Lecturer: 25/07/2021 Approved by: __/07/2021

Nguyễn Tấn Tiến Bùi Trọng Hiếu

Head of Division
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FINAL EXAM Semester / A.Y. 3 2020-2021

SOLUTION Date 02/08/2021
Course title KINEMATICS AND DYNAMICS OF MACHINES
HCMC UNIV. OF TECHNOLOGY – VNU
Course ID ME1015
FALCULTY OF MECHANICAL ENG.
Duration 60 minutes Q. sheet code 0001
Notes: - Open book
- Can use pencils for drawing diagrams

Question 1 (2 marks) (L.O.1)

The kinematics diagram of the pneumatic clamp mechanisms as the figure (0.5)
5 4 3 2 1
𝐵
𝐷
𝐹 𝐸 𝐴
𝐶

Name the links (0.5)

Name the pairs (0.5)
From the kinematics diagram,
- Number of moving links 𝑛=5
- Number of type 5 link 𝑝5 = 7
The degree of freedom of the can crushing mechanism
𝑊 = 3𝑛 − 2𝑝5 = 3 × 5 − 2 × 7 = 1btd (0.5)

Question 2 (3.0 marks) (L.O.1.2, L.O.1.3, L.O.2.1, L.O.2.2, L.O.2.3, L.O.4.1)

a. Draw the diagram of the mechanism, calculate the degree of freedom, extract the Assur group and define
the grade of the mechanism
The diagram of the mechanism and its Assur group
𝐵 𝐵
𝐷 3
𝐷 3
𝐷

2 2
𝐶 𝐶
1 1
𝜔1 𝜔1
𝐴 𝐴
The degree of freedom
𝑊 = 3 × 3 − 2 × 4 = 1 dof (0.5)
The mechanism is composed by 1 driver and 1 group 2-link-3-joint. The grade of mechanism is 2 (0.5)

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b. Determine the angular velocity and angular acceleration of member 𝐶𝐵
⊥ 𝐶𝐷 ′
𝐵 ∥ 𝐵𝐶 𝑎𝐷𝑛 3 𝑝
𝑑3
𝐷 3 600 𝑎𝐷𝑡 3
𝑟
𝑎𝐷3 𝐷2 𝑑3′
𝛼3 2 𝑝
𝑑1 ≡ 𝑑2
0.2𝑚 ∥ 𝐵𝐶 ⊥ 𝐶𝐷
1
𝐶 𝑎𝐷𝑐 3 𝐷2
𝜔3 300 𝜔1
𝐴 300

𝑑2′
Velocity Analysis
We have
⊥ 𝐴𝐷
𝑣𝐷1 ≡ 𝑣𝐷2 = {
𝑙𝐴𝐷 𝜔1 = 0.2 × 4 = 0.8𝑚/𝑠
The velocity equation for 𝑣𝐷3
𝑣𝐷3 = 𝑣𝐷2 + 𝑣𝐷3𝐷2
⊥ 𝐶𝐷 ⊥ 𝐴𝐷 ∥ 𝐵𝐶 (0.5)
? 0.8𝑚/𝑠 ?
Draw the velocity polygon and from this polygon
∥ ⃗⃗⃗⃗⃗⃗⃗
𝑝𝑑3
𝑣𝐷3 = { 1
|𝑣𝐷2 |𝑐𝑜𝑠600 = 0.8 = 0.4𝑚/𝑠
2
∥ ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑑2 𝑑3
𝑣𝐷3𝐷2 = { √3
|𝑣𝐷2 |𝑐𝑜𝑠300 = 0.8 = 0.4√3 ≈ 0.69𝑚/𝑠
2
↺
Then 𝜔 ⃗2≡𝜔 ⃗ 3 = {|𝑣𝐷3 | 0.4 4 (0.5)
= = ≈ 1.33𝑟𝑎𝑑/𝑠
𝑙𝐶𝐷 0.3 3
Acceleration Analysis
We have
⃗⃗⃗⃗⃗
↑↑ 𝐷𝐴
𝑎𝐷2 ≡ 𝑎𝐷1 = 𝑎𝐷𝑛1 = { 2
𝑙𝐴𝐷 𝜔1 = 0.2 × 42 = 3.2𝑚/𝑠 2
The acceleration equation for 𝑎𝐷3
𝑎𝐷𝑛3 + 𝑎𝐷𝑡 3 = 𝑎𝐷2 + 𝑎𝐷𝑐 3𝐷2 + 𝑎𝐷𝑟 3𝐷2
⃗⃗⃗⃗⃗
↑↑ 𝐷𝐶 ⊥ 𝐶𝐷 ↑↑ 𝐷𝐴⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗3
↑↓ 𝑝𝑑 ∥ 𝐵𝐶 (0.5)
1.6 √3
𝑚/𝑠 2 ? 3.2𝑚/𝑠 2 3.2 3 𝑚/𝑠 2 ?
3
𝑛 𝑐
where, the centrifugal acceleration 𝑎𝐷3 and the Coriolis acceleration 𝑎𝐷3𝐷2
𝑛 2
4 2 1.6
|𝑎𝐷3 | = 𝑙𝐶𝐷 𝜔3 = 0.3 × ( ) = ≈ 0.53𝑚/𝑠 2
3 3
4 √3
|𝑎𝐷𝑐 3𝐷2 | = 2𝜔2 |𝑣𝐷3𝐷2 | = 2 × × 0.4√3 = 3.2 ≈ 1.85𝑚/𝑠 2
3 3
Draw the acceleration polygon and from this polygon
↑↓ ⃗⃗⃗⃗⃗⃗
𝑝𝑐3
𝑡
𝑎𝐷3 = { √3 √3 √3
|𝑎𝐷2 |𝑐𝑜𝑠300 − |𝑎𝐷𝑐 3𝐷2 | = 3.2 − 3.2 = 1.6 ≈ 0.92𝑚/𝑠 2
2 3 3
↻
√3
Then 𝛼2 ≡ 𝛼3 = {|𝑎𝐷𝑡 3 | 1.6 3 16 (0.5)
= = √3 ≈ 3.08𝑟𝑎𝑑/𝑠 2
𝑙𝐶𝐷 0.3 9

