Iugaza Tom2012 - CH1-2 PDF

Theory of Machines
Dr. Anwar Abu-Zarifa . Islamic University of Gaza . Department of Mechanical Engineering . 2012
Syllabus and Course Outline
Faculty of Engineering
Department of Mechanical Engineering
EMEC 3302, Theory of Machines
Instructor: Dr. Anwar Abu-Zarifa
Office:
IT Building, Room: I413
Tel: 2821
eMail: aabuzarifa@iugaza.edu.ps
Website: http://site.iugaza.edu.ps/abuzarifa
Office Hrs: see my website
SAT
09:30 11:00
Q412
MON
09:30 11:00
Q412
Text Book: R. L. Norton, Design of Machinery An Introduction to the

Synthesis and Analysis of Mechanisms and Machines, McGraw Hill
Higher Education; 3rd edition
Reference Books:
John J. Uicker, Gordon R. Pennock, Joseph E. Shigley, Theory of Machines
and Mechanisms
R.S. Khurmi, J.K. Gupta,Theory of Machines
Thomas Bevan, The Theory of Machines
The Theory of Machines by Robert Ferrier McKay
Engineering Drawing And Design, Jensen ect., McGraw-Hill Science, 7th
Edition, 2007
Mechanical Design of Machine Elements and Machines, Collins ect., Wiley,
2 Edition, 2009
Grading:
Attendance
Design Project
Midterm
Final exam
5%
25%
30%
40%
Course Description:
The course provides students with instruction in the fundamentals of theory of
machines. The Theory of Machines and Mechanisms provides the foundation
for the study of displacements, velocities, accelerations, and static and
dynamic forces required for the proper design of mechanical linkages, cams,
and geared systems.
Course Objectives:
Students combine theory, graphical and analytical skills to understand
the Engineering Design. Upon successful completion of the course,
the student will be able:
To develop the ability to analyze and understand the dynamic

(position, velocity, acceleration, force and torque) characteristics of
mechanisms such as linkages and cams.
To develop the ability to systematically design and optimize
mechanisms to perform a specified task.
To increase the ability of students to effectively present written,
oral, and graphical solutions to design problems.
To increase the ability of students to work cooperatively on teams
in the development of mechanism designs.
Chapter1
Introduction
Definitions
The subject Theory of Machines may be defined as that branch of
Engineering-science, which deals with the study of relative motion
between the various parts of a machine, and forces which act on
them. The knowledge of this subject is very essential for an
engineer in designing the various parts of a machine.
Kinematics: The study of motion without regard to forces
More particularly, kinematics is the study of position, displacement,
rotation, speed, velocity, and acceleration.
Kinetics: The study of forces on systems in motion

A mechanism: is a device that transforms motion to some desirable pattern
and typically develops very low forces and transmits little power.
A machine: typically contains mechanisms that are designed to provide
significant forces and transmit significant power.
Application of Kinematics
Any machine or device that moves contains one or more kinematic elements
such
As linkages, gears. belts and chains.
Bicycle is a simple example of a kinematic system that contains a chain drive
to provide Torque.
An Automobile contains many more examples of kin-systems

the transmission is full of gears.
10
11
Chapter2
DEGREESOFFREEDOM(MOBILITY)
12
Degrees of Freedom (DOF) or Mobility

DOF: Number of independent parameters
(measurements) needed to uniquely define
position of a system in space at any instant of
time.
A mechanical systems mobility (M) can be
classified according to the number of degrees
of freedom (DOF).
DOF is defined with respect to a selected frame
of reference (ground).
13
Rigid body in a plane has 3 DOF: x,y,z

Rigid body in 3D-space has 6 DOF, 3 translations & 3
rotations three lengths (x, y, z), plus three angles
(, , ).
The pencil in these examples represents a rigid body,
or link.
14
Types of Motion
Pure rotation: the body possesses one point (center
of rotation) that has no motion with respect to the
stationary frame of reference. All other points
move in circular arcs.
Pure translation: all points on the body describe
parallel (curvilinear or rectilinear) paths.
Complex motion: a simultaneous combination of
rotation and translation.
15
Excavator
16
Slider-Crank Mechanism
17
Links, joints, and kinematic chains

