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MER 312: Dynamics and Kinematics

BY
Abraham Tchako, PhD
Fall 2008

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Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

MER 312: Dynamics and Kinematics


L1

TODAYS AGENDA
Course organization
Course Objectives
Expectations
Resources
Introductory Material
Demonstrations

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

(L2)

Course Organization

Schedule:
MWF 11:45 am 12:50 pm
NWSE 205 (Lecture)
Th.
1:55 pm 4:45 pm
NWSE 205 (Lab)
Instructor: Abraham Tchako, Ph.D.
Room 235 Steinmetz Hall
Tel.: 388-6144
Email: tchakoa@union.edu
Office Hour: MW 10:30 am 11:30 am
Room 235 Steinmetz Hall
Or by appointment
Textbook: Cleghorn, W. L., Mechanics of Machines, 2005.
Oxford University Press
Web Page: http://antipasto.union.edu/~tchakoa/mer312/.

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

The principal objectives of this course are:


To develop your understanding of the
fundamentals of kinematics and dynamics of
mechanisms and machine elements.
Gain experience using computer software to
facilitate the design and analysis of simple and
complex mechanisms.
Gain practical working knowledge, through
design project, of some basic machine
elements such as motors, gears, belts, cam,
and common linkages.
Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

What is expected of you in this course?


You are expected to:
- Attend all classes and design project
sections
- Check course web page periodically and
regularly.
- Do all homework on time - Do all
progress reports of the design project
on time

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

What is expected of you in this course?


You are expected to:
- Do all hws, projects and present them
in the form prescribed if any.
- Be a good team member (design
project)
- Start the project when it is handed out.
- ALL your work must be your own or
your groups!
Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Course Resources & Webpage


Resources

Textbook:
W. L. Cleghorn, Mechanics of Machines, Oxford University
Press, 2005 with CD-ROM.
Interactive 3D and 2D Virtual models.
Flux Player to view virtual models
Working Model
Cam Design computer program
Scaled diagrams of mechanisms for solving problems
SolidWorks/COSMOS Motion
Lecture Notes online
Course Web page
http://www.engineering.union.edu/~tchakoa/mer312/

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Course Evaluation

Your Graded will be based on:


- Assignments,
- 3 Exams (2 exams and 1 final),
- Lab/Projects and,
- Quizzes
Arrange yourselves in project groups of 3
to 4 by 9/25
If not in a group by that date You will be
assigned to one

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Introduction
Mechanical Engineering

KINEMATICS Solid Mechanics

Fluid Mechanics

THE STUDY OF MOTION


WITHOUT REGARD TO FORCES

Hydrodynamics

Aerodynamics

KINETICS Thermodynamics

THE STUDY OF FORCES


DUE TO MOTION

Statics

Dynamics

Stress Analysis

DESIGN THE CREATION OF SOMETHING

KINEMATICS
Union College
Mechanical Engineering

KINETICS
MER 312: Dynamics and Kinematics
(of Mechanisms) / AT

THAT DIDN'T EXIST BEFORE

Units are the Bane of an Engineers


Existence

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Definitions
Mechanism: a device which transforms
motion to some desirable pattern and typically
develops very low forces and transmits little
power.
Machine: typically contains mechanisms
which are designed to provide significant forces
and transmit significant power

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Demonstrations
Single-cylinder piston engine

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Definitions
Similarities: They are
both combinations of rigid
bodies (Links) the relative
motion among the rigid
bodies are definite.
Differences: Machines
transform energy to do
work, while mechanisms
do not necessarily perform
this function.
Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Commonly Employed Mechanisms

Slider Crank Mechanisms:

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Commonly Employed Mechanisms

Four-Bar Mechanisms:

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Commonly Employed Mechanisms

Belt Drive and Gearing Mechanisms:

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Commonly Employed Mechanisms

Cam Mechanisms:

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Kinematic Chains and Kinematic pairs


Kinematic Chain: is an assemblage
of links and kinematic pairs capable
of relative motion. The base link is not
specified.
Mechanism: a kinematic chain in
which at least one link is fixed (the
base/ground link) with the purpose of
transforming motion.
Kinematic Pairs or Joints: connect
the links of the mechanism together.
Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Links
Link is a rigid body that possesses at least
2 nodes.
Node is an attachment point to other links
via joints.

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Kinematic Pairs or Joints


Kinematic pair/ joint is a connection
between two or more links at their nodes. It
allows motion to occur between the links.

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Basic Types of Kinematic Pairs or Joints


Turning pair/Pivot is a joint that allows
relative turning/rotary motion between two links.
Slider or sliding pair is a joint that allows
relative sliding/linear motion between two links.
Rolling pair allows relative rolling motion
between two links.
A connection may allow more than one type of
relative motions between its links.
Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Sample of Kinematics Pairs

Revolute

1 DOF
Joints
Screw

Prismatic
Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Sample of Kinematics Pairs

Cylindrical

2 DOF
Joints

Half joint
Union College
Mechanical Engineering

Pin-in-slot

Multi-link
MER 312: Dynamics and Kinematics
(of Mechanisms) / AT

Sample of Kinematics Pairs

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Sample of Kinematics Pairs

Joints
restraint
and allow
motion
between
links

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Sample Problems for self study

Problem for self study


Identify
(1) Number Elements
(2) Number Joints
(3) Calculate mobility

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Demonstrations
Single-cylinder piston engine

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT

Demonstrations
Upload Mechanism

Union College
Mechanical Engineering

MER 312: Dynamics and Kinematics


(of Mechanisms) / AT