RME Notes 2.1 Mechanics

Vishwakarma Institute of Technology
D.E.S.H. – Department of Engineering, Sciences and Humanities

FY (AY-20211) – RME – Robot Mechanics and Electronics
Notes 2.1 – Mechanics of Robots
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BASIC CONCEPTS –
A) Mechanics is the study of behavior of matter under the action of applied Forces. It is a science that
deals with study of Physical phenomenon.
B) Engineering mechanics is the branch of science in which it deals with the laws and principles of
mechanics, and their application with the engineering problems
C) Engineering mechanics helps an Engineer in …..1) planning 2) designing 3) construction of various

types of structures and machines. e.g. Robots.
D) Figure 2.1.1 depicts Facets of Engineering Mechanics : A Glance
Figure 2.1.1 - Facets of Engineering Mechanics

E) Statics And Dynamics
Statics – Study of behavior of rigid bodies under the action of applied forces when they are at Rest
Dynamics – Study of behavior of rigid bodies under the action of applied forces when they are in
Motion
• Kinetics – Study of the Motion of the bodies due to the application of forces.
• Kinematics – Study of motion of the bodies without considering the forces.

F) Importance of Statics and Dynamics in Robotics
• A Robot is a rigid body. A Robot is acted by forces at rest and in motion.
• A Robot needs to have …..1) Coordination 2) Synchronization 3) Stability 4) Balance within its
structural parts at rest and in motion as well.
• Hence, while studying Robotics, a sound knowledge of Statics and Dynamics is necessary.
G) Particle – Body – Rigidity – Deformation
• A particle occupies a point in space with negligible dimensions and has no size and shape.
• A body is composed of infinite number of particles.
• A body has definite size and shape.

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• A body is always limited in all directions.
• In a Rigid body the distance between its particles does not change under the action of the
forces.
• Rigid body is an idealized concept as there is no body in the Universe which is 100% Rigid.
• Every body always suffers from deformation. However, if it is extremely small, can be neglected
and will not change its overall dimensions
Rigid Body vs Deformable body :- Figure 2.1.2 distinguishes Rigid Body vs Deformable body
Figure 2.1.2 - Rigid Body vs. Deformable Body

H) Force:- (with slight elastic deformation), a slight stretching of the bolt, and compression of the parts to
be held together.
• Force is the capacity to do work.
• Force produces motion in the body.
• Force is a vector quantity, SI unit is Newton
• Force causes …. 1) Translation 2) Rotation or 3) both.

I) Characteristics of Force:- Figure 2.1.3 depicts Characteristics of Force
J) Force System:- A “Force System” consists of multiple forces acting on a body at a point.
K) Types of Force system are …..
1) Co-planar and Non-Coplanar Force system
2) Concurrent and Non-Concurrent Force system
3) Parallel and Non-Parallel Force system
4) Collinear and Non-Collinear Force system
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Characteristics of Force:- Figure 2.1.3 depicts Characteristics of Force. Typically a Force has...
Figure 2.1.3 - Characteristics of Force

L) Force Systems :- Figure 2.1.4 depicts various Force Systems
Figure 2.1.4 - Various Force Systems

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M) Principle of Transmissibility of Force: - “If a force acts at a point on a rigid body, then it is assumed
to act at any point on the line of action of force within the body.”
Figure 2.1.5 - Principle of Transmissibility of Force
N) Resolution of Force:- Force is a vector quantity. So, it can be assumed to be composed of two
fictitious components. Along….. 1) X axis 2) Y axis as shown in Figure 2.1.5
Figure 2.1.5 - Force Components

Resultant Force:- It is vector sum of all forces. (algebraic sum). Figure 1.6 depicts Resultant Force
Figure 2.1.6 - Resultant Force

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O) Law of Parallelogram of Forces:- Law of Parallelogram of Forces
Figure 2.1.7 - Law of Parallelogram of Forces

P) Law of Parallelogram of Forces (Derivation)
Figure 2.1.8 - Law of Parallelogram of Forces derivation

