DEVELOPMENT OF PEAUCELLIER AND WATT’S

MECHANISM USING SMART TECHNOLOGY (CNC ROUTER)

A Mini Project Review Report

BACHELOR OF TECHNOLOGY

IN

MECHANICAL ENGINEERING
Submitted by

ASSEMSETTI AKSHAY (20835A0301)

JANGAMPALLY AKHIL (20835A0311)

JOKARA SANGAMESH (20835A0312)

Under the guidance

of

Mr . A .VIJAY KUMAR

Assistant Professor

DEPARTMENT OF MECHANICAL ENGINEERING

GURUNANAK INSTITUTE OF TECHNOLOGY

(Affiliated to Jawaharlal Nehru Technological University)

Ibrahimpatnam, Ranga Reddy District-

501506 2019-2023

GURU NANAK INSTITUTE OF TECHNOLOGY

(Approved by A.I.C.T.E, New Delhi, Affiliated to J.N.T.U-Hyderabad)
i
 CERTIFICATE

This is to certify that the minor-project entitled “DEVELOPMENT OF PEAUCELLIER

AND WATT’S MECHANISM USING SMART TECHNOLOGY (CNC ROUTER)”
is being presented with a report by ASSEMSETTI AKSHAY (20835A0301),
JANGAMPALLY AKHIL (20835A0311), JOKARA SANGAMESH (20835A0312),
in partial fulfilment of the award of the degree of Bachelor of Technology in Mechanical
Engineering, to Jawaharlal Nehru Technological University is the record of bonafide
work carried out by them my guidance and supervision.
The results embody in this project report have not been submitted to any other university
or institute for the award of any degree.

Mr. B . VIJAY KUMAR Dr.B .VIJAYA KUMAR

Internal guide Head of the Department

EXTERNAL EXAMINER

i
 DECLARATION

We hereby declare that the minor project entitled “DEVELOPMENT OF PEAUCELLIER

AND WATT’S MECHANISM USING SMART TECHNOLOGY IN CNC ROUTER” is
work done by, ASSEMSETTI AKSHAY (20835A0301), JANGAMPALLY AKHIL
(20835A0311), and JOKARA SANGAMESH (20835A0312).

Towards the fulfilment of the requirement for the award of the degree of Bachelor of
Technology in Mechanical Engineering, to Jawaharlal Nehru Technological University,
Hyderabad is the result of the work carried out under the guidance of Mr. A.VIJAY KUMAR,
Assistant Professor, Guru Nanak Institute of Technology, Hyderabad.

We further declare that this project report has not been previously submitted before either in part
or full for the award of any degree or any diploma by any organization or any universities.

ASSEMSETTI AKSHAY (20835A0301),

JANGAMPALLY AKHIL (20835A0311),

JOKARA SANGAMESH (20835A0312).

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 ACKNOWLEDHMENT
We wish to convey our sincere thanks to our internal guide Mr. A . VIJAY KUMAR Assistant
Professor, Department of Mechanical Engineering, for his professional advice, encouragement in
starting this project, and academic guidance during this project.
We wish to convey our sincere thanks to Dr. B . VIJAYA KUMAR, Professor & Head of
Department, Department of Mechanical Engineering for his masterly supervision and valuable
suggestions for the successful completion of our project.
We wish to express our candid gratitude to Principal Dr. S. SREENATHA REDDY, and the
management for providing the required facilities to complete our project successfully. We convey
our sincere thanks to the staff of the Mechanical Engineering Department and the Lab Technicians
for providing enough stuff which helped us in taking up the project successfully.
We are also grateful to our well-wishers and friends, whose co-operation and somesuggestions
had helped us in completing the project.
Finally, we would like to thank our parents for their exemplary tolerance and for giving usenough
support in our endeavours.

ASSEMSETTI AKSHAY (20835A0301),

JANGAMPALLY AKHIL (20835A0311),

JOKARA SANGAMESH (20835A0312).

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 ABSTRACT
The object of this project is to design peaucellier mechanism using smart manufacturing. Machining is a
metal/wood removing process. It removes a material & decreases the material mass hence this is a
subtractive process. Conventional Machining process is a machining process in which the machining carry
out with the traditional method. In this process the sharp point cutting tools are used for the machining
purpose, such as the taper tool in the lathe machine for tapering.

smart manufacturing (SM) is a technology-driven approach that utilizes Internet-connected machinery to

monitor the production process. The goal of SM is to identify opportunities for automating operations and
use data analytics to improve manufacturing performance. Using smart manufacturing here we are going to
produce peaucellier mechanism , it is a straight line motion mechanism and a four bar mechanism used to
enlarge or reduce drawings etc. peaucellier mechanism is designed in cad version 2020 and it is imported
to the art cam 2018 software by applying boundary conditions & tool paths saved .tap file and which is
imported to CNC Router. After feeding Program in the CNC Router Machine the object/ the Prototype
model would be produced. Here working material would be MDF [Medium-density fibre board] having
thickness 8mm to 10mm. The peaucellier mechanism assembly consists of the following major components:

1) 8 links

2) 1 turning pair

iv
 CONTENTS
CERTIFICATE DECLARATION i
ACKNOWLEDGMENT ii
ABSTRACT iii
iv
CHAPTER 1 1
INTRODUCTION 1
1.1 Definition of Smart Technology 1
1.2 Types of Smart Technology 1
1.2.1Additive manufacturing 1
1.2.2 Robotics 2
1.2.3 CNC Router 2

1.3 History of CNC Machine 3

1.4 Evolution of CNC Machines 3
1.5 Classification of CNC Machnine 5
1.5.1 Lathe CNC machines 5
1.5.2 CNC Milling Machine 5
1.5.3 CNC Drilling Machine 6

1.5.4. CNC Grinding Machine 7

1.5.5. CNC Laser Cutting Machine 7

1.5.6. CNC Plasma Cutting Machine 8

1.5.7. CNC Electrical Discharge Machine 8

1.5.8. CNC Router Machine 9
9
1.5.9. CNC Machine with Automatic Tool Changes
9
1.5.10. 3-D Printer
9
1.5.11. 5-Axis CNC Machine
10
1.5.12. Pick and Place Machine
11
1.6 Major Components of CNC Route 11
1 .6.1 Frame 11
1.6.2 Spindle 12
1.6.3 Axes 13
13
13
13
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 1.6.4 Column/s 14
1.6.5 CNC Control Panel 15
1.6.6 Tool / Tool Changers 15
1.6.7 Tool Holders
16
1.6.8 Table
16
1.6.9 Coolant Tank
16

1.7 Scope and limitations 17

1.7.1 Advantages 17
1.7.2 Disadvantages 17
1.7.3 Applications 17
1.7.4 Straight line Motion Mechanism 18
1.7.5 Types of Straight line Motion Mechanism. 19
1.7.5.1The Watt Mechanism: 20

1.7.5.2 The Grass-hopper Mechanism. 22

1.7.5.3 The Hart’s Mechanism 22
1.7.5.4 The Peaucellier Mechanism 23
CHAPTER 2 23
LITERATURE SURVEY 27
2.1 History
27
2.2 List of linkages
28
CHAPTER- 3
30
METHODOLOGY AND PROBLEM STATEMENT
3.2 Methodology 31

3.3 Objectives 32

3.4Time line of the Project 32

32
Chapter 4
32
DESIGN AND KINEMATICS ANALYSIS
32
4.1Design Concepts
32
4.1.1 Software 33
4.1.2 CAD Software
35
4.1.3 ARTCAM Software
35
4.1.4Design of peucellier mechanism using AUTOCAD and
35
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 ARTCAM 36
4.2 ARTCAM Software 36
36
4.2.1 Features of ARTCAM 2018 :
4.2.2 System requirements for ARTCAM 2018 : 37
4.2 4.2.3Mechanism of Designed Model 38
4.3 Degree of Freedom 38
4.4 Mathematical proof of concept

4.4.1 Collinearity 39
39
Chapter 5 39
5.1 TOOLPATH GENERATION
51
5.1.2 Generating Machining Toolpaths using ArtCAM 54
55
Chapter 6
55
6.1Experimental concept
6.2Operating procedure for CNC router 56