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 Question 2 (3.0 marks) (L.O.1.2, L.O.1.3, L.O.2.1)
a. Extract the links, assign the reaction force as variables (1.0)
1 𝐵 𝐵
1 2 3 𝑅⃗21 𝑅⃗12
𝐵

𝜔1 𝑀𝑖 𝑅⃗23
0 𝐶 0 𝐶 𝑃⃗
𝜔1 30 0 𝐶 𝑃⃗ 𝑅⃗01 𝐴 30 30
𝐴 𝐹𝑓
𝑅⃗32 𝑅⃗03
b. Write the force equilibrium equations (without solving) for the problem
Force equilibrium equations for link 3 and link 2
𝑃⃗ + 𝐹𝑓 + 𝑅⃗23 + 𝑅⃗03 = 0 where |𝐹𝑓 | = 𝜇03 𝑅03 (0.5)
𝑅⃗32 + 𝑅⃗12 = 0 (0.5)
Let 𝑀𝑖 is the balance moment in driver 𝐴𝐵 as shown in the figure, we have
∑𝑀𝐴 = −𝑀𝑖 + 𝑅21 𝑙𝐴𝐵 𝑐𝑜𝑠300 = 0 (0.5)
𝑅⃗01 + 𝑅⃗21 = 0 (0.5)

Question 4 (2.0 marks) (L.O.3)

𝑍2
𝑍4′ 𝑍2′

𝑍4

𝑍5 𝑍1
𝑍3

𝑍3′
From the normal gear train (0.5)
𝑛3 𝑍1 𝑍2′ 𝑍1 𝑍2′ 𝑍1 𝑍2′
𝑖31 = = (− ) × (− ) = → 𝑛3 = 𝑛
𝑛1 𝑍2 𝑍3 𝑍2 𝑍3 𝑍2 𝑍3 1
From the epicyclic gear train (0.5)
1
𝑛5 − 𝑛1 𝑍3′ 𝑍4′ 𝑍3′ 𝑍4′
𝑖53 = = × (− ) = −
𝑛3 − 𝑛1 𝑍4 𝑍5 𝑍4 𝑍5
𝑍3′ 𝑍4′ 𝑍3′ 𝑍4′ 𝑍1 𝑍2′
→ 𝑛5 − 𝑛1 = − × (𝑛3 − 𝑛1 ) = − ×( − 1) 𝑛1
𝑍4 𝑍5 𝑍4 𝑍5 𝑍2 𝑍3
Therefore (0.5)
𝑍3′ 𝑍4′ 𝑍1 𝑍2′
𝑛5 = [− ×( − 1) + 1] 𝑛1
𝑍4 𝑍5 𝑍2 𝑍3
Replace the given numerical values to yield the final solution (0.5)
150 50 75 40
𝑛5 = [− ×( − 1) + 1] × 320 = 695 𝑟𝑝𝑚
40 60 60 80

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