Linkage design:
Linkages are the basic building blocks of all mechanisms
All common forms of mechanisms (cams, gears, belts, chains)
are in fact variations on a common theme of linkages.
Linkages are made up of links and joints.
Links: rigid member having nodes

Node: attachment points
18
1. Binary link: 2 nodes

2. Ternary link: 3 nodes
3. Quaternary link: 4 nodes
Joint: connection between two or more links (at their
nodes) which allows motion;
(Joints also called kinematic pairs)
19
Joint Classification
Joints can be classified in several ways:
1.By the type of contact between the elements, line, point, or
surface.
2.By the number of degrees of freedom allowed at the joint.
3.By the type of physical closure of the joint: either force or
form closed.
4.By the number of links joined (order of the joint).
A more useful means to classify joints (pairs) is by the
number of degrees of freedom that they allow between
the two elements joined.
20
A joint with more than one freedom may

also be a higher pair
Type of contact: line, point, surface

Number of DOF: full joint=1DOF, half joint=2DOF
Form closed (closed by geometry) or Force closed
(needs an external force to keep it closed)
Joint order
Joint order = number of links-1
21
lower pair to describe joints with surface contact
The six lower pairs
22
The half joint is also called a roll-slide joint

because it allows both rolling and sliding
Form closed (closed by

geometry) or Force closed
23
Terminology of Joints
A joint (also called kinematic pair) is a connection between two or
more links at their nodes, which may allow motion between the links.
A lower pair is a joint with surface contact; a higher pair is a joint with
point or line contact.
A full joint has one degree of freedom; a half joint has two degrees
of freedom. Full joints are lower pairs; half-joints are higher pairs and
allow both rotation and translation (roll-slide).
A form-closed joint is one in which the links are kept together form by
its geometry; a force-closed joint requires some external force to
keep the links together.
Joint order is the number of links joined minus one (e.g. 1st order
means two links).
24
Kinematic chains, mechanisms,

machines, link classification
Kinematic chain: links joined together for motion

Mechanism: grounded kinematic chain
Machine: mechanism designed to do work
Link classification:
Ground: any link or links that are fixed, nonmoving with
respect to the reference frame
Crank: pivoted to ground, makes complete revolutions
Rocker: pivoted to ground, has oscillatory motion
Coupler: link has complex motion, not attached to ground
25
crank mechanism
Elements:
0: Ground (Casing, Frame)
1: Rocker
2: Coupler
3: Crank
26
The Ground Link
When studying mechanisms it is very helpful to establish a fixed

reference frame by assigning one of the links as ground.
The motion of all other links are described with respect to the
ground link.
For example, a fourbar mechanism often looks like a 3-bar
mechanism, where the first bar is simply the ground link.
27
Drawing kinematic Diagrams
28
Determining Degrees of Freedom
29
Determining Degrees of Freedom

Two unconnected links: 6 DOF
(each link has 3 DOF)
When connected by a full joint: 4 DOF

(each full joint eliminates 2 DOF)
Grueblers equation for planar mechanisms: DOF = 3L-2J-3G

Where:
L: number of links
J: number of full joints
G: number of grounded links
30
Determining DOFs
Grueblers equation for planar mechanisms
M= 3L-2J-3G
Where
M = degree of freedom or mobility
L = number of links
J = number of full joints (half joints count as 0.5)
G = number of grounded links =1
M 3 L 1 2 J
Kutzbachs modification of Grueblers equation
31
The Cylindrical (cylindric) joint - two

degrees of freedom
It permits both angular rotation and an
independent sliding motion (C joint)
32
The Spherical (spheric) - Three degree

of freedom
It permits rotational motion about all three
axes, a ball-and-socket joint (S joint)
33
Example
34
Example
35
Grueblers Equation
Grueblers equation can be used to
determine the mobility of planar
mechanisms.
L=2
J=1
G=1
DOF=1
Link 1
3 DOF
Grueblers Equation
DOF
L
J
G
= mobility
= number of links
= number of revolute joints or
prismatic joints
= number of grounded links
DOF (M) = 3*L 2* J 3 *G