6.3Research Method 56

6.4Mechanical Design 57
6.4.1. Electronic Design: 57

6.5RESULTS AND ANALYSIS 57

6.5.1 Cutting System Test
6.5.2 Engraving System Test 57
6.5.3 Marking System Test 58
6.5.4 The electronic circuit
58
6.5.5 Accuracy Test
60
6.5.6 Depth Measurement
61
6.5.7 Speed Test
CONCLUSION
REFERENCES

vii
 LIST OF FIGURES

Figure.1.1 3D Printing 2
Figure1.2 Robotic Arm 2
Figure1.3 CNC Router 3
Figure1.4 CNC Router 1967-1972 4
Figure1.5 CNC Router 1976-1989 4
Figure1.6 CNC Lathe Machine 5
Figure1.7 CNC Milling Machine 6
Figure1.8 CNC Drilling Machine 6
Figure1.9 CNC Grinding Machine 7
Figure1.10 CNC Laser Cutting Machine 7
Figure1.11 CNC Plasma Cutting Machine 8
Figure1.12 CNC Electrical Discharge Machine 9
Figure1.13 3D Printer Machine 10
Figure1.14 5 Axis CNC Machine 10
Figure1.15 Pick And Place Machine 11
Figure1.16 Frame 12
Figure1.17 Spindle 12
Figure1.18 CNC Control Panel 13
Figure1.19 Tool Holders 15
Figure1.20 Coolant Tank 16
Figure 1.21 The Watt Mechanism. 18
Figure 1.22 The Grass-hopper Mechanism 18
Figure 1.23 The Hart’s Mechanism 19
Figure1.24 The Peaucellier Mechanism 20
Figure 2.1 Watt linkage 23
Figure 2.2 Watt's linkage automobile suspension 24
Figure 2.3 Watt's linkage in a 1998 Ford Ranger EV suspension 24
Figure 2.4 Watt's linkage train suspension 24
Figure 4.1 design of peaucellier linkage 32
Figure 4.2 Artcam design 32
Figure 4.3 Design of Peaucellier Mechanism 33

viii
Figure 4.4 Line Diagram(1) 36
Figure 4.5 Line Diagram(2) 36
Figure 5.1 Artcam design 39
Figure 5.3 Artcam design
Figure 5.4 Artcam – Machine relief 40
Figure5.5Artcam–Define material
Figure 5.6 Artcam-Tool selection
Figure 5.7 Artcam-Calculate Toolpaths
Figure 5.7 Artcam-Calculate Toolpaths
Figure 6.1 Advanced Peaucellier Mechanism 47
Figure 6.2 MCB of CNC Router 50
Figure 6.3 End Mill 50
Figure 6.4 End Mill Cutter’s 51
Figure 6.5 Dsp hand holder remote 52
Figure 6.6 xyz coordinates 52
Figure 6.7 flash drive 53
Figure 6.7 CNC Router 54
Figure 6.2.2 Design of 56
Figure 6.2.4 Depth Measurement 57

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 LIST OF TABULAR

Table 3.1 27
Figure 3.2 28
Figure 3.3 30
Table 5.1 53
Table 5.2: Accuracy Test 56
Table 5.3: Depth measurement 56
Table 5.4: Speed Test 57

x
 CHAPTER 1
INTRODUCTION
1.1 Definition of Smart Technology
The term smart technologies (Smart-Tech) is understood as a generalization of the concept of. smart
structures. Smart technologies encompass mechanical systems equipped with sensors, actuators and pre-
programmed controllers, which allow a structure to adapt to unpredictable. Smart manufacturing (SM) is a
technology-driven approach that utilizes Internet-connected machinery to monitor the production process.
The goal of SM is to identify opportunities for automating operations and use data analytics to improve
manufacturing performance.
SM is a specific application of the Industrial Internet of Things (IIoT). Deployments involve embedding
sensors in manufacturing machines to collect data on their operational status and performance. In the past, that
information typically was kept in local databases on individual devices and used only to assess the cause of
equipment failures after they occurred.
Now, by analyzing the data streaming off an entire factory's worth of machines, or even across multiple
facilities, manufacturing engineers and data analysts can look for signs that particular parts may fail, enabling
preventive maintenance to avoid unplanned downtime on devices.
1.2 Types of Smart Technology
1.2.1Additive manufacturing
Additive manufacturing is the process of creating an object by building it one layer at a time. eIt is the opposite
of subtractive manufacturing, in which an object is created by cutting away at a solid block of material until
the final product is complete.
Technically, additive manufacturing can refer to any process where a product is created by building something
up, such as molding, but it typically refers to 3-D printing.
Additive manufacturing was first used to develop prototypes in the 1980s — these objects were not usually
functional. This process was known as rapid prototyping because it allowed people to create a scale model of
the final object quickly, without the typical setup process and costs involved in creating a prototype. As
additive manufacturing improved, its uses expanded to rapid tooling, which was used to create molds for final
products. By the early 2000s, additive manufacturing was being used to create functional products.
More recently, companies like Boeing and General Electric have begun using additive manufacturing as
integral parts of their business processes.

1
 Figure.1.1 3D Printing
1.2.2 Robotics
Robotics is an interdisciplinary branch of computer science and engineering.[1] Robotics involves design,
construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist
humans. Robotics integrates fields of mechanical engineering, electrical engineering, information
engineering, mechatronics, electronics, bioengineering, computer engineering, control engineering, software
engineering, mathematics, etc.

Figure 1.2 Robotic Arm

1.2.3 CNC Router

A computer numerical control (CNC) router is a computer-controlled cutting machine related to the hand-
held router used for cutting various hard materials, such as wood, composites, aluminium, steel, plastics,
glass, and foams. CNC routers can perform the tasks of many carpentry shop machines such as the panel
saw, the spindle moulder, and the boring machine. A CNC router is very similar in concept to a CNC
machine milling machine. Instead of routing by hand, tool paths are controlled via computer numerical
control (CNC). The CNC router is one of many kinds of tools that have CNC variants.”
2
Other names: CNC milling machine, CNC routing machine, 3D carving machine.
New style open-source CNC Routers are cost-effective alternatives to laser cutters. Both types of machines
have different affordances, but some tasks can be done on either one, e.g. cutting wood to create furniture
and sculptures, or engravings. The precision and resolution of laser cutter is much higher, but a typical laser
cutter cannot cut through heavy planks and do deep and large engravings.

Figure 1.3 CNC Router

1.3 History of CNC Machine

The First CNC Machine
The first CNC machine was credited to James Parsons in 1949. Parsons was a computer pioneer who
worked on an Air Force Research Project. The research was on how to produce helicopter blades and better
aircraft skin.
Parsons was able to calculate helicopter airfoil coordinates with an IBM 602A multiplier. He then fed the
data into a punched card, which he used on a swiss jig borer. This information led to the manufacture of
many helicopter blades and aircraft skins. According to the accepted CNC history, this was considered the
first CNC machine. Parson would later receive the Joseph Maria Jacquard Memorial Awards for his work.
Development of CNC Technology
Before the development of the first CNC machine, some machines could be instructed to make other tools.
This was called Numerical Control (NC).

1.4 Evolution of CNC Machines

You should notice the absence of Computerized (C) Parsons would later develop the first CNC machine.
With this development, there came an evolution. Below is a timeline of the evolution that occurred in the
history of CNC machining.
1952 – 1958

3
As the Cold War became intense, there was a need to improve efficiency and productivity in making many
machines and weapons. Therefore, in 1952, Richard Kegg, together with MIT, made the first CNC milling
machine known as Cincinnati Milacron Hydrotel. Richard Kegg would later file for a patent for the Motor
Controlled Apparatus for Positioning Machine tool in 1958.
1967 – 1972
CNC machining was becoming more recognized across the world. This was due to the Computer-Aided
Design (CAD) and Computer-Aided Machining (CAM) development in 1972. CAD and CAM inclusion in
CNC machining led to massive developments in CNC machining. However, the two were not regarded as a
standard part of the manufacturing process.

Figure 1.4 CNC Router 1967-1972

1976 -1989
In 1976, 3D Computer-Aided Design and Computer-Aided Machining were included into CNC machining.
In 1989, CAD and CAM software-controlled machines became the industrial standard for CNC machines.

Figure 1.5 CNC Router 1976-1989

4
1.5 Classification of CNC Machines
1.5.1 Lathe CNC` machines
Lathe CNC machines are defined by their capability to turn materials during operation. They have less
number of axes than CNC milling machines, making them shorter and more compact.
CNC lathe machines consist of a lathe at the center that manages and transfers material programmatically to
the computer. At the present time, it is widely used as a lathe due to its fast and accurate function.
Once the initial setup is done, a semi-skilled worker can operate it easily. This type of lathe is also used for
mass production such as capstan and turret. But there is no programmed fed system.

Figure 1.6 CNC Lathe Machine

1.5.2 CNC Milling Machine

It is one of the most common types of CNC machine, that have built-in tools for drilling and cutting. The
materials are located inside a milling CNC machine, after which the computer will lead the tools to drill or
cut them.

Most of the CNC milling machines are available in 3 to 6-axis configurations. This machine is used to
produce gears like spur gear and is also used to drill the workpiece bore and make slots by inserting part
program into the system.

A semi-skilled worker can operate it easily. It is also used for mass production such as a capstan and turret.
But there is no programmed fed system. The parts made by this machine are very precise in dimensional
tolerance.

