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Set No. 1

IV B.Tech I Semester Supplementary Examinations, February 2007 ADVANCED KINEMATICS & DYNAMICS OF MACHINES (Mechatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. (a) State kutz batch criterion for determining mobility of a Spatial mechanism. (b) Find the mobility of the selected planar mechanisms. (ﬁgure 1) [6+10]

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. Find the ﬁxed end coordinates of cognate four-bar mechanism, use the following data. OA . OB = 100 mm, OA .A = 50 mm, OB .B = 90 mm, AB = 66 mm, α = 400 , AC = 30 mm, assume input link inclination (θ) = 300 . (ﬁgure 2) [16]

Figure 2:

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Code No: RR411405 4.

Set No. 1

A f our -link RGGR crank-rocker mechanism shown in ﬁgure 3. The knowns are the position and plane of rotation of the input link, the plane of rotation of the output link, and dimensions of all four links. Find the positions of all moving links when the input crank is set to θ2 = −450 as shown below. Solve the problem using graphical approach. Given data: O2 .A = 2 cm, AB=7 cm, O4 .B = 8 cm. [16]

Figure 3: 5. Determine the couple on crank ‘2’ to be applied for equilibrium of the system, when a force of 500 N acts on the connecting rod at point ‘C’ as shown in ﬁgure 4. also determine the resultant of forces exerted on its frame. Given data: O2 .A = 15 cm, A.B = 45 cm, A.C = 12 cm 6. Deﬁne Energy contribution coeﬃcient. Describe the Quinn’s Energy distribution method for the direct determination of input velocity of the mechanism at any instant. [16] 7. State the ‘two position synthesis of a four-bar mechanism’. Give the step by step procedure to obtain the synthesized four-bar crank-rocker and slider crank mechanisms by using two position synthesis. [16] 8. Synthesize a four-bar linkage that will, in one of its positions, satisfy the following values for the angular velocities and angular accelerations. [16] ω2 = 20 rad/s ω3 = 8 rad/s ω4 = 10 rad/s ; ; ; α2 = 0rad/s α3 = 100 rad/s α4 = −150 rad/s 2 of 3 [16]

Code No: RR411405

Set No. 1

Figure 4: ⋆⋆⋆⋆⋆

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Code No: RR411405

Set No. 2

IV B.Tech I Semester Supplementary Examinations, February 2007 ADVANCED KINEMATICS & DYNAMICS OF MACHINES (Mechatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. (a) State kutz batch criterion for determining mobility of a Spatial mechanism. (b) Find the mobility of the selected planar mechanisms. (ﬁgure 1) [6+10]

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. 3. (a) What is cognate linkages. (b) Write about inﬂection circle & inﬂection points. [8+8] [5+6+5]

4. A four -link RGGR crank-rocker mechanism shown below. The knowns are the position and plane of rotation of the input link, the plane of rotation of the output link, and dimensions of all four links. Find the positions of all moving links when the input crank is set to θ2 = 600 as shown in ﬁgure 2. Solve the problem using Analytical approach. Given data: O2 .A = 4 cm, AB = 15 cm, O4 .B = 10 cm. [16]

5. The driving moment applied on link ‘2’ is shown in ﬁgure 3. Determine the force on link ‘4’ that is necessary to be applied for equilibrium of the linkage. Also determine the state of loading on the connecting rod. Given data: O2 .A = 10 cm, A.B = 32 cm. [16]

6. Explain Equivalent-mass-and force method in Dynamic motion analysis, for the determination of input acceleration of the mechanism at any instant. [16] 7. What is the diﬀerence between two position synthesis and three position synthesis of four-bar mechanism, give step by step procedure to obtain the synthesized fourbar crank-rocker mechanism by using pole technique. [16] 1 of 3

Code No: RR411405

Set No. 2

Figure 2:

Figure 3:

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Code No: RR411405

Set No. 2

8. 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. [16] ⋆⋆⋆⋆⋆

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Code No: RR411405

Set No. 3

IV B.Tech I Semester Supplementary Examinations, February 2007 ADVANCED KINEMATICS & DYNAMICS OF MACHINES (Mechatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. (a) What is meant by mobility of a mechanism? (b) Find the mobility of the selected planer mechanisms. (ﬁgure1)

