Mechanisms

Prof.dr.ing. Csaba Antonya

antonya@unitbv.ro
DATR
Lectures, lab, project

 Lectures 3h: Friday 13.30 – 16.20, venue:

G P 3/H P 13
 Laboratory work / Project:
 Mechanical Engineering Wednesday 11.40-
13.20, venue G P 3 / L II 10
 Automotive Engineering Wednesday 13.30-
15.10, venue G P 3 / L II 10
 Final grade:
 Project – (33%)
 Exam (theory and application) – (66%)
MECHANISMS

2 Lecture1
DATR
Subjects - Lecture I

 Introduction.
 Objectives of this course.
 History of Mechanism and Machine
Science
 Study of mechanisms: analysis and
synthesis
 Study of mechanisms: structure,
kinematics, dynamics
 Examples
MECHANISMS

3 Lecture1
DATR
The principal objectives of this course are:

 To develop your understanding of the

fundamentals of kinematics and dynamics
of mechanisms.
 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 common
linkages.
MECHANISMS

4 Lecture1
DATR
Course Objectives

 In this course, we will study the motion of

mechanisms and machines (kinematics)
 Mobility
 Displacement, velocity and acceleration
analysis
 Understand the behavior of existing designs
 Design of mechanisms
 Gears
 Cams
MECHANISMS

Machine elements are assumed to be rigid

5 Lecture1
DATR
Course Outline

• Introduction & Formal Definitions

• Linkage & Mobilities
• Kinematics: Position Analysis
• Velocity and Acceleration Analysis
• Dynamics
• Graphical and Analytical Linkage Synthesis
• Gears
• Cam Design
MECHANISMS

6 Lecture1
DATR
Definition of Mechanism

 A device that transforms motion to some

desirable pattern

4
D C
3
B

1
2
A

Oscillation motion of the piston translate to rotational motion

MECHANISMS

of the crank shaft (engine)

Rotational motion of the crank shaft translates to Oscillation
motion of the piston (pump)
7 Lecture1
DATR
Mechanism Analysis and Synthesis

Analysis Synthesis

 Analysis – given a mechanism,

perform kinematics and kinetics
analysis
 Establishing the structural, kinematic
and dynamic characteristics
MECHANISMS

 Synthesis - design a new

mechanism to perform a desired
function

8 Lecture1
DATR
Literature

 Talabă, D., Mecanisme articulate. Proiectare

asistată de calculator, Ed.Univ. Transilvania, 2004.
 Alexandru, P. ş.a, Proiectarea funcţională a
mecanismelor. Editura Lux Libris. 1999
 Antonya, Cs., Simularea grafică a sistemelor de
corpuri, Ed.Univ. Transilvania, 2004.
 Erdman, A. G., Sandor, G. N., Kota, S., Mechanism
Design: Analysis and Synthesis, Prentice Hall,
2001.
 Haug, J.E., Computers Aided Kinematics and
Dynamics of Mechanical System, vol. I. Allyn and
MECHANISMS

Bacon, 1989.
 Jalon, J.G., Bayo, E., Kinematic and Dynamic
Simulation of Multibody Systems – The real time
challenge, Springer-Verlag, 1994.
9 Lecture1
DATR
Literature

 Uicker, J.J. Jr., Pennock, G.R. and Shigley

J.E. Theory of Machines and Mechanisms,
Oxford University Press, 2011
 Myska, David H. Machines & Mechanisms:
applied kinematic analysis, 2nd Ed.,
Prentice Hall, 2002
 Shabana, A. A., Dynamics of Multibody
Systems, Cambridge University Press,
2005
 Waldron, Kenneth J. and Kinzel, Gary L.,
MECHANISMS

Kinematics, Dynamics, and Design of

Machinery, John Wiley & Sons, Inc, 2004.

10 Lecture1
DATR
History of Mechanism and Machine Science

 Archimedes (ca. 287–212

BC) systematized the design
of simple machines and the
study of their functions
 Contributed greatly to the
theory of the lever, screw,
and pulley, although he did
not invent any of these
machines.
 He is the founder of statics
MECHANISMS

and of hydrostatics, and his

machine designs fascinated
subsequent writers

11 Lecture1
DATR
History of Mechanism and Machine Science

 Heron of Alexandria (10–85

AD) wrote many books on
Mathematics, Geometry and
Engineering, which were in use
till the medieval times.
 His most important invention
was the Aeolipile, the first
steam turbine.
 Other inventions include
automated machines for
MECHANISMS

temples and theaters,

surveying instruments, and
military machines and
weapons.
12 Lecture1
DATR
History of Mechanism and Machine Science

 Agustin de Betancourt
(1758–1824), together
with Jose Maria de Lanz, is
known as co-author of
“Essai sur la composition
des machines” (1808),
considered to be the first
modern treatise on
machines and the first
book that contains a
proposal for the
MECHANISMS

classification of
mechanisms based on
criteria of transformation
of motion.
13 Lecture1
DATR
History of Mechanism and Machine Science

Franz Reuleaux
(1829-1905)
developed a system
for classifying
kinematic
mechanisms and
created hundreds
of models to
embody his basic
MECHANISMS

machine elements.

