ME 143: Mechanics of Machinery-1

Lecture 1
Introduction
Dr. Aly Mousaad Aly
Mechanical Engineering Department
Faculty of Engineering, Alexandria University
Policy
Class attendance is very important.
Come to the exercises prepared (your notes +
sketch + sheet + ruler + aristo + pencil +
eraser)
If you dont come, your class grade is zero
You cannot be absent for more than 25%
Lecture 1, AM Aly 2
Grading
Final project (20 Marks)
Oral exam (10 Marks)
Midterm exam (30 Marks)
Final examination (90 Marks)
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Course objectives
Develop the student's ability to analyze and
design planar machines.
Analyzing motion of elements in machines
(disp., vel., acc., and forces).
Understanding the terminology and
parameters of gears.
Understanding various gear trains.
Lecture 1, AM Aly 4
Course Materials
Lecture Slides:
Will be available at the copy center + any other
materials
References and Resources:
R.S. Khurmi, J.K. Gupta "Theory of Machines"
Chand (S.) & Co Ltd ,India, 2005
Robert L. Norton "Design of Machinery, 2nd ed,
McGraw-Hill, 1999
Lecture 1, AM Aly 5
Course contents
Joints
Mechanisms
Degrees of freedom
Analysis of some applied mechanisms
Graphical and analytical analyses of
displacement, velocity and acceleration
Gear geometry
Gear trains
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What is Theory of Machines?
It is a branch of Engineering - Science, which
deals with the study of relative motion
between the various parts of machine, and
forces which act on them.
Knowledge of this subject is very essential for
an engineer in designing the various parts of a
machine.
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Sub-Divisions of Theory of Machines
Kinematics: describes the motion of bodies
without consideration of the forces that cause
the motion (i.e. disp., vel., acc.).
Dynamics:
a. Kinetics: describes the relation between
forces and motion (ma).
b. Statics: describes the relation between forces
at rest.
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Machine Element or Link
It is a part of machine which has a motion relative
to some other part.
a.Tension link
A belt or a wire rope (tensile force)
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Machine Element or Link
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b. Fluid link
Hydraulic jack
Machine Element or Link
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c. Rigid link
Links of different order
Kinematic Pairs: Lower Pairs
One relative motion
Sliding pair turning pair
pure rolling screw pair
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Kinematic Pairs: Higher Pairs
Two motions
rolling + sliding
turning + sliding cam and follower
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Kinematic chain
An assemblage of links and joints,
interconnected in a way to provide a
controlled output motion in response to a
supplied input motion.
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Mechanism
A kinematic chain in which at least one link
has been "grounded," or attached, to th frame
of reference (which itself may be in motion).
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Machine
A collection of mechanisms arranged to transmit
forces and to do work.
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Degree of freedom (DOF)
Number of independent coordinates required
to define the position of a system (Mobility).
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Degree of freedom (DOF)
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Degree of freedom (DOF)
DOF = 3xN 2xPl l l l Ph hh h
N: number of moving links
Pl ll l : number of lower pairs
Ph hh h : number of higher pairs
OR OR OR OR
DOF = 3x(L -1) 2xPl l l l Ph h h h Grbler's
equation
L: number of moving links
Lecture 1, AM Aly 19
Mobility
The mobility is the number of input parameters
(usually pair variables) that must be
independently controlled to bring the device into
a particular position.
The Kutzbach criterion, which is similar to
Gruebler's equation, calculates the mobility.
In order to control a mechanism, the number of
independent input motions must equal the
number of degrees of freedom of the
mechanism.
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Example
L = 4
Pl = 4
Ph = 0
DOF = 3x(L -1) 2xPl Ph
DOF = 3x(4 -1) 2x4 0
= 1
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Example
Lecture 1, AM Aly 22
Example
L = 5; Pl = 5; Ph = 1
DOF = 3x(5 -1) 2x5 1
= 1
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Exercise
Lecture 1, AM Aly 24