Kinematics of Machines N= Gm PLL AMET ECE MUNG A | mit mi @ “Zloldoqds Kinematics of Machines 7™ Revised & Enlarged Edition J.B.K. DAS ue, mste, Retired Professor (M.S.R.1.T) Visiting Professor Sambhram Institution of Technology Bangalore - 560097 \ - & P.L. SRINIVASA MURTHY we, miste., Asst. Professor, Department of Mechanical Engineering, M.S,BAT) Bangalore - 54 (oO .) @@& Sapna Book House Book Housé 4 Road, Gandhinagar, Bangalore - 560 009 Ph: 40114455mematics of Machines - For Engineering Students, by Prof, J.B.K. Das and P.L. 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John Rose & Smt. P.L. Padmavathamma Sri PV. Lakshminarayana Rao Beloved Founder Chairman, GEF Late. Sri M.S.Ramaiah & Dearest Students Autiors J.B.K.Das PLS1, INTRODUCTION 1-27 Definitions : Link or element, Pairing of elements with degrees of freedom, Grubler's criterion (without derivation), Kinematic chain, Mechanism, Structure, Mobility of Mechanism, Inversion, Machine. Kinematic Chains and Inversions : Kinematic chain with three lower pairs, Inversions of Four bar chain, Single slider crank chain & Double slider crank chain and their inversions. Review Questions 2. MECHANISMS 28-41 i) Quick return motion mechanisms - Drag link mechanism, Whitworth mechanism and Crank & slotted lever mechanism. ii) Straight line motion mechanisms - Peacellier's mechanism and Robert's mechanism. ili) Intermittent motion mechanisms - Geneva mechanism and Ratchet & Pawl mechanism. iv) Toggle mechanism, Pantograph, Ackerman steering gear mechanism. Review Questions 3. VELOCITY & ACCELERATION ANALYSIS OF MECHANISMS (GRAPHICAL METHODS) 42-103 Velocity and acceleration analysis of four bar mechanism, slider crank mechanism and simple mechanisms by vector polygons : Relative velocity and accelerations of particles in a common link, relative velocity and accelerations of coincident particles on separate links, Coriolis component of acceleration, Angular velocity and angular acceleration of links, velocity of rubbing. Review Questions4, VELOCITY ANALYSIS BY INSTANTANEOUS CENTRE METHOD 104-131 Definition, Kennedy's Theorem, Determination of linear and angular velocity using instantaneous center method. Klein's construction : Analysis of velocity & acceleration of single slider crank mechanism Review Questions 5. VELOCITY AND ACCELERATION ANALYSIS OF MECHANISMS (ANALYTICAL METHODS) 132-179 ‘Analysis of four bar chain and stider crank chain using analytical expressions. (use of complex algebra and vector algebra) Review Questions 6. SPUR GEARS 180-241 Gear terminology, law of gearing, Characteristics of involute action, Path of contact, Arc of contact, Contact ratio, Interference in involute gears, Methods of avoiding interference, Back lash, Gomparison of involute and cycloidal teeth, Review Questions 7. GEAR TRAINS 242 - 305 ‘Simple gear trains, Compound gear trains for large speed reduction, Epieyolic gear (rains, Algebraic and tabular methods of finding velosity ratio of epicyclic gear trains, Tooth load and torque calculations in epicyclic gear trains. Review Questions 8. CAMS 306 - 361 Types of cams, Types of followers, Displacement, Velacity and Acceleration time curves forcam profiles, Disc cam with reciprocating follower having knife-edge, roller and flat faced follower, Disc cam with oscillating rolter follower, Follower motions including SHM, Uniform velocity, Uniform acceleration & retardation and Cycloidal mation. ions Review Que LATEST QUESTION PAPERS 362 - 377_ INTRODUCTION 4.1 Introduction Theory of Machines deals with the study of rel and the forces whieh act on those parts. ve motion between the parts of a machine The study of the relative motion between the parts is known as kinematies, where as the study of forces which act on the parts is known as Dynamics, Dynamies may be further divided into statics and kinetics, Staties deals with the forces which act on the various parts when the mass of the parts is not considered. In kineties the inertia forces due to the ‘combined effect of mass and the motion of the machine parts is considered. 1.2 Definitions and Simple Mechanism 1.2.1 Kinematic Link or Element + A"Linkis a part of machine which has relative motion with respect to another machine part” A link may consist of one or more resistant bodies and have no motion relative to each other, eg. Piston, Pistonrod and cross head of a steam engine constitute one unit and hence called one link (Fig, 1.94), In Fig. 1.1, link 1 is the fixed fink, It inetudes the frame and all other stationary parts like cylinder, crank shaft bearing, cam shaft bearing ete. Link 2is the crank shaft, flywheel etc., all g motion with respect to the fixed ais, Link 3 is the connecting rod. Link 4 is the having rotate piston and itis having a reciprocating motion Connecting Rod crankshaft Frame & Cylinder (Fixed) Fig. LIIntroduction 3 Link need not be a rigid body but must be a resistant body ie., it must be capable of transmitting the required forees with negligible deformation. Therefore a link should have two characteristics. The are i) Itshould have relative motion ii) It must be a resistant body links are classified as rigid, flexible and fluid links. Kinemati Rigid tink does not undergo any deformation while transmitting motion. 4 Connecting rod etc. Flexible link is partly deformed while transmitting motion e.g. Belt, Springs etc. Crank shaft, Fluid link is the one in which the motion is transmitted through the fluid by pressure or compression, e.g. Hydraulic press, Hydraulic brakes ete, 1.2.2 Kinematic Pair: Kinematic pair is a combintation of two kinematic links such that their relative motion is completely constrained Kinematic pairs are classified mainly based on the following considerations. (a) Nature of relative motion between the elements: Based on the relative motion between the elements, it is classifed as (i) turning pais, (ii) sliding pair, (iii) Screw pair, (iv) Spherical pair, (v) Rolling pair, 3X A > | i) LD (iii) (ivyKinematies of Machines 4 g R Ls A. q 4 i wi) Fig. 1.2 i) In fig. 1.2(4) A can stide and can also rotate in B, as it doesn't have constrained motion, they don't form kinematic pair. ii) In fig, 1.2Gi) A can only rotate in B, hence they form a kinematic pair & is known as tuming pai. iia) In fig. 1.2Ciii) A can only slide in B, hence they form a kinematic pair & is known as sliding iv) Infig, 1 2(iv) as there is definite relation between axial and rotary motion, and B form ‘a kinematic pair & is known as serew pai. ¥) Akinematic pairs said to be spherical pairif one link in the form of a sphere turns inside a spherical groove provided in the fixed kink as shown in fig, 1-2(0). A ball and socket joint forms a spherical pair vi) A kinematic pair is said to be a rolling pair if one element is free to roll on the other, In ‘roller bearing, the rollers R are rolling on the surfaces of inner race B and the other race A as shown in fig, 1.2(vi) (b) Nature of contact between the elements: sed on this, it is classified as (i) Higher pair and (ii) Lower pair Higher pairs will have Fine or point coniact while in motion, Eg. Rolter or ball bearings (Fig, 1.2 (vi)), Belt drives, gear drives, eam and follower etc Lower pairs will have surface contact between wo links. 