Indian Institute of Technology, Kharagpur

Department of Mechanical Engineering

Sp ing, 2010-11 Mid-Semester Examination

Su ~ect: Kinematics of Machines (ME21008/ ME21006) Number of students: 147
Ti e: 2 hours Marks: 60
Instructions:
Answer any 4 questions. All questions carry equal marks.
Any assumptions made in solving the questions should be justified with reasons.
A swer questions 4 and 5 on the sheets attached to the question paper directly using the given
fig res and attach them to your answer script. Write your name and roll number on those sheets
in the spaces provided.

1.
punching press is driven by a motor rotating the disc Din Fig. 1a. Draw the kinematic diagram of
achine. (5)
raw a Cartesian coordinate system with the x axis representing a and they axis representing e. In
this a-e parameter plane mark-out the region(s) where the kinematic chain shown in Fig. 1b is
Gra hofian. Also identify the crank(s) for the region(s) using the link numbers provided. (10)

2. mechanized dumper is driven by a linear hydraulic actuator, as shown in figure 2 (figure is not to
seal ). Redraw a properly scaled figure in its current configuration when the throw of the actuator is 4 m.
If th actuator is expanding at a constant rate of 0.25 m/s, graphically calculate the velocity and
a leration of point C of the bin at its current configuration. (3+5+7)

3. nalytically calculate the acceleration of the tip B in the current co_nfiguration of the mechanism
sho n in figure 3 when the disc D is rotating about 0 2 at a constant angular speed of 10 rad/s in the
cou ter-clockwise direction. The higher pair at C is always maintained. Take angle P0204=90o,
0 2P PC=0.5 m, AB=3 m, Oz04=2 m and A04=4 m. (15)

4. n figure 4 link 2 rotates with a speed of 1 rad/s counterclockwise. The curved slider welded to a rod
to link 3, which slides in a curved slot of radius 3 units embedded in link 2. Dimensions and
orie tations of other links are as shown, with u standing for length unit. Find the angular velocity of link4t
and elocity of link 6 with respect to the ground using the method of ICs. (15) .. fl~ ~ fo ~~

5. ynthesize a 4 bar RRRR linkage (shown schematically in figure 5a) to guide a door through the
thre given positions shown In frgure 5b using the given moving pivots A and B located on the door. (15)
 Fig 1b

Fig 1a

Fig 2

Fig 3
 . N a m e : - - - - - - - - - - - - - - - - Roll No . - - - - - -

'•
1

Fig 4
 ~~:
,.,
____________ Roll No. _ _ __

1 2 3 4 5

Fig 5