KINEMATICS OF MECHANISMS AND MACHINES

ANIRVAN DASGUPTA
Department of Mechanical Engineering
IIT Kharagpur

Introduction and Motivation

Lecture 01
 Overview

Introduction to subject of study

Motivation and aim of study

Examples with motion and force requirements
 Introduction

Kinematics: study of motion of particles and rigid bodies without
reference to forces
 Introduction

Kinematics: study of motion of particles and rigid bodies without
reference to forces

Mechanisms and machines: kinematics of inter-connected rigid
bodies
 Introduction

Kinematics: study of motion of particles and rigid bodies without
reference to forces

Mechanisms and machines: kinematics of inter-connected rigid
bodies

Equilibrating forces: quasi-static analysis
 Introduction

Mechanism: Combination of rigid bodies (links) so shaped
and connected that they move relative to each other for the
purpose of transferring and transforming motion/forces from
input(s) (actuator(s)) to an output
 Introduction

Mechanism: Combination of rigid bodies (links) so shaped
and connected that they move relative to each other for the
purpose of transferring and transforming motion/forces from
input(s) (actuator(s)) to an output

Machine: A device that uses mechanism(s) to transform and
transfer motion and force from a power source to perform
some useful mechanical work
 Key points

Mechanisms and Machines: Transmission and
transformation of motion and force
 Key points

Mechanisms and Machines: Transmission and
transformation of motion and force

Motion: displacement, velocity, acceleration, path
 Key points

Mechanisms and Machines: Transmission and
transformation of motion and force

Motion: displacement, velocity, acceleration, path

Force transmission: actuator forces
Motivation
Motivation

Mechanization and Automation: requirement of
specialized mechanical devices (manufacturing, mechanical
handling, assembly, painting, packaging)
Motivation

Mechanization and Automation: requirement of
specialized mechanical devices (manufacturing, mechanical
handling, assembly, painting, packaging)

Health-care: transfer aids and devices, physiotherapy,
surgery
Motivation

Synthesis and design: requires kinematic analysis
Motivation

Synthesis and design: requires kinematic analysis

Aim: Study kinematic analysis tools and techniques with

applications
Examples
Transfer aids/devices
Transfer aids/devices
Transfer aids/devices
 Transfer aids/devices

Actuator throw, rates, forces
Surgical instruments
Surgical instruments
Surgical instruments
 Surgical instruments

Finger-grip motion range and sensitivity, forces
Landing gear
Landing gear
Landing gear
 Landing gear

Actuator throw and rate, force
Excavators
Excavators
 Excavators

Actuator throw and rate, reach, path, forces
Robots
Robots

Fanuc serial manipulator

Source: www.dairyreporter.com
Robots

Fanuc serial manipulator Exechon's Parallel Kinematic Machine (PKM)

Source: www.dairyreporter.com Source: www.twitter.com/ibonev/status/339217235300208640
 Robots

Kinematic geometry (degree of freedom, rigidity), positioning,
velocity, acceleration, work-space, motion planning, forces

Fanuc serial manipulator Exechon's Parallel Kinematic Machine (PKM)

Source: www.dairyreporter.com Source: www.twitter.com/ibonev/status/339217235300208640
Flight simulators
Flight simulators

CAE flight simulator

Source: www.quora.com
Flight simulators

CAE flight simulator Stewart-Gough platform

Source: www.quora.com Source: Mechanics, J.L. Meriam and L.G. Kraige
 Flight simulators

Realistic body motion, actuator rates and forces

CAE flight simulator Stewart-Gough platform

Source: www.quora.com Source: Mechanics, J.L. Meriam and L.G. Kraige
 Summary

Introduction to subject of study

Motivation and aim of study

Examples with motion and force requirements
End of Lecture