2. :‘Tening pair, sliding pairwisting. pair, screw pair ete {c) Nature of mechanical constraint between the elements: Based on this, itis classified as (i) closed pair and (#1) open pai In closed pair the elements of puirs are held together mechanically: In Fig. 1.2 (1), Gi), (Wy (v) and (vi) are all elosed pairs, In unclosed or open pair the elements of pairs are not held together mechanically, Cam and (vii) is an example of unclosed or open pair, The contact is maintained ically eld together. follower shown in fig | due tw the force of gravity and the spring and they are not mecIntroduction 1.2.3 Motion and its types : ‘A change of position is known as motion. It is classified as follows : (i) Motion Absolute motion . Relative motion (ii) Motion 4 ¥ Rectilinear Helical or screw Spherical motion motion motion (iii) Motion 4 | | | Continuous Reciprocating Oscillatory Intermittent motion motion motion motion (iv) Motion \ ¥ ¥ é : Unitorm Variable Simple Harmonic motion motion motion (¥) Motion \ J Typ Completely Constrained Partially Constrained —_—_‘Incompletely Constrained motion motion motion6 Kinematics of Machines ‘The three main types of constrained motion in kinamatic pair are, () Completely constrained motion ; If the motion between a pair of links constrained motion. Eg : Motion of a shaft or rod with collars at each end in a hole as shown in Fig. 1.2 (i) Motion of a square bar in a square hole as shown in Fig. 1 21) fmited to a definite direction, then it is completely Incompletely Constrained Motion Ifthe motion between a pair of links is not confined to a definite direction (i.e., more than one direction), then it is incompletely constrained motion. Bg: A circular shaft in a circular hole may either rotate ar slide in the hole as shown in Fig. 1.2 (i) (iil) Successfully Constrained Motion or Partially Constrained Motion If the motion in a definite direction is not brought about by itself but by some other means, then it is known as successfully constrained motion Ex : Footstep bearing. (Fig 1.2) (viii). Here the shaft may rotate in bearing or it may move upwards and thus form a incompletely constrained motion, But if @ load is placed on the shaft prevent upward movement of the shaft, then the motion of the pair is said (o be successfully constrained motion. Load (viii) Fig. 1.2 1.2.4 Kinematic chain Kinematic chain is a combination of kinematic pairs such that each link forms a part of two pairs and the relative motion is completely constrained or kinematic chain is any group of links connected together for the purpose of transmitting force or mation. 1.2.5 Mechanism By fixing one of the links of a kinematic chain the arrangement may be used (o transmit or transform motion and this arrangement is known as mechanism. Mechanism with 4 links is known 4s'Simple Mechanism’ and more than 4 links is known as ‘Compound Mechanism.Introduction 1.2.6 Inversion By fixing each link at a time we get as many mechanisms as the number of links, then each mechanism is called as an Inversion’ of the original kinematic chain. i.¢., The method of obtaining different mechanisms by fixing different links in a kinematic chain is known as inversion of the mechanism. 1.2.7 Machine : It is a combination of resistant bodies with successfully constrained motion which is used to transmit or transform motion to do some useful work. Eg : Lathe, shaper, steam engine, etc. 1.2.8 Structure : It is an assemblage of a number of resistant bodies having no relative motion between them. Structures are meant for taking up loads, There is only straining action due to forces acting on them, Eg. : Railway bridges, roof trusses, ete. 1.2.9 Difference between Machine and Mechanism Machine 4 1. Machine modifies mechanical work 2. A machine is a practical development of any mechanism. 3. A machine may have number of mechanisms for transmitting mechanical work or power. Eg : Lathe, Shaper, Steamengine, ete. Mechanism 1. Mechanism transmits and modifies motion. 2. A mechanism is a part of a machine, 3. A mechanism is the skeleton outline of the machine to produce motion between various links Eg : Clock work, type-writer, an indicator to draw P-V. diagrams of an engine, etc. 1.2.10 Difference between Machine and Structure Machine Structure 1. Relative motion exists between its parts. 2. Links are meant to transmit motion and power 3. It is meant for transmitting useful energy to do certain type of work eg : lathe, shaper, steam engine, etc, 1, No relative motion exists between its, members 2. The members of a structure transmit only forces 3. No useful energy is transmitted by it, eg : Railway bridges, roof trusses, machine frame, etc.8 Kinematics of Machines 1.3. Kinematic chain with three lower pairs tis impossible to have a kinematic chain consisting of three turning pairs. But it is possible to have a chain which consists of three sliding pairs or which consists of a turning, a sliding and a serew pair. Fig. 1.3 (a) shows a kinematic chain with three sliding pairs. It consists ofa frame B, wedge Candasliding rod A. Here the three sliding pairs are one between the wedge C and the frame B, second between wedge C and sliding rod A and the third between sliding rod A and the frame B. Fig. 1.3 (b) shows the mechnism of a fly press, The element B forms a sliding pair with A and turning pair with screw rod C which in turn forms a screw pair with A, When link A is fixed, the required fly press mechanism is obtained Fig. 13 (b) 1.4 Types of Kinematic chain ¢ chain with four lower pairs are important, each pair being a sliding pair or a Phe following types of kinematic chains are important from practical point of view. Kinem: turning pai Kinematic chain Taare wT hate Four bar chain Single slider crank chain Double slide crank chainIntroduction 9 1.4.1 Four bar chain or Quadric cycle chain The chain has four links and it looks like a cycle frame and hence it is also called quadric cycle chain and is shown in fig, 1.4. In this type of chain all the four pairs will be turning pairs. Connecting rod Rocker Frame Fig. 4 1.4.2 Inversions of four bar chain mechanism : There are three inversions for four bar chain mechanism and they are : 1) Beam engine or Crank and lever mechanism. 