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4.1 Introduction OA05 Pg5,Mec26 Pg374, Mec16a Pg 466, Mec26 Pg334/ Mec24 Pg259
Actuators are the devices used to generate motion (or action) or devices that convert energy to mechanical
motion or devices that are utilized to produce motion (linear motion or angular motion) or action.
Mechanical elements such as gears, cams, flexible mechanical elements, and so on are useful in
mechatronics applications. These elements are actuators that are generally mechanical. Another mechanical
force or torque is exerted, such as pulling or pushing, and the actuator will leverage that single movement to
generate the needed results.
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Wasiu A. Oke
Fig. 4.2: Classification of cam mechanisms: (a) knife, (b) roller, (c) flat, (d) mushroom, (e) roller, and (f) roller.
Offset follower: The centre line of the follower does not pass through the centre line of the cam shaft
(Fig. 4.2(e)). The offset results to a reduction of the side thrust present in the roller follower.
defined as
ZA Number of teeth on C
G (4.1)
ZC Number of teeth on A
Consider a simple gear train consisting of wheels A , B and C , as in Fig. 4.3. A has 7 teeth and C has 21 teeth.
Then, from Eq. (4.1), G 21/ 7 3 .
The job of wheel B is simply to change the direction of rotation of the output wheel from what it would have
been with just the two wheels A and C intermeshed. The intermediate wheel B is regarded as the idler wheel.
and output shafts to be in line. An alternative way of achieving this is the epicyclic gear train.
When two gear wheels are mounted on the same shaft they have the same angular velocity. Hence, for both
the compound gear trains shown in Fig. 4.4(a) or (b), ZB ZC . The overall gear ratio becomes
ZA Z A ZB ZC ZA ZC NB ND
G u u u u (4.2)
ZD ZB ZC ZD ZB ZD N A NC
In order to ensure that the input and output shafts of Fig. 4.4(b) are in line, the following equation must be
satisfied
rA rB rC rD (4.3)
Examples
(1) In a compound gear train of the form shown in Fig. 4.4(a), A that is the first driver, having 15 teeth,
B having 30 teeth, C having 18 teeth and D , the final driven wheel, having 36 teeth. Compute the
overall gear ratio.
By substituting the given values in Eq. (4.2), it becomes
NB ND 30 36
G u u 4
N A NC 15 18
(2) If an angular velocity of 240 rev / min (or 240 rpm ) is an input to wheel A shown in Fig. 4.4(a), then
determine the output angular velocity of wheel D when G equals to the G obtained in (1).
From Eq. (4.2):
ZD 240 / 4 60 rev / min .
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relies on motion forces. The advantage of the belt drives as a method of transmitting power between the two
shafts is that the length of the belt can be adjusted easily to suit a wide range of shaft-to-shaft distances.
With belt drive, the system is protected automatically against overload since slipping occurs if the loading
exceeds the maximum tension that can be sustained by frictional forces. A belt drive is more suitable than
gears if the distances between shafts are large while gears are preferred over small distances. In order to
obtain gearing effect, different size of pulleys can be considered. Nevertheless, the gear ratio is limited to
about 3:1 because of the need to maintain a sufficient arc of contact between the belt and the pulleys. The
transmitted torque is due to the differences in tension that occur in the belt during operation. This difference
results to the belt tight and slack sides. If T1 and T2 are the tensions on tight side and on the slack side as
shown in Fig. 4.6, then the torque TA with pulley A as the driver and torque TB when pulley B is the driven can
be obtained as
TA (T1 T2 )rA , (4.4)
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and
TB (T1 T2 )rB (4.5)
Angular velocity isQ / rA for pulley A andQ / rB for pulley B . However, the power transmitted P is the
product of the torque and the angular velocity. Then for either pulley
P (T1 T2 )Q (4.6)
large distances between the respective shafts, slow speed, and high torque. A chain drive has equal gear ratio
relationship as a simple gear train. The drive mechanism used in a bicycle is an example of a chain drive.
Example
(1) The maximum belt tension in the belt drive shown in Fig. 4.6 is required to be limited to 1KN . The
torque/moment on the pulley A is 77.8 N / m and radii rA ,and rB are 0.1m and 0.25m respectively.
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Determine:
(a) Change in tension. (c) Lower tension.
(b) Torque on the pulley B .
Solution
(a) Substitute the given values in Eq. (4.4) will yield
dT T1 T2 TA / rA 77.8/ 0.1 778 N (1)
(b) Substitute the given value and Eq. (1) in Eq. (4.5) will lead to
TB (T1 T2 )rB 778 u 0.25 194.5 N / m (2)
(c) Substitute the given value in Eq. (1) produces
T2 T1 778 1000 778 222 N (3)
Fig. 4.8: Plain journal bearing. Fig. 4.9: Hydrodynamic journal bearing.
rotated in a hole in the support. The bearing may be a lubricated or dry rubbing bearing. Regarding
lubricated bearing, the lubrication may be any of the following:
Hydrodynamic: It consists of a shaft rotating in the oil continuously (see Fig. 4.9). The load is carried by
pressure degenerated in the oil as a result of the shaft rotating.
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Hydrostatic: It is used to shun excessive wear that usually occurred at start-up in hydrodynamic types
and when there is only a low load, oil is pumped into the load bearing area at sufficient high pressure to
lift the shaft off the metal when at rest.
Solid- film: It is a coating of a solid material such as molybdenum disulphide or graphite.
Boundary layer: It is a thin layer of lubricant which sticks to the surface of the bearing.
There are several forms of ball bearings and they include (see Fig. 4.11a):
(a) Deep-groove: It can be employed for a wide range of load and speed.
(b) Filling slot: It cannot be used when there is an axial load.
(c) Angular contact: It is good for both axial and radial loads.
(d) Double row: It is capable of withstanding higher radial loads.
(e) Self aligning: It can withstand shaft misalignment.
(f) Thrust grooved race: It is designed to withstand axial loads but is not suitable for radial loads.
Also, the familiar examples of roller bearings include (see Fig. 4.11b):
(a) straight roller
(b) taper roller
(c) needle roller
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