5
 Figure 1.7 CNC Milling Machine

1.5.3 CNC Drilling Machine

The CNC drilling machine is typically applied for mass production. Drilling machines, however, often have
a multi-function machining center that is occasionally mingled and sometimes twisted. The greatest sink
time for CNC drilling is with tool changes, so for speed, the variation of hole diameter must be reduced.
The fastest machine size for drilling holes consists of several spindles in the turret with drills of different
diameters pre-mounted for drilling. This type of CNC machine can perform reaming, counterboring, and
tapping holes.

Figure 1.8 CNC Drilling Machine

6
1.5.4. CNC Grinding Machine
It is a precision performance tool that uses a rotating wheel to cut metal away from the metal. Typically,
CNC grinding machines are used for camshafts, ball bearings, transmission shafts, and other working pieces,
which require an accurate and correct finish.
Numerous pieces made using a CNC grinding machine are cylindrical. A grinding machine also use to make
other types of workpieces. In CNC grinding machines “CNC” holds for computerized numerical control.

Figure 1.9 CNC Grinding Machine

1.5.5. CNC Laser Cutting Machine

The Laser-cutting CNC machines are designed to cut through hard materials, although they use a laser to
perform this task instead of a plasma torch. Lasers offer a high degree of accuracy, but they are not as
effective as plasma torches.
Laser-cutting CNC machines commonly use one of these three types of lasers that is CO2, neodymium (Nd),
or yttrium-aluminum-garnet (Nd: YAG).

Figure 1.10 CNC Laser Cutting Machine

7
1.5.6. CNC Plasma Cutting Machine
This machine similar to milling CNC machines, plasma-cutting CNC machines are also used to cut
materials. But, they differ from their milling counterparts by doing this operation applying a plasma torch.

A plasma cutting machine is defined as it is a method that cuts by electrically conductive materials using an
accelerated stream of hot plasma. These types of CNC machine feature a high-powered torch that’s capable
to cut through rough materials like metal.

Figure 1.11 CNC Plasma Cutting Machine

1.5.7. CNC Electrical Discharge Machine

These are also known as a spark CNC machine, is a special type of CNC machine that uses electric sparks to
manage materials to the desired shape.
Electrical discharge has a transient effect, meaning that it can degrade the elements from which it is
presented. The electric discharge CNC machines take advantage of this by designing controlled sparks to
reshape materials.

The materials are located between the top and bottom of the electrode, after which the computer decides how
much electrical discharge the electrodes produce.

8
 Figure 1.12 CNC Electrical Discharge Machine

1.5.8. CNC Router Machine

The CNC router machine is works likewise to other CNC machines such as lathe or milling. The principal
difference is that all of this carpenter works manually such as interior, door carving, and exterior decoration,
wood panels, signboards, wood frames, molding, musical instruments, furniture, and more.
According to the sketch, you can design if possible you can create in the system then execute it on a CNC
router machine. This provides a better surface finish. It would be a very good machine in terms of door
design and more.

1.5.9. CNC Machine with Automatic Tool Changes

Automatic tool changer CNC machine is applied to develop the tool carrying capacity and production rate of
the machine. And also used to improve the machine’s capacity to work with a number of tools. This type of
CNC machine changes the tool very quickly and easily handles and change worn out or broken tools.
The most important thing about this CNC machine is that it reduces non-productive time. The Automatic
tool changer CNC machine is a perfect step towards complete automation.

1.5.10. 3-D Printer

It is a CNC machine in which elements are printed layer-by-layer. The design and drawing are created by the
CAD and CAM process and then the 3D printer used to reflect that design. The 3D printer CNC machine
used for the printing of buildings and premises.

9
 Figure 1.13 3D Printer Machine1.5.11. 5-Axis CNC Machine
The 5-Axis CNC machine is a machine with a total of 5 axes. Originally, it has 3 axes (X, Y, and Z), the
cutting operation of any tool has done in 3 directions, but 2 additional axes were added (A, B) which means
there are 5 axe10 | P a g e s. This machine is used to produce sculptures.

Figure 1.14 5 Axis CNC Machine

10
1.5.12. Pick and Place Machine
This is another type of CNC machine. It is used in the industry. The pick and place CNC machine has many
nozzles that lift electrical components for electronic equipment and place them in the correct location. They
are generally used in the manufacture of cell phones, computers, and tablets, etc.

Figure 1.15 Pick And Place Machine

1.6 Major Components of CNC Router

1.6.1 Frame
The frame is the main structure that supports the milling machine and helps to give it stability and rigidity. It
usually comes with a base and detachable column/s.
An important part of the frame is the machine headstock where the main spindle is mounted on. The
headstock, while important, is often overlooked. If the headstock is not rigid and fails to provide stability
and support to the spindle, you could get vibrations and chattering during the machining operation. This
could result in machining errors and a shorter lifespan to your cutting tool.

Figure 1.16 Frame

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1.6.2 Spindle
The spindle can be considered as the “heart” of a CNC milling machine. It normally comprises a rotating
assembly, and a tapered section where tool holders may be positioned. The shaft of the spindle is normally
where the tool is attached to, usually via a tool holder.
A motor with different levels of transmission is used to rotate the spindle.
To keep your spindle in good condition over the long-term, various forms of lubrication are used. They may
include Grease Lubrications (not suitable for long durations of high speed operations), Air-Oil Lubrications
(sufficient for longer cycle runs at higher speeds) or the Hwacheon Oil-Jet-Lubrication (ideal for all
conditions – even extreme, long and high speed applications).
Depending on the machine type, the spindle can be vertically or horizontally positioned.

Figure 1.17 Spindle

1.6.3 Axes
In general, CNC milling machines have X / Y / Z as well as additional rotational axis or C / A or B (subject
to configuration). These can be programmed using g-code in the CNC controller.

1.6.4 Column/s
The columns of the CNC machining center can be single (eg travelling column HiRex 4000 or also C-Frame
like HiT 400 / 360; VESTA line including “B”; SIRIUS-650 / 850 / 1050) or double (SIRIUS 1250 / 2500 /
L1 / L2). This depends on the level of complexity needed in the machining task.

1.6.5 CNC Control Panel

This is the main “nervous system” of the machine tool. It contains the electronics that helps to control the
different cutting actions through programming functions. The control panel has a CNC monitor and

12
programming buttons where data and codes can be punched in. It usually also offers a manual function. For
ease of machine operation, the control panel should be easily accessible and within easy reach.

Figure 1.18 CNC Control Panel

1.6.6 Tool / Tool Changers (Automatic Tool Changer or ATC)

These are either mounted at the column or separately mounted to the machine. The latter is preferred if
larger tool changers are needed with 40 up to 300 different tools. Doing so not only helps to save time and
effort – it also helps your operators to avoid unnecessary vibrations during operation.

1.6.7 Tool Holders

These come in many different sizes, systems and for various applications. The standard sizes
for tool holders are BT 30 to BT 40 and BT 50 (BT refers to the taper angle of the cone on the holder).
(In Europe, the term used is SK 30, SK 40 or SK 50, which has the same angle as BT holder but with an
additional orientation groove at the flange. Together with a key-stone mounted at spindle nose, SK holders
can be orientated in a specific position. Eg.: boring bridges, boring bars, angular milling heads etc.)
For higher rigidity and balanced fast rotations, BBT versions are recommended or the HSK System.

The BBT version is an up-graded version of the standard BT system providing double contact points
between the tool holder and spindle. As such, it connects and bonds more strongly, provides significantly
less vibrations as the tool holders are balanced to class Q 2.5. This improves not only the machining
13
capabilities and results of your machine tool, but provides better surfaces to your part / mould, extends your
tool life and lastly saves spindle replacements in the long run as bearings will last longer.
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What about the HSK System? It is lighter (good for HSC machining), shorter (good for faster tool change),
and stronger than the BT system (a HSK-A63 holder is 2.5 times stronger than a BT 50 holder). The HSK
System also offers excellent balancing (Class Q 2.5). Due to the strong and powerful clamping from inside
to outside, the bonding between the tool holder and the spindle is ideal for heavy duty operations, heavy cuts
or extremely high-speed operations at the same time.
Both the BBT and HSK versions offer far stiffer and more rigid bonding between the tool holder and spindle
as these systems come with double contact clamping (i.e. between the caper / cone and front spindle nose
surface).