= 3 (L-1) 2 * J
1 DOF
Link 2
3 DOF
Mobility of Vise Grip Pliers

This example applies Grueblers equation to
the determine the mobility of a vise grip plier.
5
1
3
3
Each revolute joint

removes two DOF.
The screw joint
removes two DOF.
L=5
J = 4 (revolute)
J = 1 (screw)
G = 1 (your hand)
DOF = 3*5 - 2*5 - 1*3 = 2
The mobility of the plier is two. Link 3 can be moved relative link1 when
you squeeze your hand and the jaw opening is controlled by rotating
link 5.
Punch Press
Slider-Crank Mechanism
As designated in the figure, there are four

links link 1, link 2, link 3 and link 4. Link 1
acts as a crank. Link 2 acts as
connecting link, link 3 is the slider and
link 4 is ground.
Joint
Number
Formed between links
Link 4 and Link 1
Link 1 and Link 2
Link 2 and Link 3
Link 3 and Link 4
Joint type
Revolute
(or Pin)
Revolute
(or Pin)
Revolute
(or Pin)
Translatio
nal or
(Slider)
38
Mechanisms and Structures
If DOF > 0, the assembly of links is a mechanism and will

exhibit relative motion
If DOF = 0, the assembly of links is a structure and no motion
is possible.
If DOF < 0,then the assembly is a preloaded structure, no
motion is possible, and in general stresses are present.
39
Paradoxes
Greubler criterion does not include geometry, so it
can give wrong prediction
We must use inspection
L=5
J=6
G=1
M=3*5-2*6-3*1=0
E-quintet
40
Rolling cylinders even without slip (The joint between the two wheels can be
postulated to allow no slip, provided that sufficient friction is available) is an
example in which the ground link is exactly the same length as the sum of two
other links.
If no slip occurs, then this is a one-freedom, or full, joint that allows only
relative angular motion () between the wheels.
With that assumption, there are 3 links and 3 full joints,
The equation predicts DOF = 0 (L=3,
J1=3), but the mechanism has DOF = 1.
Others paradoxes exist, so
the designer
must not apply the equation
blindly.
41

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Theory of Machines

Syllabus and Course Outline

Text Book: R. L. Norton, Design of Machinery An Introduction to the

To develop the ability to analyze and understand the dynamic

Kinetics: The study of forces on systems in motion

An Automobile contains many more examples of kin-systems

Degrees of Freedom (DOF) or Mobility

Rigid body in a plane has 3 DOF: x,y,z

Links, joints, and kinematic chains

Links: rigid member having nodes

1. Binary link: 2 nodes

A joint with more than one freedom may

Type of contact: line, point, surface

Joint order = number of links-1

lower pair to describe joints with surface contact

The six lower pairs

The half joint is also called a roll-slide joint

Form closed (closed by

Kinematic chains, mechanisms,

Kinematic chain: links joined together for motion

The Ground Link

When studying mechanisms it is very helpful to establish a fixed

Drawing kinematic Diagrams

Determining Degrees of Freedom

Determining Degrees of Freedom

When connected by a full joint: 4 DOF

Grueblers equation for planar mechanisms: DOF = 3L-2J-3G

The Cylindrical (cylindric) joint - two

The Spherical (spheric) - Three degree

DOF (M) = 3*L 2* J 3 *G

Mobility of Vise Grip Pliers

Each revolute joint

As designated in the figure, there are four

Formed between links

Link 4 and Link 1

Link 1 and Link 2

Link 2 and Link 3

Link 3 and Link 4

Mechanisms and Structures

If DOF > 0, the assembly of links is a mechanism and will

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DOF (M) = 3L 2 J 3 *G