Circ3lar arc and Tangent cams/ )ircu'ar arc Tangent cam 'B. )tandard cam motion/ Simp'e &armonic !otion 1niform 9e'ocity motion 1niform acce'eration and retardation motion )yc'oida' motion 'D. 7ress3re angle and 3nderc3tting/ (ressure ang'e 1ndercutting

2nit IJ !EAR) #ears are used to change speed in rotationa' mo9ement.

3n the eFamp'e abo9e the b'ue gear has e'e9en teeth and the orange gear has t$enty fi9e. To turn the orange gear one fu'' turn the b'ue gear must turn .4/11 or ...P.Pr turns. Notice that as the b'ue gear turns c'oc2$ise the orange gear turns anti% c'oc2$ise. 3n the abo9e eFamp'e the number of teeth on the orange gear is not di9isib'e by the number of teeth on the b'ue gear. This is de'iberate. 3f the orange gear had thirty three teeth then e9ery three turns of the b'ue gear the same teeth $ou'd mesh together $hich cou'd cause eFcessi9e $ear. By using none di9isib'e numbers the same teeth mesh on'y e9ery se9enteen turns of the b'ue gear. 'F. )p3r gear Terminolog# and definitions/ )p3r !ears/ 0Fterna' 3nterna' +efinitions 'K. +3ndamental a@ of toothed gearing and In.ol3te gearing/ *a$ of gearing 3n9o'utometry and )haracteristics of in9o'ute action (ath of )ontact and ;rc of )ontact )ontact Ratio )omparison of in9o'ute and cyc'oida' teeth 'L. Inter changea-le gears, gear tooth action, Terminolog#/ 3nter changeab'e gears #ear tooth action Termino'ogy 'M. Interference and 3nderc3tting/ 3nterference in in9o'ute gears !ethods of a9oiding interference Bac2 'ash %&. Non standard gear teeth/ Helical, 1e.el, Corm, Rack and 7inion gears <1asics onl#8 &e'ica' Be9e'

<orm Rac2 and (inion gears RAC( AND 7INI*N C*RM !EAR

RAC( AND 7INI*N/ The rac2 and pinion is used to con9ert bet$een rotary and 'inear motion. The rac2 is the f'at, toothed part, the pinion is the gear. Rac2 and pinion can con9ert from rotary to 'inear of from 'inear to rotary. The diameter of the gear determines the speed that the rac2 mo9es as the pinion turns. Rac2 and pinions are common'y used in the steering system of cars to con9ert the rotary motion of the steering $hee' to the side to side motion in the $hee's. Rac2 and pinion gears gi9e a positi9e motion especia''y compared to the friction dri9e of a $hee' in tarmac. 3n the rac2 and pinion rai'$ay a centra' rac2 bet$een the t$o rai's engages $ith a pinion on the engine a''o$ing the train to be pu''ed up 9ery steep s'opes. C*RM !EAR/ ; $orm is used to reduce speed. Aor each comp'ete turn of the $orm shaft the gear shaft ad9ances on'y one tooth of the gear. 3n this case, $ith a t$e'9e tooth gear, the speed is reduced by a factor of t$e'9e. ;'so, the aFis of rotation is turned by ,7 degrees. 1n'i2e ordinary gears, the motion is not re9ersib'e, a $orm can dri9e a gear to reduce speed but a gear cannot dri9e a $orm to increase it. ;s the speed is reduced the po$er to the dri9e increases corresponding'y. <orm gears are a compact, efficient means of substantia''y decreasing speed and increasing po$er. 3dea' for use $ith sma'' e'ectric motors. %$. !ear trains/ #ear Train Basics The 9e'ocity ratio, m=, of a gear train re'ates the output 9e'ocity to the input 9e'ocity. Aor eFamp'e, a gear train ratio of 4:1 means that the output gear 9e'ocity is 4 times the input gear 9e'ocity. %'. 7arallel a5is gear trains/ Simple %ear Trains C ; simp'e gear train is a co''ection of meshing gears $here each gear is on its o$n aFis. The train ratio for a simp'e gear train is the ratio of the number of teeth on the input gear to the number of teeth on the output gear. ; simp'e gear train $i'' typica''y ha9e . or 5 gears and a gear ratio of 17:1 or 'ess. 3f the train has 5 gears, the intermediate gear has no numerica' effect on the train ratio eFcept to change the direction of the output gear.

Compo&nd %ear Trains C ; compound gear train is a train $here at 'east one shaft carries more than one gear. The train ratio is gi9en by the ratio m = H ?product of number of teeth on dri9er gears@/?product of number of teeth on dri9en gears@. ; common approach to the design of compound gear trains is to first determine the number of gear reduction steps needed ?each step is typica''y sma''er than 17:1 for siGe purposes@. Once this is done, determine the desired ratio for each step, se'ect a pinion siGe, and then ca'cu'ate the gear siGe. 'e(erted %ear Trains C ; re9erted gear train is a specia' case of a compound gear train. ; re9erted gear train has the input and output shafts in C'ine $ith one another. ;ssuming no id'er gears are used, a re9erted gear train can be rea'iGed on'y if the number of teeth on the input side of the train adds up to the same as the number of teeth on the output side of the train.

%%. Epic#clic gear trains/ 3f the aFis of the shafts o9er $hich the gears are mounted are mo9ing re'ati9e to a fiFed aFis , the gear train is ca''ed the epicyc'ic gear train. (rob'ems in epicyc'ic gear trains.

%B. Differentials/ 1sed in the rear aF'e of an automobi'e. To enab'e the rear $hee's to re9o'9e at different speeds $hen negotiating a cur9e. To enab'e the rear $hee's to re9o'9e at the same speeds $hen going straight. 7ro-lem/

2nit J +RICTI*N %D. )3rface contacts/ Basic 'a$s of friction (i9ot and co''ar, introduction and types. (rob'em on f'at pi9ot, (rob'ems on conica' pi9ot. %F. )liding and Rolling friction/ S'iding contact bearings Ro''ing contact bearings (rob'ems in bearings %K. +riction dri.es/ Ariction dri9es (ositi9e dri9es and S'ip dri9es Speed ratio %L. +riction in scre@ threads/ Ariction in scre$ and nut Ariction in scre$ jac2 (rob'ems in scre$ jac2

%M. +riction cl3tches/ Sing'e p'ate c'utches and !u'ti%p'ate c'utches 1niform $ear theory and 1niform pressure theory (rob'ems in c'utches B&. 1elt and rope dri.es/ Be't dri9es, Open be't dri9es and )rossed be't dri9es *ength of the be't and ;ng'e of 'ap (o$er transmitted by a be't dri9e (rob'ems in be't dri9es B$. +riction aspects in 1rakes/ Bra2es, Types !echanica' bra2es, band bra2es Bra2ing torEue ca'cu'ations Se'f 'oc2ing bra2es (rob'ems in bra2es B'. +riction in .ehicle prop3lsion and -raking/ =ehic'e dynamics =ehic'e propu'sions Bra2ing aspects in 9ehic'es