Q) Equilibrium:-
• A rigid body is said to be in equilibrium, when the resultant of the force system on it is zero.
• The resultant of the force system can be a Force or a Moment.
• If the resultant is zero, it implies that the resultant force (∑ F) and resultant moment (∑ M) both
are zero.
• If the resultant force ∑ F = 0, there is No Translation.
• If the resultant moment ∑ M = 0, there is No Rotation.
• Thus the body is said to be in a …….Complete Static Equilibrium

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R) Equilibrant:- Equilibrant nullifies the resultant of the force system. Thus it is a force which is …..
• equal in magnitude
• opposite in direction
• collinear to the resultant of the force system. See Figure 2.1.9
Figure 2.1.9 - Equilibrant

S) Equilibrium is achieved when, all are satisfied.
• ∑ Fx = 0 ….. X components
• ∑ Fy = 0 ….. Y components
• ∑M=0 ….. Moments

T) Free Body Diagram (F.B.D):- In a physical system, to study the equilibrium, the actual machine parts
and structures are replaced by respective active, passive forces, reactions and moments.
Free Body Diagram (F.B.D) is a sketch of the body showing all active and reactive forces that acts on it
after removing all supports with consideration of geometrical angles and distances given. In other words,
Figure 2.1.10 depicts Actual system and its corresponding F.D.P.
Figure 2.1.10 - Actual system and its corresponding F.D.P.

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Features of F.B.D. -
• It is a sketch of a body of interest only
• All the surrounding bodies are removed.
• All of the forces acting on the body are considered and shown.
• All of the forces acted by the body on other bodies are NOT considered.
Steps to draw F.B.D:- A sphere of weight W is resting on a rigid wall and is held by a string. See Figure
2.1.11 for the FBD of the sphere.
Figure 2.1.11 - Actual structure and FBD of the sphere

U) Lami's Theorem:-
Lami's theorem is an equation relating the magnitudes of three coplanar, concurrent and non-
collinear forces, which keeps an object in static equilibrium, with the angles directly opposite to the
corresponding forces
Lami's theorem is also known as Law of sines

Let there are a few forces acting on a body and the body is in a static equilibrium. Assume P, Q and R
are the 3 forces keeping the body in equilibrium and a, b and c are the respective angles, then
according to Lami’s Theorem…. Figure 2.1.12 depicts schematic diagram and equation for Lami’s
theorem
Figure 2.1.12 - Schematic diagram and equation for Lami’s theorem

RME Notes 2.1 Mechanics

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Vishwakarma Institute of Technology

D.E.S.H. – Department of Engineering, Sciences and Humanities

C) Engineering mechanics helps an Engineer in …..1) planning 2) designing 3) construction of various

Figure 2.1.1 - Facets of Engineering Mechanics

• Kinematics – Study of motion of the bodies without considering the forces.

• A Robot is a rigid body. A Robot is acted by forces at rest and in motion.

• A body is composed of infinite number of particles.

• A body has definite size and shape.

Figure 2.1.2 - Rigid Body vs. Deformable Body

• Force is the capacity to do work.

• Force produces motion in the body.

• Force is a vector quantity, SI unit is Newton

• Force causes …. 1) Translation 2) Rotation or 3) both.

Figure 2.1.3 - Characteristics of Force

Figure 2.1.4 - Various Force Systems

Figure 2.1.5 - Principle of Transmissibility of Force

Figure 2.1.5 - Force Components

Figure 2.1.6 - Resultant Force

Figure 2.1.7 - Law of Parallelogram of Forces

Figure 2.1.8 - Law of Parallelogram of Forces derivation

• The resultant of the force system can be a Force or a Moment.

• If the resultant force ∑ F = 0, there is No Translation.

• If the resultant moment ∑ M = 0, there is No Rotation.

• Thus the body is said to be in a …….Complete Static Equilibrium

• collinear to the resultant of the force system. See Figure 2.1.9

Figure 2.1.9 - Equilibrant

• ∑M=0 ….. Moments

Figure 2.1.10 - Actual system and its corresponding F.D.P.

• It is a sketch of a body of interest only

• All the surrounding bodies are removed.

Figure 2.1.11 - Actual structure and FBD of the sphere

Lami's theorem is also known as Law of sines

Figure 2.1.12 - Schematic diagram and equation for Lami’s theorem

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