Kinematics of Machinery (ME-224)

Module-3
By

Sajan Kapil
Assistant Professor
Indian Institute of Technology Guwahati
Guwahati-781039, Assam, India

Phone: 003612582652 Email: sajan.Kapil@iitg.ac.in

Lecture-7
 Slider-Crank Mechanism
Multi Stage Synthesis
A Six-link fork lifter with only R-Pairs. Design Specifications
1. 60O rotation of the input link causes 1.5m travel of the fork
2. Travel of the fork Proportional to input rotation
3. Three Chebyshev's accuracy points
 Slider-Crank Mechanism
Multi Stage Synthesis

Locate Three Chebyshev's accuracy points using graphical method

By Analytical method
𝐵𝑖 = 0
𝐵1 = 0.1005
𝐵2 = 0.75
𝐵3 = 1.3995
Δ𝐵12 = 0.6495
Δ𝐵23 = 0.6495
Δ𝜃12 Δ𝜃23 60
= =
Δ𝐵12 Δ𝐵23 1.5
Hence

Δ𝜃12 = 26°, Δ𝜃23 = 26°

 Slider-Crank Mechanism
Multi Stage Synthesis

Design the imaginary slider crank mechanism

𝐶1 𝐵1

𝐴1
 Slider-Crank Mechanism

Locate the revolute joint at 𝐶1

 Slider-Crank Mechanism
Function Generation: Multi Stage Synthesis

In second Stage Design the 4-Bar mechanism which

generate approximate straight line at the coupler.
Locate the moving pivot on coupler by fixing the
coupler link 3.

𝐶1 𝐸1 𝐵1

𝐷1

𝐴1
 Slider-Crank Mechanism
Function Generation: Multi Stage Synthesis
In second Stage Design the 4-Bar mechanism which generate approximate straight
line at the coupler. Locate the moving pivot on coupler by fixing the coupler link 3.
 Slider-Crank Mechanism
Function Generation: Multi Stage Synthesis
In second Stage Design the 4-Bar mechanism which generate approximate straight
line at the coupler. Locate the moving pivot on coupler by fixing the coupler link 3.
 Slider-Crank Mechanism
Function Generation: Multi Stage Synthesis
In second Stage Design the 4-Bar mechanism which generate approximate straight
line at the coupler. Locate the moving pivot on coupler by fixing the coupler link 3.
Slider-Crank Mechanism
Function Generation: Multi Stage Synthesis
Locate the moving pivot ‘E’ on coupler by fixing the coupler link 3.
Slider-Crank Mechanism
Function Generation: Multi Stage Synthesis
Locate the moving pivot ‘E’ on coupler by fixing the coupler link 3.
Slider-Crank Mechanism
Function Generation: Multi Stage Synthesis
 Slider-Crank Mechanism
Function Generation: Multi Stage Synthesis
There should be one more pivot on forklift to avoid rotation. A suitable location of this
pivot as F.
 Slider-Crank Mechanism
Function Generation: Multi Stage Synthesis
Look at 4-bar Mechanism DE, EB, BF and FG. Find out the location of G on the link DE
Slider-Crank Mechanism
Function Generation: Multi Stage Synthesis
Slider-Crank Mechanism
Function Generation: Multi Stage Synthesis
Slider-Crank Mechanism
Function Generation: Multi Stage Synthesis
Slider-Crank Mechanism
Function Generation: Multi Stage Synthesis
Slider-Crank Mechanism
Function Generation: Multi Stage Synthesis
Slider-Crank Mechanism
Function Generation: Multi Stage Synthesis
Thank You