Figure 1.19 Tool Holders

1.6.8 Table
The table provides a solid base to clamp the work piece directly on, and can be used to mount fixtures or
vice to hold the piece in place. Most of the tables use T-slots for easy clamping of vice, fixture or part.
On Horizontal CNC milling machines, pallets are also available with Tap-holes. These allow greater
flexibility in moving different work pieces to be machined. Increasingly, magnets are also being used for

14
easy, fast and secured clamping. These should preferably be built into the machines table to avoid the loss of
Z-axis height.
1.6.9 Coolant Tank
Most CNC machining centers have a coolant tank to help supply coolant to the cutting surface or the spindle
with tool during machining action. This helps to lengthen the life-span of the machine and its parts. Beyond
this, the coolant will also remove heat generated by the machining action, and hence keep temperatures
under control.
To hold a sufficient amount of coolant for cutting operations, the rule here is “the more, the better.” More
coolant helps machine operators to avoid the warming up of coolant.
Generally, the CTS system or Coolant Through Spindle is recommended for deeper drilling operations
(deeper than 4 x diameter) or when one is machining deeper cavities in mould & die applications. The
standard should be 30bar with options of up to 70bar in coolant pressure. Only very specific applications
would require even higher coolant pressures.
Attention needs to be given if tools with larger coolant hole diameters are used. Such machining needs may
require a High Pressure – High Flow Rate Pump to be used.

Figure 1.20 Coolant Tank

1.7 Scope and limitations of CNC Router

Computer numerical control machining’s advantages make it the preferred manufacturing method for several
industries, such as medical equipment, automobile and aerospace. This manufacturing method can deliver
highly precise made-to-order parts.

Due to the accuracy of this process, delicate parts that must adhere to strict designs are among the best types
of projects for CNC machines. However, with all these advantages, CNC machining has some limitations.

15
When choosing part creation methods, learn as much as you can about CNC machining. When you
understand how the process works, you can make an informed decision that balances your budgetary needs
with the requirements of your project’s precision.

1.7.1 Advantages of CNC Router

• Constant Use With Minimal Maintenance

• High Precision and Accuracy Can Be Obtained
• Quick Machining Speed
• Simulated Models or Prototypes
• More Capability
• High Production and Scalability
• Design Retention

1.7.2 Disadvantages of CNC Router

• High Initial Cost
• Need Skilled Labour
• Steep Learning
• Operator Errors

1.7.3 Applications of CNC Router

• CNC machining can be repeated
• It is used in dental equipments
• Transportation
• Research and Development
• Construction

1.7.4 straight line Motion Mechanism

A straight-line mechanism is a mechanism that converts any type of rotary or angular motion to perfect or
near-perfect straight-line motion, or vice-versa. Straight-line motion is linear motion of definite length or
"stroke", every forward stroke being followed by a return stroke, giving reciprocating motion. The first such
mechanism, patented in 1784 by James Watt, produced approximate straight-line motion, referred to by Watt
as parallel motion.

16
Straight-line mechanisms are used in a variety of applications, such as engines, vehicle suspensions, walking
robots, and rover wheels. These are the few types of straight line motion mechanism.
1.7.5 Types of Straight-line Motion Mechanism.
• The Watt Mechanism.
• The Grass-hopper Mechanism
• The Hart’s Mechanism
• The Peaucellier Mechanism

1.7.5.1The Watt Mechanism:

In kinematics, Watt's linkage (also known as the parallel linkage) is a type of mechanical
linkage invented by James Watt in which the central moving point of the linkage is
constrained to travel on a nearly straight line. It was described in Watt's patent
specification of 1784 for the Watt steam engine.
Watt's linkage consists of three bars bolted together in a chain. The chain of bars consists
of two end bars and a middle bar. The middle bar is bolted at each of its ends to one of the
ends of each outer bar.
The two outer bars are of equal length, and are longer than the middle bar. The three bars
can pivot around the two bolts. The outer endpoints of the long bars are fixed in place
relative to each other, but otherwise the three bars are free to pivot around the two joints
where they meet.
Watt's linkage is used in the rear axle of some car suspensions as an improvement over
the Panhard rod, which was designed in the early twentieth century.

Both methods are intended to prevent relative sideways motion between the axle and
body of the car. Watt's linkage approximates a vertical straight-line motion much more
closely, and it does so while consistently locating the centre of the axle at the vehicle's
longitudinal centreline, rather than toward one side of the vehicle as would be the case if a
simple Panhard rod were used.
17
 Figure 1.21 The Watt Mechanism.

1.7.5.2 The Grass-hopper Mechanism.

The grasshopper escapement is a low-friction escapement for pendulum clocks invented by British
clockmaker John Harrison around 1722. An escapement, part of every mechanical clock, is the mechanism
that gives the clock's pendulum periodic pushes to keep it swinging, and each swing releases the clock's
gears to move forward by a fixed amount, thus moving the hands forward at a steady rate. The grasshopper
escapement was used in a few regulator clocks built during Harrison's time, and a few others over the years,
but has never seen wide use. The term "grasshopper" in this connection, apparently from the kicking action
of the pallets, first appears in the Horological Journal in the late 19th century. It is the modified mechanism
of scott-russel’s mechanism.
And it is a four bar mechanism and all the pairs are turning pairs.in this mechanism the center D and A are
fixed. The grasshopper mechanism is used in early days as an engine mechanism, with the help of this
mechanism we can get a long stroke by short crank.

Figure 1.22 The Grass-hopper Mechanism

1.7.5.3 The Hart’s Mechanism

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Hart's first inversor, also known as Hart's W-frame, is based on an antiparallelogram. The
addition of fixed points and a driving arm make it a 6-bar linkage. It can be used to convert
rotary motion to a perfect straight line by fixing a point on one short link and driving a point
on another link in a circular arc .Hart's second inversor, also known as Hart's A-frame, is less
flexible in its dimensions[Note 1], but has the useful property that the motion perpendicularly
bisects the fixed base points. It is shaped like a capital A – a stacked trapezium and triangle.
It is also a 6-bar linkage.

Figure 1.23 The Hart’s Mechanism

1.7.5.4 The Peaucellier Mechanism

The Peaucellier–Lipkin linkage (or Peaucellier–Lipkin cell, or Peaucellier–Lipkin inversor),

invented in 1864, was the first true planar straight line mechanism – the first planar linkage
capable of transforming rotary motion into perfect straight-line motion, and vice versa. It is
named after Charles-Nicolas Peaucellier (1832–1913), a French army officer, and Yom Tov
Lipman Lipkin (1846–1876), a Lithuanian Jew and son of the famed Rabbi Israel Salanter.

Until this invention, no planar method existed of converting exact straight-line motion to
circular motion, without reference guideways. In 1864, all power came from steam engines,
which had a piston moving in a straight-line up and down a cylinder. This piston needed to
keep a good seal with the cylinder in order to retain the driving medium, and not lose energy
19
efficiency due to leaks. The piston does this by remaining perpendicular to the axis of the
cylinder, retaining its straight-line motion. Converting the straight-line motion of the piston
into circular motion was of critical importance. Most, if not all, applications of these steam
engines, were rotary. The mathematics of the Peaucellier–Lipkin linkage is directly related to
the inversion of a circle.

Figure1.24 The Peaucellier Mechanism

20
 CHAPTER 2
LITERATURE SURVEY
The Peaucellier–Lipkin linkage (or Peaucellier–Lipkin cell, or Peaucellier–Lipkin inversor),
invented in 1864, was the first true planar straight-line mechanism – the first planar linkage
capable of transforming rotary motion into perfect straight-line motion, and vice versa. It is named
after Charles-Nicolas Peaucellier (1832–1913), a French army officer, and Yom Tov Lipman
Lipkin (1846–1876), a Lithuanian Jew and son of the famed Rabbi Israel Salanter.

Until this invention, no planar method existed of converting exact straight-line motion to circular
motion, without reference guideways. In 1864, all power came from steam engines, which had a
piston moving in a straight-line up and down a cylinder. This piston needed to keep a good seal
with the cylinder in order to retain the driving medium, and not lose energy efficiency due to
leaks. The piston does this by remaining perpendicular to the axis of the cylinder, retaining its
straight-line motion. Converting the straight-line motion of the piston into circular motion was of
critical importance. Most, if not all, applications of these steam engines, were rotary.

Earlier Sarrus linkage:There is an earlier straight-line mechanism, whose history is not well
known, called the Sarrus linkage. This linkage predates the Peaucellier–Lipkin linkage by 11 years
and consists of a series of hinged rectangular plates, two of which remain parallel but can be
moved normally to each other. Sarrus' linkage is of a three-dimensional class sometimes known as
a space crank, unlike the Peaucellier–Lipkin linkage which is a planar mechanism.

Slider-rocker four-bar acts as the driver of the Peaucellier–Lipkin linkage. Peaucellier–Lipkin

linkages (PLLs) may have several inversions. A typical example is shown in the opposite figure,
in which a rocker-slider four-bar serves as the input driver. To be precise, the slider acts as the
input, which in turn drives the right grounded link of the PLL, thus driving the entire PLL.