2) Coupling rod of locomotive or Double erank mechanism, 3) Watt's straight line mechanism or Double lever mechanism. 1) Beam Engine Oscillating motion Connecting rod [Vertical reciprocating motion Fig. 1.5 When the crank AB rotates about A, the link CE pivoted at D makes ver motion at end E. This is used (o conyert rotary motion to reciprocating motion and vice-versa. It is al reciproc: ing10 Kinematics of Machines also known as crank and lever mechanism and is shown in fig. 1.5 2) Coupling rod of Locomotive ad 2 Fig. 1.6 In this mechanism the length of link AD = length of link BC. Also length of link AB = length of link CD. When AB rotates about A, the crank DC rotates about D. This mechanism is used for coupling locomotive wheels, Since links AB and CD work as cranks, this mechanism is also known as double crank mechanism and is shown in fig 1.6 3) Watt's straight line mechanism or Double lever mechanism In this mechanism, the links AB & DE act as levers and the ends A & E of these levers are fixed. The links AB & DE are parallel in the mean position of the mechanism & coupling rod BD is perpendicular to the levers AB & DE, On any smuil displacement of the mechanism the tracing point 'C’ traces the shape of number'8' a portion of which will be approximately straight. Fence this is also an example for approximate straight line mechanism and is shown in fig 1.7. 1.4.3. Single slider crank chain I is a four bar chain having one sliding pair and three turning pairs and is shown in figh.8. ‘The purpose of this mechanism is to convert rotary motion to reciprocating motion and vice versa,introduction "1 Connecting Rod Crankshaft io Cylinder (Fixed) Fig. 18 1.4.4 Inversions of single slider crank chain : There are four iversions in a single slider crank chain mechanism, they are 1) Reciprocating engine mechanism (First inversion) 2) Oscillating cylinder engine mechanism (Second inversion) 3) Crank and slotted lever mechanism (Second inversion} 4) Whitworth quick return motion mechanism (Third inversion) 5) Rotary engine mechanism (Third inversion) 6) Bull engine mechanism (Fourth inversion) 7) Hand pump (Fourth inversion) 1) Reciprocating engine mechanism In the first inversion, the link 1 ie., the cylinder and the frame is fixed. Link 2 is the erank. Link 3 is the connecting rod and Kink 4 includes crosshead, pistonsad and piston. In Fig. 1.9(@) as the crank rotates, the cross head reciprocates in the guides and thus the piston reciprocating in the cylinder. This mechanism: is used in reciprocating steam engine Connecting rod (Link 3) Crank oT tk 2) Piston Piston rod (a) Actual Setup in reciprocating steam engine mechanism Cross head tink 4) Cylinder(Link 1) (b)Line Diagram12 Kinematics of Machines In Fig, 1.9¢b) the slotted link Q is fixed. When the crank OC rotaies about O, the shding slotted link Q. ‘This mechanism is used in steam engine, pumps, compressors, LC. engines, ete. Ifthe link 4 (Le,, the piston) is the driver, it represents a reciprocati or an IC engine and if the link 2 (i.e, the crank) is the driver, i represents a pump piston P reciprocates in th steam eng che Second inversion is obtained by fixin this inversion is oscillating cylinder engine Here the connecting rod PO Le., link 3 is fixed. 2) Oscillating cylinder engine om ism the connecting rod or link 3. One of the applications of is mechanism is shown in fig. 1.10 mechanism, 1 Line Diagram Actual Setup Fig. 1.10 When the crank OC (link 2) rotates, the piston a and the cylinder (link L) aseiflates about P. In actual setup, when the crank rotates ubout its centre, the piston slides inside the ¢ylinder and the cylinder oscilates about the trunnion at P. jached to the piston rod (link 4) reciprocates 3) Crank and slotted lever mechanism Itis another application of second inversion, The crank and sloticd lever mechanism is shown in fig. 111 Culting Stroke Return Stroke: tink = Slowed Lever Tink 2~ Cranks ink 3 Fixed Link, ink 4 tink § - Floating Link Fink 6 - Tool HolderIntroduction 13 In this mechanism link 3 is fixed. The slider (Link 4) reciprocates in oscillating slotted lever (Link Land crank (link 2) rotates. Link 5 connects the link 1 to the ram (Link 6). The ram with the: cutting (ool reciprocates perpendicular to the fixed link 3. The ram with the tool reverses its direction of motion when link 2 is perpendicular to link 1, Thus the cutting stroke is executed during the rotation of the crank through angle and the return stroke is executed when the crank rotates through angle fi or 360 ~ ot. Therefore, when the crank rotates uniformly, we get, Time of cutting — & oe Time of retumn ~ BP ~ 360-0. This mechanism is used in shaping machine, slotting machine and in rotary engines 4) Whitworth quick return motion mechanism Third inversion is obtained by fixing the crank i.e, link 2. Whitworth quick return mechanism is an application of third inversion, This mechanism is shown in fig. 1.12. The erank OC is fixed and 0 rotates about Q. The slider slides in the slotted link and generates a circle of radius CP. Link 5 connects the extension OG provided on the opposite side of the link I to the ram (link 6). The rotary motion of P is taken to the ram R which reciprocates. This quick retum motion mechanism is used in shapers and slotting machines. ink | - slatted lever Link 2 - fixed Fink Link 3 driving tink Link 4 - Stider Link $ - Floating Link Fig. 112 Link 6 + Too! holder The angle covered during cutting stroke from P, to P, in counter clockwise direction is 0 or 360 — 20. During return stroke, the angle covered is 20 or B. Time for cutting 360-20 180-0 Time forreurn ~ = 2. 