[4+12]

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. Find the ﬁxed end coordinates of cognate four-bar mechanism, use the following data. OA . OB = 100 mm, OA .A = 50 mm, OB .B = 90 mm, AB = 66 mm, α = 400 , AC = 30 mm, assume input link inclination (θ) = 300 . (ﬁgure 2) [16] 4. Using Hartman’s procedure constract the inﬂection circle for a moving plane shown below. Assume ωm = 0.5 rad/s (c.c.w), Os → S = 7 cm, P → S = 3 cm, θs = 300 (ﬁgure 3) 1 of 4

Code No: RR411405

Set No. 3

Figure 2:

Figure 3:

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Code No: RR411405

Set No. 3

5. The driving moment applied on link ‘2’ is shown in ﬁgure 4. Determine the force on link ‘4’ that is necessary to be applied for equilibrium of the linkage. Also determine the state of loading on the connecting rod. Given data: O2 .A = 10 cm, A.B = 32 cm. [16]

Figure 4: 6. The following are particulars of the slider crank mechanism shown in ﬁgure 5. O2 .A = 6 cm, AB = 18 cm, AG3 = 9 cm, φ f = 450 The weight of link ‘2’ (W2 ) = 6 N , W3 = 10 N, W4 = 5 N, The mass moment of Inertias I02 = 0.15 N-cm2 , IG3 = 0.75 N-cm2 , T2 =60 N-cm (cw) constant, F4 decrease uniformly from 25 N in phase-I to 20 N in phase-II, directed to the left. Calculate its velocity and acceleration of the input link [16]

Figure 5: 7. (a) Write about chebyshev spacing of precision points (b) What is dwell mechanism? Explain it clearly. (c) What are the errors in function generation synthesis problems? [5+6+5]

8. Synthesize a four-bar linkage that will, in one of its positions, satisfy the following values for the angular velocities and angular accelerations. [16] 3 of 4

Code No: RR411405 ω2 = 20 rad/s ω3 = 8 rad/s ω4 = 10 rad/s ; ; ; α2 = 0rad/s α3 = 100 rad/s α4 = −150 rad/s ⋆⋆⋆⋆⋆

Set No. 3

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Code No: RR411405

Set No. 4

IV B.Tech I Semester Supplementary Examinations, February 2007 ADVANCED KINEMATICS & DYNAMICS OF MACHINES (Mechatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. (a) State kutz batch criterion for determining mobility of a planar mechanism. (b) Find the mobility of the selected mechanisms. (ﬁgure1) [6+10]

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. Find the ﬁxed end coordinates of cognate four-bar mechanism, use the following data. OA . OB = 100 mm, OA .A = 50 mm, OB .B = 90 mm, AB = 66 mm, α = 400 , AC = 30 mm, assume input link inclination (θ) = 300 . (ﬁgure 2) [16] 4. Using Hartman’s procedure construct the inﬂection circle for link ‘3’ shown in ﬁgure 3. Assume ω3 = 0.5 rad/s, AB = 5 cm. [16] 5. The driving moment applied on link ‘2’ is shown in ﬁgure 4. Determine the force on link ‘4’ that is necessary to be applied for equilibrium of the linkage. Also determine the state of loading on the connecting rod. Given data: O2 .A = 10 cm, A.B = 32 cm. [16]

6. Explain Equivalent-mass-and force method in Dynamic motion analysis, for the determination of input acceleration of the mechanism at any instant. [16] 7. (a) Write about chebyshev spacing of precision points (b) What is dwell mechanism? Explain it clearly. (c) What are the errors in function generation synthesis problems? 1 of 3 [5+6+5]

Code No: RR411405

Set No. 4

Figure 2:

Figure 3:

Figure 4: 2 of 3

Code No: RR411405

Set No. 4

α2 = 0rad/s α3 = 100 rad/s α4 = −150 rad/s ⋆⋆⋆⋆⋆

8. Synthesize a four-bar linkage that will, in one of its positions, satisfy the following values for the angular velocities and angular accelerations. [16] ω2 = 20 rad/s ω3 = 8 rad/s ω4 = 10 rad/s ; ; ;

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