21
2.1History

2.1.2 Peaucellier–Lipkin linkage

In the late eighteenth century, before the development of the planer and the milling machine, it
was extremely difficult to machine straight, flat surfaces. During that era, much thought was given
to the problem of attaining a straight-line motion, as this would allow the flat surfaces to be
machined. To find a solution to the problem, the first straight line mechanism was developed by
James Watt, for guiding the piston of early steam engines. Although it does not generate an exact
straight line, a good approximation is achieved over a considerable distance of travel.

Perfect straight line linkages were later discovered in the nineteenth century, but they weren't as
needed, as by then other techniques for machining had been developed.

2.2List of linkages
Approximate straight line linkages
These mechanisms often utilize four bar linkages as they require very few pieces. These four-bar linkages
have coupler curves that have one or more regions of approximately perfect straight line motion. The
exception in this list is Watt's parallel motion, which combines Watt's linkage with another four-bar linkage
– the pantograph – to amplify the existing approximate straight line movement.
It is not possible to create perfectly straight line motion using a four-bar linkage, without using a prismatic
joint.

Watt's linkage (1784)

Watt's parallel motion (1784)
Evans "Grasshopper" linkage (1801)
Chebyshev linkage
Chebyshev lambda linkage (1878) - a cognate linkage of the Chebyshev linkage
Roberts linkage
Horse-head linkage
Hoecken linkage (1926) - requires a sliding joint

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2.1.3 Watt linkage

Its genesis is contained in a letter Watt wrote to Matthew Boulton in June 1784.
I have got a glimpse of a method of causing a piston rod to move up and down perpendicularly by only fixing it to
a piece of iron upon the beam, without chains or perpendicular guides [...] and one of the most ingenious simple
pieces of mechanics I have invented.[2]
This type of linkage is one of several types described in Watt's 28 April 1784 patent specification. However, in
his letter to Boulton he was actually describing a development of the linkage which was not included in the
patent. The slightly later design, called a parallel motion linkage, led to a more convenient space-saving design
which was actually used in his reciprocating, and his rotary, beam engines.[3]
The context of Watt's innovation has been described by C. G. Gibson:
During the Industrial Revolution, mechanisms for converting rotary into linear motion were widely
adopted in industrial and mining machinery, locomotives and metering devices. Such devices had to
combine engineering simplicity with a high degree of accuracy, and the ability to operate at speed for
lengthy periods. For many purposes approximate linear motion is an acceptable substitute for exact
linear motion. Perhaps the best known example is the Watt four bar linkage, invented by the Scottish
engineer James Watt in 1784.[4]

Figure 2.1 Watt linkage

Applications of watt mechanism

Double-acting piston
The earlier single-action beam engines used a chain to connect the piston to the beam and this worked
satisfactorily for pumping water from mines, etc. However, for rotary motion a linkage that works both in
compression and tension provides a better design and allows a double-acting cylinder to be used. Such an
engine incorporates a piston acted upon by steam alternately on the two sides, hence doubling its power. The
linkage actually used by Watt (also invented by him) in his later rotary beam engines was called the parallel
motion linkage, a development of "Watt's linkage", but using the same principle. The piston of the engine is
attached to the central point of the linkage, allowing it to act on the two outer beams of the linkage both by
pushing and by pulling. The nearly linear motion of the linkage allows this type of engine to use a rigid
connection to the piston without causing the piston to bind in its containing cylinder. This configuration also
results in a smoother motion of the beam than the single-action engine, making it easier to convert its back-
and-forth motion into rotation
23
An example of Watt's linkage can be found on the high and intermediate pressure piston rod of the
1865 Crossness engines. In these engines, the low pressure piston rod uses the more conventional parallel
motion linkage, but the high and intermediate pressure rod does not connect to the end of the beam so there
is no requirement to save space.
Vehicle suspension

Figure 2.2 Watt's linkage automobile suspension

Figure 2.3 Watt's linkage in a 1998 Ford Ranger EV suspension

Figure 2.4 Watt's linkage train suspension

24
Watt's linkage is used in the rear axle of some car suspensions as an improvement over the Panhard rod,
which was designed in the early twentieth century. Both methods are intended to prevent relative sideways
motion between the axle and body of the car. Watt's linkage approximates a vertical straight-line motion
much more closely, and it does so while consistently locating the centre of the axle at the vehicle's
longitudinal centreline, rather than toward one side of the vehicle as would be the case if a simple Panhard
rod were used.[7]
It consists of two horizontal rods of equal length mounted at each side of the chassis. In between these two
rods, a short vertical bar is connected. The centre of this short vertical rod – the point which is constrained in
a straight line motion - is mounted to the centre of the axle. All pivoting points are free to rotate in a vertical
plane.
In a way, Watt's linkage can be seen as two Panhard rods mounted opposite each other. In Watt's
arrangement, however, the opposing curved movements introduced by the pivoting Panhard rods largely
balance each other in the short vertical rotating bar.
The linkage can be inverted, in which case the centre P is attached to the body, and L1 and L3 mount to the
axle. This reduces the unsprung mass and changes the kinematics slightly. This arrangement was used on
Australian V8 Supercars until the end of the 2012 season.
Watt's linkage can also be used to prevent axle movement in the longitudinal direction of the car. This
application involves two Watt's linkages on each side of the axle, mounted parallel to the driving direction,
but just a single 4-bar linkage is more common in racing suspension systems.

25
 CHAPTER- 3
METHODOLOGY AND PROBLEM STATEMENT
3.1 Problem Statement
From many decades advanced technologies are developed in Straight-line motion mechanism. But Until
this invention, no planar method existed of converting exact straight-line motion to circular motion, without
reference guideways. In all power came from steam engines, which had a piston moving in a straight-line up
and down a cylinder. This piston needed to keep a good seal with the cylinder in order to retain the driving
medium, and not lose energy efficiency due to leaks. The piston does this by remaining perpendicular to the
axis of the cylinder, retaining its straight-line motion. Now by this Converting the straight-line motion of
the piston into circular motion will be easy and comfortable . Most, if not all, applications of these steam
engines, were rotary
This watts mechanism and peacullier mechanism have made much difference in both the linear
moment and rotery movement in such a way that before this mechanisms no innovation have made to move
in straight line motion to be drawn this are both mechanism that have made each and every movement
simple after the existence of this mechanism had done

26
3.2 Methodology

Problem Statement

Solving the problem to

overcome it

Creating the design and

preparing the tool path to the
design

Doing the simulation on the work

material and copy the file in stl
format with secondary devices ,
and copying the file to cnc
control remote to cut the material
as per design

Cutting (OR) engraving

Result and Discussion

Table 3.1

27
Figure 3.2

28
3.3 Objectives
The main objective of this project is to design a manufacture a prototype of peaucellier
mechanism with the help of CNC Router
The objectives of this project are:
1. Cnc machining boasts both financial and production advantages over manufacturing alternatives like
conventional machining and 3D printing
2. It is more cost-effective ,more accurate, and a faster process overall.
3. Clear , easy to follow design.
4. Efficient Operation.

29
3.4Time line of the Project

Figure 3.3

30
 Chapter 4
DESIGN AND KINEMATICS ANALYSIS
4.1 Design Concepts
The design concepts are provided by a software designer or engineering design with a foundation of design methods
that can be applied in a set of fundamental concepts. In designing a concept, a prototype is more essential to
improvise the design and find out the complexation of the modal. For the prototype, a manufacturing software (3D
Printing Methods) is used. The computer software of designing for the machine that can be used to create or
improvise the concept by a set of tools and command with help of its definitions and magnitude valves. An
application of the software can determine by use and user friendly to the person familiar to it.
4.1.1 Software
The computer software of designing for the machine that can be used to create or improvise the concept by a set
of tools and command with help of its definitions and magnitude valves. An application of the software can
determine by use and user friendly to the person familiar to it.

4.1.2 CAD Software

CAD software is helping to develop a design or concept by using some commands and tools with its specific
definitions and magnate valves. Moreover, Cad software there is much software like ,AutoCAD: Autodesk
Computer-Aided Design and Drafting software with works on the set of commands and programming methods
like line command, circle command, and its specific location of the pointer by using a coordinate system
CAD/CAE/CAM systems are now widely accepted and used throughout the industry. These systems moved from
costly workstations based mainly on UNIX to off-the-shelf PCs. 3D modeling has become a norm, and it can be
found even in applications for the wider public, like 3D buildings modeling in Google Maps, house furnishing
(IMSI Floorplan), or garden planning. Advanced analysis methods like FEM (Finite Element Method as for
structural analysis), flow simulations are a ubiquitous part of the design process. CAM systems are used for
simulation and optimization of manufacturing, and NC code is created and loaded to NC machines
4.1.3 ARTCAM Software
Most CAD/computer-aided manufacturing (CAM) tools are designed to enable engineers to design and
manufacture products. From the very beginning Art CAM software has been developed to enable artists and
designer to create whatever they can imagine. Art CAM is used in a variety of sectors from jewelry and coin
minting, to the design and manufacture of architectural cornicing and facades. The common theme across these
sectors is the desire to produce intricate artistic forms with incredible detail that can then be quickly and easily
machined or 3D printed. This class will introduce you to the process that will enable you to take a simple 2D
drawing and convert it into a complex decorative relief and machine it.
ARTCAM is one of the simulating software in which we can generate tool paths for different designs which are
imported from AUTOCAD software in stl file formate.