5) Rotary engine mechanism or Gnome Engine Rotary engine mechanism or Gnome engine is another application of third inversion. It is a rotary cylinder V-type internal combustion engine used as an aero - engine. But now Gnome engine has been replaced by gas turbines. The Gnome engine has generally seven cylinders in one14 Kinematics of Machines Piston {Link 4) Cylinder (Link 1) ig. FIT plane. The crank OA is fixed and all the cosieetng rods from the pistons are connected to A. In this mechanism when the pistons reciprocate in the cylinders, the whole assembly of cylinders, pistons and connecting rods rotate about the axis O, where the entire mechanical power developed, is obtained in the form of rotation of the crank shaft. This mechanism is shown in fig, 1.13. 6) Bull engine mechanism or Pendulum pump Fourth inversion is obtained by fixing the slider or piston i.e., link 4, In this mechanism the slider P i.e., link 4 is fixed. OQ i, link I reciprocates vertically. Link 1: Regiprocating link Link 2: Crank Link 3 : Connecting link Link 4: Fixed link Fig. 1.14 (b)Introduction 15 When OC ie., link 2 rotates about O, link CPi.e., link 3 will oscillate and link 1 will reciprocate alonga vertical straight line. This mechanism doesnt have much practical importance. Its application Bull engine or Pendulum Pump is shown in fig. 1.14 (b). Here slotted link shape is given to slider in order to get the desired motion and it is used to supply feed water to boilers. 7. Hand pump Hand pump is an application of fourth inversion, It is shown in fig. 1.15, Here also the slotted link shape is given to the slider and vice versa. Since the slider j.c., link 4 is fixed, it is possible for the link 1 to reciprocate along a vertical straight line, At the same time, link 2 will rotate and link 3 will oscilate. Fig. LAS 1.4.3 Inversions of Double Slider crank chain : It consists of two sliding pairs and two turning pairs, and the three important inversions of double slider crank chain are 1) Elliptical trammel. 2) Scotch yoke mechanism 3) Oldhaum's coupling 1, Elliptical trammel : ‘This is an instrument for drawing ellipses. Here the slotted link is fixed. The sliding blocks P and Q move in vertical and horizontal slots respectively. The end R generates an ellipse with the displacement of sliders P and Q. The coordinates of point R are x and y. x From the fig. 1.16 cos = pe (i) y and sino = Gp —()16 Kinematics of Machines Squaring and adding (i) and (it) we get Pinoy? te. DR QR? ‘The equation is that of ait an ellipse Hence the —-— instrument traces an ellipse. If the tracing point R is assumed to be the mid point ‘of PQ, then the path traced by R is a circle. In this case, PR It is an equation of a circle with PR = QR = Radius of circle 2. Scotch Yoke Mechanism Link 1 slider, fixed Ink Link 2 - connecting rod Link 3 sider Link 4 - sloited frame Fig. 1.17 m, the slider Pis fixed. When PQ rotates about P, the slider Q reciprocates in Inthis mechan the vertical slot, This mechanism is used to convert rotary to ri mechanism is shown in fig 1.17 procating mation and thisIntroduction 7 3) Oldhaum's coupling Driven shaft Driving shaft Intermediate piece | Fig. 1.18 (a) Fig. 148 (b) The third inversion is obtained by fixing the link 2 i.e,, the link connecting the wo blocks P and Q. Hone block is turning through an angle, the frame and the other block will also turn through the same angle. It is shown in fig 1.18 (a) jon of third inversion of the double slider crank mechanism is Oldhaum’s coupling shown in fig. 1.18 (b). This coupling is used for connecting two parallel shafts when the distance between the centre line of the shafts is small. Two flanges, each having a rectangular recess, are keyed, one on each shaft. Thses flanges forms links I and 3. An intermediate disc having tongues at right angles on opposite sides is placed in between the flanges. The intermediate piece form the link4 which slides or reciprocates in flanges I and 3, The link 2 is fixed as shown, When flange | turns, the imtermediate disc 4 must turn through the same angle and whatever angle 4 tums through, the flange 3 must turn through the same angle. Hence 1, 4and 3 must have the same angular velocity at every instant, If the distance between the axis of the shafts is x, it will be the diameter of a cizcle traced by the centre of intermediate piece. The maximum sliding speed of each tongue along its slot is given by, v = xu) where, () = angular velocity of each shaft in rad / sec. v = linear veloeity in m/sec. 1.5 Degrees of Freedom, Mobility of Mechanism and Grubler's Criterion: Degrees of freedom of a pair is defined as the number of independent relative mations, both translational and rotational a pair can have. Degrees of freedom depends on the type of contact joint and motion the mechanism passesses, Mobility of a mechanism defines the umber of degree: of freedom ‘To find the number of degrees of freedom for a planar mechanism we have an equation known as Grubler’s equation and is given by F = 3(n-V)-2j,- where # = Mobility or Number of degrees of freedom18 Kinematics of Machines Number of links including frame Joints with single (one) degree of freedom = n-+- 1 ‘Number of loops Joints with two degrees of freedom. It 0, results a mechanism with 'F degrees of freedom 0, results a statically determinate structure. and F < 0, results a statically indeterminate structure “The degrees of freedom for various joints are given by : ‘Type of joint ‘Nature of Motion Degrees of freedom Hinges (Revolute) Pure Rolling. 1 Slider (prismatic) Pure sliding 1 Cylindrical, Cam, Gear, ; sce Ball Bearing Rolling and sliding 2 Rolling contact Pure Rolling 1 Spherical 3 Note : A revolute joint connecting m links at the same point must be considered as (m-1) joints 1.6 Determine the mobility of the mechanisms given below Example 1.1 = 4 Herej =n+1-1=441-1 We have F = 3(n-1)-2j,—J, 2 Ni F = 3(4-1)-2%4-0 oF = 1>0 7 Hence the mechanism has constrained motion . Fig. 119 i.e., one degree of freedom. Example 1.2 Here j, = n+i-1=3+1- and n=3 3(3-1)-2«3-0 F=0 Hence the mechanism is statically determinate structure. 