-1- Contents -2-

1. Review contents of Engineering Mechanics

Introduction to Kinematics 2. Motion of some mechanical systems in engineering

3. Two models using in Kinematics: Particle and Rigid

Nguyen Quang Hoang body
Applied Mechanics - Department of Mechatronics - SME 4. Some kind of motion of a particle
C3-307, Email: hoang.nguyenquang@hust.edu.vn
5. Some kind of motion of a rigid body

1. Review contents of Engineering Mechanics -3- 1. Review contents of Engineering Mechanics -4-

Mechanics Classification of Dynamics: Kinematics and Kinetics

(DYNAMICS)
Statics Dynamics ĐỘNG HỌC

• Statics (Tĩnh học ) deals

with the equilibrium of
bodies, that is, those that (KINETICS)
(KINEMATICS)
are either at rest or move
Kinematics Kinetics ĐỘNG LỰC HỌC
with a constant velocity. ĐỘNG HÌNH HỌC

• Dynamics (Động học) dealing with the motions of material bodies under the action Theory of interaction between
Theory of motion, regardless of
of given forces. The force acts on a body with its properties as mass and inertia forces and motion of a mechanical
force - causes a change in motion.
moment. systems
- Kinematics (Động hình học) examines geometrically the motion of particles /
bodies/ mechanical systems, regardless of the cause of motion.
- Kinetics (Động lực học) examines the relationship between the motion of the
bodies/systems and the force acting on the system
2. Motion of some mechanical systems in engineering -5- 2. Motion of some mechanical systems in engineering -6-

v sewing machine Model of a sewing

machine belt
belt
transmission
transmission
2 r1
1
Relationship between motor
 speed and vehicle velocity?  r2

Relationship between motion of

particles and bodies in a system ? needle Crankshaft
mechanism (Slider
B Four-link crank mech.)
l2 A
mechanism B A
A l l2
r l
2 l3 A Pedal r
O   2 l3 O  
l1 3 B B
l1 3
O 1 l0 C x 1 l0 x
O C

2. Motion of some mechanical systems in engineering -7- -8-

2. Motion of some mechanical systems in engineering
Kinematics in robot design
E D 
C
h
0
O A
h 

 u

x Ref. William J. Palm III. System Dynamics-McGraw-Hill, 2009

Metalworking
machine D 
0 C
O A
 1. How to determine the shaft diameter?
 u 2. Relationship between motor speed and motion of links, of load?
 3. Motion of the link/load when knowing the motor torque?
B
B
 -9- 2. Motion of some mechanical systems in engineering -10-
2. Motion of some mechanical systems in engineering
Kinematics in robot design elevator, conveyor,…
2 r 1
1
B
r1
r2

A
m
Relationship between motion of
particles and bodies in a system ?

Ref. William J. Palm III. System Dynamics-McGraw-Hill, 2009

1. How to determine the shaft diameter?

2. Relationship between motor speed and motion of links, of load?
3. Motion of the link/load when knowing the motor torque?

2. Motion of some mechanical systems in engineering -11- -12-

2. Motion of some mechanical systems in engineering
s(t)
y
E z0
D

C K D
1
C

y
E 
B
F A 1
O2 O1 A
2 1
O
4 O z1
O x
 3’ 3 5 5
2
B x

3 2
A
g
L 4
R
O  
B
1 x

O1
Motion of a particle and a body?
2
Relationship between motion of
r M
particles and bodies in a system ?
 3. Two models using in Kinematics: Particle and Rigid body -13- 4. Some kind of motion of a particle -14-

Particle model Rigid body model Rectilinear motion

z B
z
P
rP rA A
O O
Motion of a x
y rigid body: y
x
• Translation
Motion of a particle: • Rotation about a fixed axis / fixed point Curvilinear motion
• General spatial motion
• Motion in plane, motion in space • General planar motion
Motion of a particle :
• Rectilinear & Curvilinear motion • Helical motion (screw motion) P
• Velocity and Acceleration of a point and • Path (Trajectory)
• Velocity and Acceleration of a
particle angular velocity vector, angular • Velocity vector
• Maximum 3 position parameters acceleration vector
• Acceleration vector
(3 Degree of Freedom) • Maximum 6 position parameters (6
Degree of Freedom) • Constraints on motion of a particle.

5. Some kind of motion of a rigid body -15- -16-

5. Some kind of motion of a rigid body

B Motion of a rigid body:

• Position of one point and the B
body’s orientation
rA A • Types of motion: translation,
O rotation about a fixed axis
(fixed point), general planar B
motion, helical, spatial General planar motion
Translation
motion, ..
• Velocity vector and Rotation about a
acceleration vector of a point fixed axis
belong to the body, B
• Angular velocity vector and j
angular acceleration vector,
Translation
D D C • Relationship between rA A
velocity and acceleration of
points belong to the body z (t ) O
B
A A B
• Constraints on motion of
Rotation about a fixed
bodies in the system. Helical motion General spatial motion
point
5. Some kind of motion of a rigid body -17- 5. Some kind of motion of a rigid body -18-

Translation  z0
ve
General
planar  Rot. about A z1
y0 wr Helical motion a fixed axis
motion 
B we

 x0 wr
O A j
z (t ) B
Translation u2
Rot. about a
fixed point

Rot. about a
General B R1 fixed point Rot. about General
planar
A
z a fixed axis spatial
motion 2
u z0 motion
30o
O
y A
A r B
Rot. about  R0 1 x e
a fixed axis Rot. about
a fixed axis z