31
4.1.4Design of peucellier mechanism using AUTOCAD and ARTCAM

Figure 4.1 design of peaculiar linkage

Using autocad software we have designed this peucellier mechanism In which eight links and one turning pair so,
that we can have the reference of the image can be identified while we are simulating and drawing toolpath that
would be easy

Figure 4.2 Artcam design

32
Figure 4.3 AUTOCAD Design of
WATT”S Linkage

33
 ARTCAM

4.2ARTCAM Software

Most CAD/computer-aided manufacturing (CAM) tools are designed to enable engineers to

design and manufacture products. From the very beginning Art CAM software has been
developed to enable artists and designer to create whatever they can imagine. Art CAM is used in
a variety of sectors from jewelry and coin minting, to the design and manufacture of architectural
cornicing and facades. The common theme across these sectors is the desire to produce intricate
artistic forms with incredible detail that can then be quickly and easily machined or 3D printed.
This class will introduce you to the process that will enable you to take a simple 2D drawing and
convert it into a complex decorative relief and machine it.
ARTCAM is one of the simulating software in which we can generate tool paths for different
designs which are imported from AUTOCAD software in stl file formate.

4.2.2 Features of ARTCAM 2018 :

• Handy application for the engineers which will allow you to unravel your creativity.
• Offers scalable CAD modeling as well as CNC machining solution for a very wide
range of industries.
• Handy for all the machinists, engravers and woodworkers for designing and
manufacturing 2D as well as 3D models.
• Can use the bitmap to vector tool for creating a vector from an imported images.
• Got a 2-rail sweep which is a very powerful shape generation tool.
• Got sculpting tools which will let you design in a more artistic way.

4.2.2 System requirements for ARTCAM 2018 :

• Operating System: Windows 7/8/8.1/10/11
• Memory (RAM): 2 GB of RAM required.
• Hard Disk Space: 500 GB of free space required.
• Processor: Intel Core 2 Duo or later.

4.2 Mechanism of Designed Model

Peaucellier Exact Straight-Line Mechanism
Peaucellier linkage can convert an input circular motion to the exact straight-line motion. The construction of this
mechanism is such that the point which is connected to the crank moves in a circular path and the point
traversing the straight line is selected as the output point. The linkage has a rhombic loop formed of the equal
length members, 5, 6, 7 and 8. Two equal length length links are connected to the opposite corners of the
rhombus at one end and to a common fixed point at the other ends. The point A of the rhombus is connected to
fixed point O2 through the link 2. The length of the link 2 is equal to the distance between points O2 and O4. By
the constraints of the geometry point A moves in a circular path and as the point A moves in a circle point P
traverses an exact straight-line path normal to the line joining O2 and O4.
From the construction of the Peaucellier linkage it is clear that this is a much more complex mechanism than the
mechanisms generating approximate straight lines, which were simple four bar linkages. This mechanism has
eight members and six joints.
34
 Figure 4.3 Peaucellier Mechanism

4.3 Degree of Freedom

The basic Peaucellier–Lipkin linkage with 1 degree of freedom was transformed into a more skillful
mechanism, through the addition of 4 more degrees of freedom. The resulting 5-degree-of-freedom leg
enables the walking machine to move along paths that are straight lines and/or concave or convex curves.
The Peaucellier mechanism generates exact straight lines, meeting some restrictions among their
links dimensions and the input angle. The mechanism has eight links, but due to those initial restrictions,
only requires to find relations among three of its eight links and rotation angle

35
 Figure 4.4 Line Diagram(1)

Figure 4.5 Line Diagram(2)

Geometric diagram of a Peaucellier linkage

In the geometric diagram of the apparatus, six bars of fixed length can be seen: OA, OC, AB, BC, CD, DA.
The length of OA is equal to the length of OC, and the lengths of AB, BC, CD, and DA are all equal forming
a rhombus. Also, point O is fixed. Then, if point B is constrained to move along a circle (for example, by
attaching it to a bar with a length half way between O and B; path shown in red) which passes through O,
then point D will necessarily have to move along a straight line (shown in blue). On the other hand, if
point B were constrained to move along a line (not passing through O), then point D would necessarily have
to move along a circle (passing through O).

36
4.4 Mathematical proof of concept
4.4.1 Collinearity
First, it must be proven that points O, B, D are collinear. This may be easily seen by observing that the
linkage is mirror-symmetric about line OD, so point B must fall on that line.
More formally, triangles △BAD and △BCD are congruent because side BD is congruent to itself, side BA is
congruent to side BC , and side AD is congruent to side CD . Therefore, angles ∠ABD and ∠CBD are equal.
Next, triangles △OBA and △OBC are congruent, since sides OA and OC are congruent, side OB is
congruent to itself, and sides BA and BC are congruent. Therefore, angles ∠OBA and ∠OBC are equal.
Finally, because they form a complete circle, we have but, due to the congruences, ∠OBA =
∠OBC and ∠DBA = ∠DBC, thus therefore points O, B, and D are collinear .Inverse points
Let point P be the intersection of lines AC and BD. Then, since ABCD is a rhombus, P is the midpoint of
both line segments BD and AC. Therefore, length BP = length PD.
Triangle △BPA is congruent to triangle △DPA, because side BP is congruent to side DP, side AP is
congruent to itself, and side AB is congruent to side AD . Therefore, angle ∠BPA = angle ∠DPA. But
since ∠BPA + ∠DPA = 180°, then 2 × ∠BPA = 180°, ∠BPA = 90°, and ∠DPA = 90°.
Let:
Then:
(due to the Pythagorean theorem)
(same expression expanded)
(Pythagorean theorem)
Since OA and AD are both fixed lengths, then the product of OB and OD is a constant: and since
points O, B, D are collinear, then D is the inverse of B with respect to the circle (O,k) with center O and
radius k. Inversive geometry
Thus, by the properties of inversive geometry, since the figure traced by point D is the inverse of the figure
traced by point B, if B traces a circle passing through the centre of inversion O, then D is constrained to trace
a straight line. But if B traces a straight line not passing through O, then D must trace an arc of a circle
passing through O. Q.E

37
 CHAPTER 5

5.1TOOLPATH GENERATION
5.1.2 Generating Machining Toolpaths using ArtCAM

Now that you have a surface relief created, ArtCAM is used to generate the appropriate toolpaths
for machining it. This process has several steps and many different factors, including not just the
surface itself, but also what cutting tool or tools you are using, how many machining passes to
take, and what kind of passes these are - roughing to take out thebulk of the material, or finishing
to smooth out and clean up the surface.
ArtCAM keeps all of this fairly straightforward, though, and more or less stepwise through atop-
to-bottom approach to making these decisions.

Figure 5.1 Artcam design

Figure 5.2 Artcam design Of watts linkage

38
 Figure 5.3 Artcam design

Once you have a relief loaded and displayed in the 3D window, like what you see above, you
need to switch modes in ArtCAM into the Toolpaths section of the software.

At the bottom of the control pane (left side of the screen), find the Toolpaths tab, and click it.
This will bring up the complete set of toolpath generation and posting tools (left).

For this handout I'm going to keep things simple and only work with a basic 3D Machine
Surface operation. Other options for creating 2D toolpaths as well as 3D roughing and
machining particular geometries exist as well, and you can and should experiment with these
as you like.

To initiate 3D Machine Surface, choose the tool from the 3D Toolpaths section of the
pane.

The following describes each of the options on the way down the path to machining.

39
 Figure 5.4 Artcam – Machine relief

Area to Machine:
This allows you to select to machine the entire relief model (Whole Model) as a single
machining process, or to select just one vector outline or object (Selected Vector) to machine
as an independent operation. The default is the whole model, so we'll leave it that way for
now. There are times, however, where you might wish to only machine a small and single
object of the whole model, or to define such an object differently than others within the
whole relief.

Strategy:
This option gives the choice of: Raster in X - the cutting tool passes back and forth
across the machined surface in parallel passes of the X (left-right) direction. This is the
default mode.
Raster in X and Y - same as X, cutting tool passes in both X and Y parallel pass directions.
Spiral - Starting from a point, proceed outward in a continual spiral as the surface condition is
traced. This option does not include any remaining corners.
Spiral in a Box - Same as spiral, but includes the remaining corners.