1.20Introduction 19 Example 1.3 Fig, 1.21 Here j, = athl 441-14 j= ns4 3(4-1)-2%4-0 P= Hence the mechanism has constrained motion Le., one degree of freedom ample 1.4 Fig. 1.22 Cam and follower arrangement is shown in Fig, (1.22), Here we will have 3 possible cases, 4) Follower will have rolling and sliding Hee j, = 3.,=10=4 3(4-)-2%3-1 =2>0 Hence 2 degrees of freedom, Case (ii) If Links 4-and 3 constitute one Link (By welding or by some other means) then = 34, (Foliower will have rolling and sliding) FP = 3(3-1)-2%2 P I Hence constrained motion with single degree af Freedoms,20 Kinematics of Machines Case (iid If the contact between Cam and Follower is Pure Rolling (No sliding) n= 4, j,=4i,= 0, FP =3(4-1)-2x4-0 Fol Hence constrained motion with single degree of freedom. Example 15 Here on = 6, j,sntf-1=6+42-1=7,0 j,=9, F = 3(6-1)-2x7-0 F=1 Hence constrained motion with one degree of freedom. Example 1. Fig. 1.24 u+l-1=13 +6 -1=18, Here n = 14,j, Link 4 will have sliding and Rolling j, = 1 Goint with 2 degrees of freedam) F = 3(14-1)-2* 18-1 Fe2 Hence two degrees of freedom. Example 1.7 Here a = 4j,an¢i-1=3+1- 1 (Rolling and stiding) Fe= 3(4-1)-2%3-1 FE 2 SlippingIntroduction 2 Example 1.8 Example 1.9 Fig. 1.27 Number of links = 8. The revolute joint at A, B, C, D, £, Hand K have each one degree of ¢ 2 revolute freedom. The revolute joint at G connecting the three links namely 6, 7 and 8 hi joints. F=3(a-1)-2 a+l-1=84+3 3@- 1-210 Hence the mechanism has one degree of freedom, Example 1.10 Fig. 1.2822 Kinematics of Machines ‘The revolute joints at Cand F has one degree of Freedom, The revolute joints at A, B, Dand F each connecting 3 Links have 2 revolute joints 1 jee mtl-eT4+4 3(7-1)-2« 10-0 10, j, 20 n= 7 ie, om Hence the mechanism is statically indeterminate Example 111 Prove using Grubler’s Criterion that for achieving constr of links in a mechanism = 4. Note: A binary link consist of two elements. A ternary link will have 3 elements. A quaternary link will have 4 elements and so on. ned motion the minimum number For constrained motion in a mechanism F = 1 We have Grubler's Criterion a F=3@-)-3j,-4, Consider a simple mechanism in which j, = 0 (Number of joint with 2 degrees of freedom) cs Fs 3(n-1)-2, where j, = Number of simple hinges i,, joints with single degree of freedom n = Total number of Links Which can be written as | NEA EM tence where 1, = Number of binary links n, = Number of ternary links ni, = Number of quaternary links in a mechanism and so on. ‘The total number of elements (A) ina mechanism is given by | {= 24, =2n, +32, +4n, + 5a, Substituting the value of n and the value of 2), in Grubler’s equation we get 1 = 34, +1, + iy toes 1) 2a — 3a, An, — Sn, fy Sb nt yt se | As n,and 1, are positive integers, the smatlest possible value of 1, is 4. Henee the minimum value of binary link is four |Introduction 23 Example 1.12 Determine the degree of freedom of the linkage shown in fig. 1.29 (WTU, July/Aug, 2005) Fig : 1.29 Solution: | y ) Degrees of freedom with single degree of fi (in — 1) — 27 where n= Number of links and j = Number of joints Jom or Number of pairs n= il j=t+i-l) where {= number of loops =114+5-1=15 = 3(M~1)-2x15=0 Example 1. For the kinematic linkages shown in fig 1.30, find the number of binary links, ternary links, other Links, total links, foops, joints or pairs and degrees of freedom.ea Kinematics of Machines 11. a) Differentiate between the following with examples i) Lower pair and higher pair ii) Constrained motion and unconstrained motion ii) Machine and mechanism. by. Sketch and explain working of Elliptical Trammel. Prove that it traces an ellipse. ©) Determine the mobility of the following mechanisms, Aug., 2004) CEES 12.a)Differentiate between i) Machine and mechanism ii) Kinematic chain and structure iii) Lower pair and Higher pair iv) Mobility and Degree of freedom ree inversions of a four bar chain b) What is an inversion? Explain any thi (VTU, Feb., 2005) 13.a)Determine the degree of freedom of the linkage shown 10 Fig. 1.33 Fig. 1.33Intreduction a7 b) Give the classification of kinematic pairs (lower pairs) according to type of relative mation between links. Also indicate the degree - of - freedom associated with each pair. c) What are inversions of a mechanism? Sketch the inversions of slider crank chain and name the mechanisms obtained. (VTU, July/Aug,, 2005) i) Kinematic pair ii) Mechanism iii) Inversion and iv) Machine b) Explain the inversions of a double slider crank chain with the aid of neat sketches. (VTU, Feb. 2006) 14.a)Define the following terms : i) Kinematic link ii) Kinematic pair iii) Inversion iv) Mechanism v) Machine b) With a neat sketch explain all the inversions of single slider crank chain. 15, Explain Grubler’s criterion for determining degree of freedom for mechanism. (WTU, July. 2006) 16.a) Define : i) Lower pair ii) Higher pair iii) Kinematic chain iv) Mechanism v) Machine vi) Degree of freedom. b) What is meant by inversion of a kinematic chain? Sketch and explain Whitworth quick return motion mechanism. 17. a) Define a kinematic chain. Describe various forms of kinematic chain with examples. b) Explain the Grubler's mobility equation for a planar mechanism. Determine the mobility of a cam with an oscillating follower fitted with a roller, c) Sketch and explain the kinematic chain with three lower pairs d) Sketch and explain the elliptical trammel mechanism (VTU, July. 2007) 18, a) Distinguish between : i) Complete constraint and successful constraint ii) Open pair and closed pair. iii) Structure and kinematic chain iv) Mechanism and machine. b) Explain with neat sketches, three inversions of double slider crank chain. (VTU, Jan. 2008)_MECHANISMS Condition { mechanismMECHANISMS 2.1 Quick Return Motion Mechanisms : Many a times me operations far a certain period the mechanism will be underload known 3 hanisms are designed to perform repetitive operations. During these working stroke and the 10 repeat the operation ul, The ratio of time for warking stroke to that of the return stroke is known as time ratio. arn mechanisms remaining period is known as retum stoke, ie., the mechanism returr without Quick re used in machine tools te givea slow cutting stroke and a quick retamn stroke, The various quick return mechani commonly used are i} Whitworth quick return mechanism ii} Drag link mecha iii} Crank and slotted lever mechanism 2.1.1 Whitworth Quick Return Mech; (Refer to the third inversion of single slider crank chain mechanism) 2.1.2 Drag Link Mechanis! This is a four bar mechanism with double crank in which the shortest link is fixed, If the erank 4B rotates atl uniform speed, the crank C2 will rotate al non uniform speed, This rotation of link CD is transforme Fig. (2.1), When the crank AB totate through an angle of in ecw di 110 quick return reciproeatory motion of the kam # by the link CPs shown in ction during working stroke the link CD rotates through 180", When the crank AB continues tw rotate through the angle [} during return stroh the crank CD rotates through another 180". We can observe that o. a 7 [}. Hence time of working stroke is gy times more or the return stoke is py timer quieker Shortest link is always the station st links ength, 11 is the th of shortest sini ry link, Sum of th of the four links and 4 should be less thin the sum of the other two | ition for drag, link quick return mechanism30 Kinematics of Machines Fig. 2.0 2.1.3 Crank and Slotted Lever Mechanism : Refer to the second inversion of single slider crank chain mechanism, 2.2 Straight Line Motion Mechanisms : ‘The easiest method to generate a straight line motion is by using a sliding pair butin precision machines sliding pairs are not preferred because of wear and tear. Hence in such cases different methods are used to generate straight line motion, The mechanism used for this purpose are called straight line motion mechanisms. Exact Straight Line motion mechanism Ex : Peaucellier mechanism. Hart mechanism, Scott-Russell mechanism. 