14 Lecture1
DATR
Kinematics (History)

 André-Marie Ampère (1775-1836) first

used the word Cinematique (French), from
the Greek word for motion, describes the
study of motion without regard to forces.

 Later Cinematique anglecized to

kinematics and germanized to kinematik.
MECHANISMS

15 Lecture1
DATR
Kinematics (History)

• Robert Willis (1800-1875), Prof. of

natural philosophy at the University of
Cambridge, England, summarized the
task of mechanical synthesis.

– Five different ways to obtain relative

motions between input and output links:

1. Rolling contact
2. Sliding contact
MECHANISMS

3. Linkages
4. Wrapping connectors (belts, chains)
5. Tackle (rope or chain hoists)

16 Lecture1
DATR
Kinematics (History)

• Reuleaux (1829-1905), published

Theoretitiche Kinematik in 1875, translated
into English by Alexander Kennedy (1847-
1928)

– This text became the foundation of modern

kinematics.

• Reuleaux defined six basic mechanical

components.

1. The link
2. The wheel
MECHANISMS

3. The cam
4. The screw
5. The ratchet (intermittent-motion devices)
6. The belt

17 Lecture1
DATR
 http://www.iftomm.org
 International Federation for the Promotion of
Mechanism and Machine Science
 Technical Committee for Biomechanical Engineering
 Technical Committee for Computational Kinematics
 Technical Committee for Gearing and Transmissions
 Technical Committee for Linkages and Mechanical
Controls
 Technical Committee for Micromachines
 Technical Committee for Multi-body Dynamics
 Technical Committee for Reliability
 Technical Committee for Robotics and Mechatronics
MECHANISMS

 Technical Committee for Rotordynamics

 Technical Committee for Sustainable Energy Systems
 Technical Committee for Transportation Machinery
 Technical Committee for Tribology
 Technical Committee for Vibrations
18 Lecture1
 MECHANISMS DATR

19
Lecture1
DATR

MECHANICS
Science dealing with motion

DIVISIONS OF MECHANICS
Statics – Deals with systems which
are not changing with time.

Dynamics – Deals with systems which

are changing with time.
MECHANISMS

Lecture1
DATR
DIVISIONS OF DYNAMICS

KINEMATICS – Deals with Motion and Time

THE STUDY OF MOTION WITHOUT REGARD TO FORCES

(Kinema – Greek Word – Motion)

KINETICS (DYNAMICS) – Deals with Motion, Time and

Forces.

THE STUDY OF MOTION AND ITS CAUSES (forces, mass,

MECHANISMS

inertia)