40
Raster Angle:
Turn the parallel passes of the cutting tool at an angle from teh X-axis

Allowance:
This will leave a certain depth of material behind that is not cut, essentially offsetting the
entire surface up the given distance. The remaining material would then have to be cut off in
another machining operation, usually with a different or smaller tool. This is one mechanism
for pursuing Rough vs. Finish cutting.

Tolerance:
How closely the cutting tool's stepping motion fits the actual curve of the geometry. A
smaller value will yield a more precise form, but much more code and far greater time.

Machine Safe Z:
This is the height above the surface of the stock at which it is safe for the tool to move
around. This value must be tall enough to clear any clamps or other holding/fixing devices
that are keeping the material stock in place on the bed.

Tool:
Select the cutting tool that you will use. This is the tool that the toolpaths will be generated
based upon, including the tool's cutting depth, width, stepover, stepdown, etc. See the section
on tool definition below for details. This is perhaps the most important selection that you will
make in the toolpath generation process.

Multiple Z Passes:
If your surface requires a cut that will go deeper than the flute-length of the cutting tool that
you will use, then you must do multiple Z-passes. Multiple Z-passes run the tool across the
material cutting off one layer at a time until you reach the bottom-most depth of your surface.
If you do not choose to do multiple passes, then you will end up trying to cut with the smooth
shank (shaft) of the cutting bit rather than the cutting flutes. The shank cannot cut, so it will
puch the stock right off the table, or jam up the cutting head causing damage to the machine.

The Z-heights of the first and last passes establish the starting depth (relative to the 0,0,0
point established), and the ending depth of passes. The number of passes in between is
calculated based upon the tool's Stepdown setting - the distance that the tool will step
downward for each new pass. This is set in the tool definition window.

Ramping Moves:
Some cutting tools are called "Center-Cutting", while others are called "Noncenter-Cutting".
Center-cutting tools are able to cut using their tip, much like a drill bit, and are therefore able
to drill or "plunge" into the material. Noncenter-cutting tools are not built to cut with their
tips, only their sides. When using these type of tools, if you want to move down into the
material, you must use Ramping Moves - zigzag motions to get the tool down into the
material. This is only necessary when using noncenter-cutting tools.

41
Material:
Click this Setup button to define the material stock to be used to cut the surface relief out of.
The relief itself does not contain this information, so it must be defined here of importance
here are the Thickness of the material and the location of the origin. Generally, you will want
to place the origin at the top of the material block and use a TopOffset.

Figure 5.5 Artcam – Define material

Name:
Give this machining process a name by which you can identify it later. The name can be
anything you like, but should refer to the processes meaningfully, as you may later create
several different ones on the same surface relief.

Calculate:
Once everything has been defined, choose to calculate the paths Now or Later. Calculating
paths will generate the toolpath graphics and data according to the parameters that you have
just defined.

42
Tool Definitions:
Every tool needs to have a unique definition established that controls how that tool is used.
ArtCAM catalogs both Metric and Inch toolsets, along with all of the information necessary
to control the tool's use.

Figure 5.6 Artcam-Tool selection

Tool Name:
A descriptive name for identification (End Mill 1/4 Inch)

Type:
(Slot Drill), etc.- this controls the style and profile (seen to the right of the type). The Slot
Drill is a flat-ended tool. A Ball-Nose is rounded at its tip, etc.

Stepover:
The distance the tool will move horizontally when making the next pass. This value should be
some fraction or percentage of the tool's total diameter, and is generally in the 25-40% range.
Too great of a stepover will cause difficulty machining because there will be too much
pressure on the tool as it is trying to cut with too much of its surface area.

Stepdown:
The distance the tool will move vertically when performing the next Z-pass (see Multiple Z-
Passes above). This distance must be within the total cutting Flute-Length of the tool itself.
Cutting beyond the flutes will not work, as the shaft cannot cut. Generally the Stepdown is
1/3 to 1/2 of the flute length at most, and may be substantially less depending upon the
material being cut. The larger the stepdown, the slower of a feedrate you will need to use, as
the tool is cutting more. A smaller stepdown can use a faster feedrate for traversing over the
material when cutting.

43
Spindle Speed:
The rotating speed of the cutting tool, defined in revolutions per minute (rpm). This is how
fast the milling tool spins as it cuts. A faster spindle speed will create a smoother cut, and can
generally take a higher feedrate but will create greater heat from friction in some materials
(aluminum, brass, etc.). A slower spindle speed will cut rougher and may not eject chips
properly. Too slow of a spindle speed, relative to the feedrate, can even jam the tool in the
material.

Feed Rate:
This is the lateral rate of motion of the cutting head as it traverses the material during cutting
operations. Feedrates must be carefully considered for each material, and relative to other
factors such as spindle speed, stepover, tool diameter, the number of flutes on the cutting
tool, etc. This will take some experimentation, but do not try to make the machine go too fast.
It can damage not only your part, but the machine itself. Feedrates are defined usually in
Inches per Minute or Feet per Minute.

Figure 5.7 Artcam-Calculate Toolpaths

44
 Figure 5.7 Artcam-Calculate Toolpaths

Plunge Rate:
Like feed rate, this is the rate at which the cutting head moves, but in this case only when
plunging, or drilling, into the material. This rate is often set differently than the feedrate as
this type of cutting generates more friction and is a more difficult cutting move due to the
entire 360 degrees of the tool being engaged at once. This is generally 1/2 to 3/4 of the feed
rat

45
 The result:
The result is a series of paths traversing the surface of the material, stepping over and stepping
down successively to cut away the material. Toolpaths are shown graphically onscreen in red,
and will be written out in code during Posting.

Figure 5.6 Artcam-Save Toolpaths 1

Figure 5.8 Artcam-Save Toolpaths 2

We have done with the simulation and creation of tool path using ARTCAM software where file has been
transferred from from AutoCAD as a STL file formate ,that has to be taken into the secondary storage devices
like pen drives So ,that we can transfer the file to the CNC Router as the G code metric mm file formate and then
save the file in the CNC control panel and then start performing the machineing operation.

46
 CHAPTER 6
6.1Experimental concept
Once we know the principle of designing a Peaucellier linkage, we can design another form of Peaucellier
linkage which can make the point P0 move in a straight line on the other side of fixed ground pivot in
Fig.2.11. If we take the farthest and nearest two neighbouring sides 14 of the rhombus in the Peaucellier link
away respectively, we get two four-bar mechanisms. The one named “kite” is showing in Fig.2.13, and the
other named “spear head” is showing in Fig.2.14. Because the kite and spear head mechanisms are both part
of the same Peaucellier linkage, so the long links and short links in the kite and spear head mechanism are
equal length. If we place one on the top of the other and make the long links coincide, we get exactly the
Peaucellier cell showing in Fig.2.12. If we keep the angles between the long links and the short links the
same for both kite and spear head mechanism and make the short links

Figure 6.1 Advanced Peaucellier Mechanism

Figure 2.13: THE STRUCTURE OF KITE MECHANISM. 15 Figure 2.14: THE STRUCTURE OF SPEAR
HEAD MECHANISM. Figure 2.15: THE MODIFIED PEAUCELLIER LINKAGE. coincide, we get the
modified Peaucellier linkage. This is showing in Fig.2.15. The symmetric structure of the modified
Peaucellier linkage makes the three pivots in the middle always lie in a straight line. So the first condition is
satisfied. The second condition still need to be proved.
We already proved the multiplication of the height of kite and spear 16 P' A B n O C Figure 2.16: THE
STRUCTURE OF THE PEAUCELLIER LINKAGE. head mechanism is a constant. We use the similar
method showing in Fig.2.12 to prove the second condition for the modified peaucellier mechanism. We also
draw an imaginary line An which is perpendicular to P0 C. The drawing is showing in Fig2.16. We find the
similar relationship between the link lengths as following: OA2 = On2 + An2 (2.7) and AP02 = P0 n2 + An2
(2.8) Subtract equation (2.7) from equation (2.8), we get OA2 AP02 = On2 P0 n2 = [On P0 n] · [On + P0 n]
= OC · OP0 Because the length of link OA and AP0 are constants, so we have the conclusion that OC·OP0
is a constant. The second condition has been proved. If we place the modified Peaucellier linkage on the top
of the linkage in Fig.2.11, making point O coincide, and using an extra 17 link to constraint the movement of
point C on a circle, the point P0 will move along the perfect vertical straight line P0 M0 in Fig.2.11. The
modified Peaucellier linkage is in a very compact form. This design was ap