2. Approximate straight line motion mechanism Ex: Watt mechanism Grasshopper mechanism Robert's mechanism ‘Tehebicheff's mechanism. 2.2.1. Condition for Exact straight line motion mechanism. The principle adopted for a mathematically correct or exact straight line motion is shown in fig. 2.2. Let A be a point on the circumference of circle of diameter AB. Let AC be any chord and Q is a point on AC produced, such that the product AC. AQ is constant. Then the path of Q will be a straight line perpendicular to the diameter AB. This may be proved as follows : Draw QP perpendicular to OB produced. Join CB. The traingles ACB and APQ are similar.Mechanisms 34 ABis constant as itis the diameter of the circle. ‘Therefore if the product AC. AQ is constant, then AP will also be constant. Hence the point Q moves: along the straight path QP which is perpendicular to AP, Several mechanisms have been devised to connect A, C and Q in such a way as to satisfy the above condition. One among them is Peaucellier mechanism, 2.2.2 Peaucellier Mechanism ; Itis shown in figure 2.3 : The pin Q is constrained to move along the circumference of a circle by means of the link OQ. The link OQ and the fixed link OA are equal in length. The pins P and Q are on opposite comers of a four-bar chain which has all four links QC, CP, PB and BQ of equal length. The pins B and C are connected by links of equal length to the fixed pin A. i,,link AB= link AC. The product AQ.AP remains constant as the link QQ rotates may be proved as follows: Join BC to bisect PQ at F; then, from the right-angled triangles AFB, BFP, we have AB? = AF? +FB? and BP? = BF*+ FP? Subtracting, AB?— BP? = AF* — FP? = (AF — FP) (AF+FP) AQAP Since AB and BP are links of constant length, the product AQ.AP is constant. Therefore the point P traces out a straight path normal to AR.32 Kinematics of Machines 2.2.3. Robert's Mechanism : This is also a four-bar chain, The Jinks PQ and RS are of equal length and the tracing point ‘O' is rigidly attached to the link QR on a Tine which bisects. QR at right angles, The best position for O may be found by making use of the instantaneous centre of QR. The path of O is clearly approximately horizontal in the Robert's mechanism. This mechanism is shown in figure 2.4 2.3 Intermittent Motion Mechanism Intermittent motion means that the motion is not continuous but il is ceased at definite intervals. ‘There arc many instances where it is necessary 10 convert continuous motion into intermittent motion. One of the foremost example is the indexing of a work table on a machine tool. Ratchet erate 2.3.1 Ratchet & Pawl Mechanism : This mechanism is used in producing intermittent rotary motion from an oscillating or reciprocating motion member. A ratchet & pawl mechanism consists of a ratchet wheel 2 and a pawl 3 as shown in fig. 2.5 When the lever 4 carrying the pawl 3 is raised, the ratchet wheel rotates in counter clockwise direction (driven by the pawl 3). As the'lever carrying the paw! 3 is lowered, the pawl 3 slides over the ratchet tceth. One more pawl J is used to prevent the ratchet from reversing. Ratchets are used in feed mechanisms, lifting jacks, clocks, watches & counting devices 3.2. Geneva Mechanism : Geneva mechanism is an intermittent motion mechanism. It consists of a dciving wheel D carrying a pin P which engages in a slot of the follower F as shown in Fig, 2.6. During one quarter revolution of the driving plate, the pin & follower remain in contact and hence the follower is turned by one quarter turn. During the remaining time of one revolution of driver, the follower remains at test locked in position by the circular arc. This mechanism is used in preventing overwinding of main springs in clocks and watches, feeding of film roll in early motion-pict projectors and indexing of « work table on a machine tool. For the motion to be free from shock the slot must be tangential to the path of the pin upon engagement. This means that the angle ©,PO, will be a right angle. Also-angle f3 is one half of the angle turned by the follower during the indexing period. Locking plate is provided to lock the follower when it is not being indexed:Mechanisms 33 2.4 Toggle Mechanism : Fig. 2.7 Instider crank mechanism as the crank approaches one of its dead - centre position the slider approaches zero. The ratio of the crank movement to the slider movement approaching infinity is proportional to the mechanical advantage. This is the principle used in toggle mechanism. A toggle mechanism is used when a large force act through a short distance is required. Fig. 2.7 shows a toggle mechanism. Links CD and CE are of same length.a4 Kinematics of Machines Resolving the forces at C Vertically é = Fang = > P Fiance ‘Thus for a given value of P, as the links CD and CE approaches collinear position (ie., o 9 0), the force F rises rapidly (.e., F —> =). Toggle Mechanisms are used in toggle clamps, rivetting machines, punch presses, stone crushers, ete, The toggle principle is also used in. switches, circuit breakers, ete. 2.5 Pantograph: Pantograph is used to copy the curves on reduced or enlarged scales. Hence this mechanism finds its use in copying devices such as engraving or profiling machines. 