Statics Kinematics Dynamics

STRUCTURE MECHANISM MACHINE
Lecture1
DATR
Theory of mechanisms

Structure of mechanisms

Kinematics of
mechanisms
MECHANISMS

Dynamics of mechanisms

22 Lecture1
DATR
Examples
MECHANISMS

23 Lecture1
DATR
Examples
MECHANISMS

24 Lecture1
 MECHANISMS DATR

25
Lecture1
 MECHANISMS DATR

26
Lecture1
 MECHANISMS DATR

27
Lecture1
 MECHANISMS DATR

28
Lecture1
 MECHANISMS DATR

29
Lecture1
 MECHANISMS DATR

30
Lecture1
 MECHANISMS DATR

31
Lecture1
DATR
Steering mechanisms(Ackerman)
MECHANISMS

Curs Mecanisme Lecture1

DATR
Suspension mechanisms
MECHANISMS

33 Lecture1
DATR
Windshield Wipers
MECHANISMS

34 Lecture1
DATR
Engine
MECHANISMS

35 Lecture1
 MECHANISMS DATR

36
Lecture1
DATR
Full car model
MECHANISMS

37 Lecture1
DATR
Software tools

 MSC Software: ADAMS (Automatic

Dynamic Analysis of Mechanical Systems)
MECHANISMS

38 Lecture1
DATR
Software tools

 SIMPACK – INTEC GmbH

MECHANISMS

39 Lecture1
DATR
Software tools

 LMS Virtual.Lab Motion

MECHANISMS

40 Lecture1
DATR
Software tools

 SimMechanics – MATLAB Mathworks

MECHANISMS

41 Lecture1
DATR
Software tools

 alaska Technical University of Chemnitz, Germany

 AUTOLEV OnLine Dynamics Inc., United States
 AutoSim Mechanical Simulation Corp., United States
 AVL EXCITE AVL, Austria
 CAMeL-View IXtronics GmbH, Germany
 COMPAMM CEIT, Spain
 Dynawiz Concurrent Dynamics International
 Hyperview Motionview Altair Engineering, United States
 MapleSim Maplesoft, Canada
 MECANO Samtech, Belgium
 MBDyn Politecnico di Milano, Italy
 MBSoft Universite Catholique de Louvain, Belgium
 NEWEUL University of Stuttgart, Germany
 RecurDyn Function Bay Inc., Korea
 RoboAnalyzer Avon Enterprises, India
 Robotran Universite Catholique de Louvain, Belgium
 SAM Artas Engineering Software, The Netherlands
 SD/FAST PTC, United States
 SimCreator Realtime Technologies Inc., United States
MECHANISMS

 SimMechanics The Mathworks, United States

 SPACAR University of Twente, The Netherlands
 TRUE True-World, France
 Universal Mechanism Bryansk State Technical University, Russia
 Working Model Knowledge Revolution, United States

42 Lecture1
DATR
Definitions - MACHINE

 Machines are mechanical devices used to

accomplish work, to transfer or transform
energy to do useful work.
 An assemblage of parts that transmit
forces, motion and energy in a
predetermined manner
 modifies mechanical energy and transmits
it in a more useful form
MECHANISMS

43 Lecture1
DATR
Definitions - MECHAMISN

 A mechanism is a heart of a machine.

 It is the mechanical portion of the
machine that has the function of
transferring motion and forces from a
power source to an output.
 Mechanism is a system of rigid elements
(linkages) arranged and connected to
transmit motion and/or force in a
predetermined fashion.
 Mechanism consists of linkages and joints.
MECHANISMS

 In contrast: Structure – a single body with

no motion / combination of bodies with no
relative motion
44 Lecture1
DATR

 Mechanism and machine parts or links

move with respect to one another,
because adjacent links are connected by
articulations called joints (kinematic pair)
 A link is assumed to be completely rigid
MECHANISMS

45 Lecture1
DATR
Classification of Mechanisms

 Based on the nature of

output speed
 Uniform motion
mechanism - Equal
Displacement For Equal
Time Interval
 All Gear Drives
 Non-uniform motion
mechanism Unequal
Displacement For Equal
MECHANISMS

Time Interval Examples :

 Linkage Mechanisms
 Cam Mechanisms

46 Lecture1
DATR
Components of Mechanisms

 Link / element

 Kinematic pairs / joints

 Kinematic chain
MECHANISMS

47 Lecture1
DATR
Four-Bar Linkage
MECHANISMS

48 Lecture1
DATR
The Slider-Crank Mechanism

Input
link, Coupler link,
crank connecting
rod

Output
link,
piston
(slider)
MECHANISMS

49 Lecture1
DATR
Categories of Mechanisms

 Function generation mechanisms

Output is a specified function of input

 Motion generation mechanisms

The orientation of the object is important,
rigid body guidance

 Path generation mechanisms

MECHANISMS

A point on a link moves on a specified path

50 Lecture1
DATR
Function Generation Mechanisms

A function generator is a linkage in which

the relative motion between links
connected to the ground is of interest.
MECHANISMS

A four-bar hand actuated

wheelchair brake
mechanism
51 Lecture1
DATR
Function Generation Mechanisms
Function Generation Mechanisms
MECHANISMS

A four-bar drive linkage for a lawn sprinkler

52 Lecture1
DATR
Function Generation Mechanisms

A four-bar function
generation mechanism to
lower an attic stairway.
MECHANISMS

A four-bar function generation

mechanism to operate an
artificial hand used for gripping.
53 Lecture1
DATR
Motion Generation Mechanisms

In motion generation, the entire motion of the

coupler link is of interest (rigid body guidance).

Moving
3 joints

Fixed pivot points

4
MECHANISMS

Rollerblade brake system

54 Lecture1
DATR
Motion Generation Mechanisms
MECHANISMS

Four-bar automobile hood linkage

design

55 Lecture1
DATR
Motion Generation Mechanisms

Six bar

5 Six bar 3 2
4
5
1 6
4 1
6 3 2
MECHANISMS

Lift platform Microwave carrier

to assist people on
wheelchair

56 Lecture1
DATR
Path generation mechanisms

In path generation, we are concerned only

with the path of a tracer point and not
with the motion (rotation) of the coupler
link.
MECHANISMS

Crane – straight line motion

57 Lecture1
DATR
Straight line Mechanisms
MECHANISMS

58 Lecture1
DATR
Straight line Mechanisms
MECHANISMS

59 Lecture1