Mechanisms

Prof.dr.ing. Csaba Antonya

antonya@unitbv.ro
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Lectures, lab, project

 Lectures 4h/2h:
 Wednesday from 12.00/14.00, venue: G P 3/D
I5
 Laboratory work / Project:
 venue G P 3 / D I 5
 Final grade:
 Project – (33%)
 Exam (theory and application) – (66%)
 Group Emails: stef_poienaru@yahoo.com
 arengleza@gmail.com
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 Lectures: soon on eLearning

2 Lecture 1
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Subjects - Lecture 1

 Introduction.
 Objectives of this course.
 History of Mechanism and Machine
Science
 Study of mechanisms: analysis and
synthesis
 Study of mechanisms: structure,
kinematics, dynamics
 Examples
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3 Lecture 1
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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

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of the crank shaft (engine)

Rotational motion of the crank shaft translates to Oscillation
motion of the piston (pump)
4 Lecture 1
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The main 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.
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5 Lecture 1
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Course Objectives

 In this course, we will study the motion of

mechanisms and machines (kinematics)
 Linkages
 Mobility (DOF – Degree of Freedom)
 Displacement, velocity and acceleration
analysis
 Understand the behavior of existing designs
 Design of new mechanisms
 Gears
 Cams
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Machine elements are assumed to be rigid

6 Lecture 1
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Course Outline

• Introduction & Formal Definitions

• Linkage & Mobilities
• Kinematics: Position Analysis
• Velocity and Acceleration Analysis
• Forces. Dynamics
• Graphical and Analytical Linkage Synthesis
• Gears. Gear trains. Planetary gears.
• Geometry of Gears
Cam Design.
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7 Lecture 1
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Mechanism Analysis and Synthesis

Analysis Synthesis

 Analysis – given a mechanism, perform

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

 Synthesis - design a new mechanism to

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perform a desired function

8 Lecture 1
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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
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Bacon, 1989.
 Jalon, J.G., Bayo, E., Kinematic and Dynamic
Simulation of Multibody Systems – The real time
challenge, Springer-Verlag, 1994.
9 Lecture 1
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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.,
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Kinematics, Dynamics, and Design of

Machinery, John Wiley & Sons, Inc, 2004.

10 Lecture 1
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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
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and of hydrostatics, and his

machine designs fascinated
subsequent writers

11 Lecture 1
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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
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temples and theaters,

surveying instruments, and
military machines and
weapons.
12 Lecture 1
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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 classification of
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mechanisms based on
criteria of transformation of
motion.

13 Lecture 1
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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
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machine elements.

14 Lecture 1
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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.
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15 Lecture 1
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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
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3. Linkages
4. Wrapping connectors (belts, chains)
5. Tackle (rope or chain hoists)

16 Lecture 1
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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
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3. The cam
4. The screw
5. The ratchet (intermittent-motion devices)
6. The belt

17 Lecture 1
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 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
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 Technical Committee for Rotordynamics

 Technical Committee for Sustainable Energy Systems
 Technical Committee for Transportation Machinery
 Technical Committee for Tribology
 Technical Committee for Vibrations
18 Lecture 1
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19
Lecture 1
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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.
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20 Lecture 1
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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,

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inertia)

Statics Kinematics Dynamics

STRUCTURE MECHANISM MACHINE
21 Lecture 1
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Theory of mechanisms

Structure of mechanisms

Kinematics of
mechanisms
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Dynamics of mechanisms

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Examples
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23 Lecture 1
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IC Engine
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Engine Mechanism
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25 Lecture 1
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Suspension mechanism
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26 Lecture 1
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Suspension mechanism
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Suspension mechanism
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Suspension mechanism
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29 Lecture 1
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Suspension mechanism
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30 Lecture 1
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Suspension mechanism
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31 Lecture 1
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Suspension mechanism
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32 Lecture 1
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Steering mechanism (Ackerman)
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Curs Mecanisme Lecture 1

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Examples
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Curs Mecanisme Lecture 1

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Bike suspension
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Examples
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36 Lecture 1
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Quick return
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37 Lecture 1
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Linkage and gears
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39 Lecture 1
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Orientation
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40 Lecture 1
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Examples
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41 Lecture 1
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Landing gears
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42 Lecture 1
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Windshield wiper
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43 Lecture 1
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Gearbox
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44 Lecture 1
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Differential
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45 Lecture 1
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Cam mechanism
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46 Lecture 1
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Lecture 1
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Software tools

 MSC Software: ADAMS (Automatic

Dynamic Analysis of Mechanical Systems)
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48 Lecture 1
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Software tools

 SIMPACK – INTEC GmbH

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49 Lecture 1
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Software tools

 LMS Virtual.Lab Motion

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50 Lecture 1
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Software tools

 SimMechanics – MATLAB Mathworks

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51 Lecture 1
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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
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 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

52 Lecture 1
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Definitions - MACHINE

 Mechanism and Machine Theory is the

science that studies the relationship
between geometry and the motion of
machine parts and the forces causing such
movement.
 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
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predetermined manner
 modifies mechanical energy and transmits
it in a more useful form

53 Lecture 1
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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 links and pairs.
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 In contrast: Structure – a single body with

no motion / combination of bodies with no
relative motion
54 Lecture 1
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 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
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55 Lecture 1
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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
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time interval examples :

 Linkage Mechanisms
 Cam Mechanisms

56 Lecture 1
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Components of Mechanisms

 Link / element

 Kinematic pairs / joints

 Kinematic chain
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57 Lecture 1
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Four-Bar Linkage
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58 Lecture 1
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The Slider-Crank Mechanism

Input
link, Coupler link,
crank connecting
rod

Output
link,
piston
(slider)
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59 Lecture 1
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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

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A point on a link moves on a specified path

60 Lecture 1
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Function Generation Mechanisms

A function generator is a linkage in which

the relative motion between links
connected to the ground is of interest.
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A four-bar hand actuated

wheelchair brake
mechanism
61 Lecture 1
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Function Generation Mechanisms
Function Generation Mechanisms
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A four-bar drive linkage for a lawn sprinkler

62 Lecture 1
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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
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Rollerblade brake system

63 Lecture 1
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Motion Generation Mechanisms
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Four-bar automobile
hood linkage design

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Motion Generation Mechanisms

5 Six bar

1
4
6 3 2
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Lift platform

66 Lecture 1
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Motion Generation Mechanisms

Six bar

3 2
4
5
6
1
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Microwave carrier
to assist people on
wheelchair

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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.
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Crane – straight line motion

69 Lecture 1
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Straight line Mechanisms
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Straight line Mechanisms
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Straight line Mechanisms
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