1, Pantograph is used as geometrical instrument to reproduce geometrical figures and plane areas of irregular shapes such as maps, plans & drawings etc, on enlarged or reduced scale 2. Pantograph is used to guide the cutting tools. +. This used as an indicator tig to reproduce the displacement of cross-head of reciprocating engine which gives the displacement of piston Fig. 2.8 One form of Pantograph is shown in figure 2.8. The links are pin jointed at A, B, Cand D. AB is parallel to DC and AD is parallel to BC Link BA is extended to fixed pin O. Qis a point on ‘the link AD. If the motion, of Q is to be enlarged then the link BC is extended to P such that 0, Q 6 P are in straight line "Then itean be shown that points P and Q always move parallel and similar to each other over any path straight or curved. Their motions will be proportional to their distances from the fixed point. Let ABCD be the initial position, Suppose if point Q moves to Q,, then all the Finks and the joints will move to the new positions (such as ‘Amoves to A, Bto B,C to Cy D toD, & PtoP,)Mechanisms 35 and the new configuration of the mechanism is shown by dotted lines. The movement of Q(QQ,) will get enlarged to PP, in a definite ratio. Proof: In A*OAQ & OBP O, Q, P lic ona straight line & thus OQ & OP coincide. =e ah h For correct steering we have a cot —cot@ = w ©. 2tana@ = a/w ortan a= a/2w 39 ‘The disadvantages of the Davis gear are that, owing to the number of sliding pairs, friction is, high and the wear which takes places at the contact surfaces rapidly impairs the accuracy of the mechanism.40 Kinematics of Machines Forks Driven shaft Driving Shaft Fig. 212 Hooke’s joint used to connect two non-parallel intersecting shafts is shown in fig. 2.12. This can also be used for shaft with angular misalignment where flexible coupling does not serve the purpose, Hence Hooke's joint és a means of connecting two rotating shafts whose axes lie in the same plane and their directions making a small angle with each other. It is commonly known as universal joint. In Europe it is called Cardan joint Hooke's joint consists of two forks or U-shaped yokes which are the driving and driven members and a cross shaped connecting link. The connecting link may have shapes such as cross, sphere or a square. Hooke's joint is the inversion of 4-bar chain. ‘There are two types of Hooke's joints in use. They are, i) Single Hooke’s joint ii) Double Hooke's joint Following are the various applications of Hooke's joint. 1) Transmission of power from the engine gear box to the rear axle of the automobile, 2) Transmission of drives to different spindle in multiple drilling machine. 3) ‘Transmission of torque ta the rolls in the rolling mills. 4) Knee joint in a milling machine. Review Questions 1. Explain the following mechanisms with suitable sketches. +) Drag link ii) Whitworth iii) Crank and slotted link mechanism 2. What is the difference between Exact and approximate straight line mechanism ? Explain each with a suitable example. 3. Explain the working of the following mechanism with neat sketch i) Pantograph ii) Toggle Mechanism iii) Auckersmann's steering gear mechanism iv) Geneva v) RatchetMechanisms 44 4, 10. a) Explain the construction and working of Peaucillier mechanism by means of a sketch. Prove that it generates an exact straight Line. 'b) Obtain the condition for ‘correct steering for a four wheeled vehicle. Sketch and explain the working of Ackermann steering gear. State its merits and demerits. (VTU, Aug. 2004) a) Prove that the Peaucellier’s mechanism can be used to draw exact straight line motion. b) What is pantagraph? With aid of a neat sketch of pantagraph explain its working principle. (VTU, Feb. 2005) 2) A circle with AD as diameter, has a point B on its circumference. On AB produced there is a point C such that if B turns about A, the product AB x AC is constant. Prove that the point C moves in a straight line perpenduclar to AD produced. b) Sketch the crank and slotted lever mechanism. Indicate the stroke. ©) Sketch the geneva wheel mechanism and explain its working principle. (VTU, July/Aug, 2004) a) Explain a mechanism which is used to entarge a given figure with proof, b) Derive the condition for a mechanism to trace an exact straight line path. Sketch peaucellier's mechanism and show that this mechanism satisfies above condition. (VTU, Feb. 2006) a) Obtain the condition for correct steering for a four wheeled vehicle. b) Prove that the Peaucellier's mechanism traces exact straight line motion. Also explain the mechanism with a neat sketch. (VTU, July. 2006) Sketch and explain the following mechanisms : a) Geneva wheel b) Ratchet and Paw! mechanism c) Ackermann steering mechanism. (VTU, Jan . 2007) 8) What is meant by quick-return mechanism? Sketch and explain drag link mechanism, (VTU, July. 2007) With neat proportionate diagrams explain the principle and werking of following mechanisms a) Whitworth mechanism b) Geneva mechanism c) Toggle mechanism (VTU, Jan, 2008)VELOCITY & ACCELERATION ANALYSIS OF MECHANISMS (GRAPHICAL METHODS)3.1 Motion "A Change in position of link is called motion, When there is no change in position of a link, itis said to be at rest and when itis being displaced, it is said to be with respect to the frame is called absolute motion and the motion described with respect to another moving body is called the relative motion. 3.1.1 Plane Motion A body is said to have plane motion if all its points move in planes w reference plane. The reference plane is called the plane of motion. Plane motion can be one of three types : transtation, rotation or a combination of translation and rotation. 3.12 Translation ‘A body has translation if it moves so that all straight lines in the body move parallel to other, motion. Motion described h are parallel to some Rectilinear translation is a motion where in all points of the body mave in straight line paths, The pistan of an engine has rectilinear translation A translation in which points in the body move along curved path is called curvilinear translation. The tie rod connecting the wheels of a locomotive has curvilinear translation as the locomotive moves along a straight track. 3.13 Rotat Tn rotation all points in a body remain at fixed distances from a line which is perpendicular to the plane of motion ‘This line is the axis of rotation and points in the body deseribe circular paths about it, The crank has a motion of rotation if the frame of the engine is fixed. 3.14 Translation and Rotation Many machine parts haye motions which are a combination of rotation and translation, The motion of the connecting rod at any instant can be considered as a rotation about some point plus a translation.44 Kinematics of Machines 3.1.5 Spherical Motion A point has spherical motion if it moves in three-dimensional space and remains at a fixed distance from some fixed point. A body has spherical motion if each point in the body has spherical motion. The ball and socket joint is an example of spherical motion. 3.1.6 Helical Motion A point which rotates about an axis at a fixed distance and at the same time moves parallel to the axis describes a helix. A body has helical motion if each point in the body describes a helix, An example of helical motion is the motion of aut along a bolt, 3.2 Vector ‘Two types of quantities are treated in mechanics. (i) Scalar and (ii) Vector Scalar quantities are those which have magnitude only. Examples are distance, volume, area and time. Vector quantities have magnitude and direction, Examples are displacement, velocity acceleration and force. A vector quantity can be represented by a straight line with an arrow head. 3.2.1 Addition and Subtraction of Vectors The symbol ++ is commonly used for addition and the symbol — is used for subtraction. The sum of vectors A and B is written A +» B and the subtraction of B from A as A — B. 3.3. Displacement Displacement of a point is the change of its position and is a vector quantity. 3.4 Velocity It is defined as the rate of change of displacement. It may have linear or angular velocity. 3.4.1 Linear Velocity Linear velocity is the time rate of change of linear displacement. If @ point P moves from position A to position B in time At, then average velocity = V,,, = 7,- The instantaneous linear ds = 2 and it is directed tangent to velocity of the point, when it is at position A is, V = [im Zz the path. The unit of linear velocity is m/sec. 3.4.2. Angular Velocity Angular velocity is defined as the rate of change of angular displacement, Itis denoted by ‘'Velocity & Accelaration Analysis of Mechanisms (Graphical Methods) 45 Consider a body rotating about the fixed point ©. Let A be a fixed point on the body as shown in fig 3.1. As A moves to.A’, the angular displacement of the body is A®, which occurs in a time At AG Therefore, the average angular velocity of the body ,,, = > he 4 a Ao dd ‘The instantaneous angular velocity of the body for the position OA = @ = i= =e In fig 3.1, the point A has radius of rotation 'r’ equal to length OA. V is the linear velocity of the point A and is tangent to the path AA’ and hence perpendicular to radius 'r’. Arc length AA’ = rA8 The magnitude of velocity of point A, at position A Be OO ted Bp dt The unit of w is radian/sec. Vv 6 = orora = 3.5 Acceleration It is the rate of change of velocity with respect to time. It may have linear or angular acceleration, 3.5.1 Linear Acceleration Itis the time rate of change of linear velocity. Let the initial velocity be V, and the velocity after time interval At be V v-% _ Av eT CBE dv ay . ‘The instantaneous acceleration A = Lim—— = ~~ Ee ar dt Average acceleration A,,, = But ¥=— fine ‘The unit of linear acceleration is oo 35.2 Angular Acceleration [tis defined as the rate of change of angular velocity and is denoted by ‘a doy de Oe But @ = 7 d (2) a0 oa da dt ‘i a The unit of angular acceleration is rad/sec*46 Kinematics af Machines 3.5.3 Normal and tangential acceleration Normal acceleration is due to the change of direction. If the point has curvilinear motion, it will have normal acceleration resulting from a change in direction of its linear velocity. Normal 5. ye a ieaaracice acceleration = A" =—— = wr, The direction of A” is always towards the centre of curvature of r path as shown in fig, 3.2. Fig : 3.2 Tangential acceleration is due to the change of magnitude of velocity. i.e, if the magnitude of its linear velocity changes, then the point will have a tangential acceleration, Tangential Acceleration av Als [> = our. Tangential accelerations the linear acceleration in the direction of motion at the instance considered and is measured by the rate of change of speed along its path, A point having rectilinear motion has no normal component of acceleration because its linear velocity does not change direction. If its magnitude changes then it will have a tangential acceleration. ‘The total or resultant acceleration of the point is the vector sum of A" and AT A =A" +» A’, since these two components are mutually perpendiculs aA and its direction is @ = ran”! 3.6 Relative velocity ‘The velocity of a point or bedy relative to another moving point or body is known as relative velocity. The velocity of a point or link relative to another point on body which is at rest is called its absolute velocity. ‘A body has velocity relative to another body only if there is difference in their absolute velocities, The velocity of A relative to B is written V,, and is the absolute velocity of A minus vectorially the absolute velocity of B. Wye YoY, Vi ++ VingVelocity & Acceleration Analysis of Mechanisms (Graphical Methods) 47 Similarly the velocity of B relative to A is written Vyy & Vay = Vy—> Vigo Va = Vat Ving ‘Therefore the velocity of one point is the sum of the velocity of any second point and the velocity of the first point relative to the second point. The direction of the relative velocity of any two points on the same rigid body is perpendicular to the line joining the two points as shown in fig 3.3. Perpendicular to BA and is in the direction of a Perpendicular to AB and is Jin the direction of w 3.7 Relative Acceleration In fig, 3.3 A and B are two points on a rigid link which has plane motion The acceleration of B relative to A is denoted by A, Now resolve A,,, into two components namely normal and tangential Ay = Avna Any The direction of 4", is B towards A and the direction of 4',,, is perpendicular to line BA and its sense is same as that of the angular acceleration of the link (@). Therefore the direction of 2 ¥, At,, and A‘, are as shown in Fig. 3.3. Now magnitude of A”,,, = ae and A‘,,,= x BA Example 3.1 ; ‘A four bar mechanism ABCD is made up of four links, pin jointed at the ends. AD is a fixed link which is 180 mm long, The links AB, BC and CD are 90 mm, 120 mm and 120 mm long respectively. At certain instant, the link AB makes an angle of 60° with the link AD. If the link AB rotates at a uniform speed of 100 rpm clockwise determine, i) Angular velocity of the links BC and CD and i) Angular acceleration of the links CD and CB Solution + 2m, 2100 60” 60 V, = ©, XAB = 10.472 x90 = 942.5 mnvsec 0.9425 m/sec. Angular velocity of link AB = @, = 10.472 radisec Velocity of link AB