47
ASSUMPTIONS
1. Values of w and h are to be assumed
2. l = (h/3)
3. d = 2w
Here,
w is the width of the bar,
l is the horizontal length of the mechanism
, h is the vertical height of the mechanism,
r is the length of the crank bar,
lb is the length of each bar of rhomboidal system,
lr is the length of rod joining bars of rhomboidal system to the fixed point,
d is the vertical height of the rhomboidal system,
2θ is the angle subtended between the rods joining bars of rhomboidal system to the fixed point,
2r = h-d In ∆ABD,
Tan θ = (AD/BD)
Tan θ = {(l/2)/h}
Θ = Tan-1 {(l/2)/h}
In ∆BHF,
HB = 2r + (d/2)
Tan θ = (FH/HB)
FH = HB × Tan θ
FH = {2r + (d/2)} Tan θ
In ∆FHE,
48
HE = d/2 Tan
α = (HE/ FH) Tan
α = {(d/2) / (2r + (d/2)) Tan θ}
Sin α = (HE/FE) FE = (HE/ Sin α) {FE = lb., HE = (d/2)}
lb. = {(d/2)/ Sin α}
lb. = {(d/2)/ Sin α}
Sin θ = (FH/FB)
Sin θ = {(2r + (d/2)) Tan θ/ lr}
lr = {(2r + (d/2)) Tan θ/ Sin θ}
lr = {(2r + (d/2))/ Cos θ}
watts linkage calculations
The Watt linkage or lemniscoid (see [1] pages 111-113)1 consists of two fixed points A and B of distance
two apart and two moveable points P and Q. Rigid bars with moveable joints are connected so that the
distances |AP|, |BQ|, and |P Q| are all one

49
5.2Operating procedure for CNC router
A CNC router is a computer numerical controlled equipment where the tool paths are controlled via a
computer. It is used for machining various materials, including wood, aluminium, stone, plastics, composites
and foams. A CNC router adopts a 3 axis CNC bit to remove material from stock in order to shape a part. 3
axis means that the CNC tool can move simultaneously in all three directions of X, Y and Z axis.
Step 1. Starting CNC Router Machine There are a number of components to plug in before we can get
started: 1. Power on the CNC controller box near the wall by turning the ON/OFF swift.2. Then press the
green start button to start the remote controller.3. Turn on the dust collector (remember to check the dust
bags).4. Start the vacuum table by pushing the white button.

Figure 6.2 MCB of CNC Router

Step 2: Choose End Mill – Intro There are a number of different blades to choose from when conducting a
project on a CNC router machine. The router bits we are limited to using are known as end mills, and they
take on a number of different shapes and sizes. We'll give a brief crash-course on end mills here. Following
are the aspects we hope you will fully understand between completing this course and embarking on your
first project: 1. Number of flutes.2. End mill shape: Flat vs Ball nose vs V-bits.3. Sizing.

Figure 6.3 End Mill

Step 3: Choose End Mill – Flutes Take a look at the first picture included in this step and see if you can
notice a difference between the two bits displayed. In case you can't tell, the CNC bit on the right has four
edges, where as the bit on the left only has two edges. These edges are called as flutes and each serves its
own purpose in a CNC project. What is the difference between them? We like to describe the difference
between four-flute and two-flute end mills as the similar difference between a wood saw and a hacksaw. A
wood saw has much fewer and larger teeth than a hack saw - making it ideal to cut softer materials like
wood. A hack saw has fine teeth close together, which will make it ideal to saw metal tubes and other hard
materials.

50
 When looking for the right end mill for your project, just remember that four-flute end mills are used for
harder materials (i.e.. aluminium, mahogany, plastics, teak, etc.) and two-flute end mills are used for softer
materials (i.e.. MDF, plywood, ceda, etc.)

Figure 6.4 End Mill Cutter’s

.Step 4: Choose End Mill - Shapes Aside from number of flutes, end mills come in a number of different
shapes. Flat (aka end mill): Notice the flat profile at the end of the shaft. This flat profile makes this end mill
ideal for cutting clean profile cuts, routing pockets, or drilling holes . Ballnose: Notice the rounded top at the
end of the flutes. This shape makes this blade ideal for 3D surfacing only. This type of blade is no good for
profile cutting V-bit: Notive the pointed tip of the bit. This shape makes this blade ideal for carving. Words
are especially easy with this router bit. Mystery bits: Maybe while searching around for a bit in the 'End
Mills' cabinet you came across some interesting bit not listed here. No matter how interesting or perfect for
your job that CNC bit may seem. DO NOT USE UNCLASSIFIED BITS WITHOUT FIRST CONSULTING
EITHER THE SHOP MANAGER OR THE CNC ROUTER GURU
.Step 5: Change Blade or End Mill If the end mill you want is already in the CNC machine when you
approach. Then just check for tightness the following instructions: 1. Place the remote controller in the
holder, make sure that you don't press the spindle start button under this process.2. Take the two wrenches
from the CNC router table and carefully loosen the collet from the spindle - mind your knuckles.3. First
remove bit from collet, and put the old end mill at the toolbox before replacing these items.4. Place the new
end mill into the collet high enough to grasp a significant portion of the shank - the new end mill can (but
need not) stick out of the back of the collet when properly placed. For smaller end mills, push the end mill
into the collet to about 2mm from the start of the helix.5. Tighten nut/collet/end mill back into the spindle -
do not overtighten with excessive force.

51
 Figure 6.5 Dsp hand holder remote
Step 6: Set Up Workpiece on Table• When your are planning to cut your plate, it's important to check that
all the 4 vacuum zones (under the MDF), if there are rubber strips to be placed all around the zones edges, to
ensure the strength of the vacuum, the strength of the vacuum determines how much of the air pressure is
actually going to work hold down your workpieces. Less Vacuum Less Pressure. • If your are working with
small plate and its not is filling a whole vacuum zone, you can use plastic plugs and placing a shorter rubber
strip in the slits to narrowing it down.• Then you place the MDF board back on the vacuum table, and you
are ready to place your own plate on the top and select wishes to the vacuum zones you would like to use
and press the white button to activate the vacuum.
Step 7: Set Up X and Y Axis Now you have to set each axis to zero. The tip of the router bit should be
positioned over the surface of the material at the left back, and when are satisfied with new zero you press [
XY=0 ] and [ OK ]

Figure 6.6 xyz coordinates

52
Step 8: Set Up Z axis There are two difference ways you can set up the Z axis: Paper Method Find a piece
of normal A4 paper and put it between the part and the bit, bring the Z carefully down to the paper and when
you are 5mm from the top shift to stepper movement by pressing [ ~ ] and you can now safely move closer
so the tip just touch the surface of the paper when you move it between. Then press [ Shift ] + [ XY=0] and [
OK ] and the zero is exactly 0.100mm over the surface now. Tool sensor Method Place the tool sensor under
the router bit on the top of the part you will cut in, and bring the tip of the bit down, so its 8-10mm abort the
sensor plate and press [ Shift ] + [ ~ ] and the tool will automatically move down and set the zero point for
you. *IMPORTANT When changing bits between milling operations it will be necessary to reset the z zero
coordinate. Do not reset the X, Y coordinates.

Figure 6.7 flash drive

Step 9: Load File You are now ready to load your designed file from CAD/CAM software into the CNC
controller box by using a flash drive. Instructions: • Put flash drive into the reader.• Wait for the read USB
message.• Press [ OK ].• Find you file by scrolling ▲▼◄► the usb library.• Press [ OK ] to upload and [ 1
] to confirm.• Put on your ear protection and googles.• Now you can press start [ ► ].Step 10: Safety Guide•
Wear eye and ear protection at all times. The shop will supply you with both goggles and earplugs. • Keep
the table clean and free of tools and loose materials. • Never leave the router running unattended. If you need
to leave, please ask someone to watch it for you or pause the job. • Never lean on the table or rest hands or
feet on the machine while it is running. • Do not attempt to make adjustments or reposition the material
while the machine is running.• Use the dust collector or vacuum while the CNC machine is working.

5.2RESEARCH METHOD

The first step in the operation of CNC machine was calibrating the tool, it was aimed to know whether the
stepper motor and any other system were working according to the program that has been configured.
Followed by setting the starting position of spindle drill on the CNC machine using Universal Gcode Sender
software both automatically and manually by hand spinning.

ART CAM/FUSION board formed as

Image Design CNC Machine
360 designed

Table 6.2.1 CNC Calibration

Spindle drill speed can be set up to a maximum speed of 12000 rpm (rotation per minute). After the CNC
machine is calibrated, the design with the *.god extension format was uploaded using Universal Gcode
Sender to Arduino Uno with serial communication. The microcontroller will read the data as a command and

53
provide logic to the A4988 motor driver. The data received by the motor driver was used to drive 3 Nema 17
X, Y and Z axis stepper motors, so that a pattern will be formed on the object according to the design.

Mechanical Design :
The main tools in mechanical design consist of multiplex board, stepper motor, linear bearing, ball bearing,
linear shaft, l eadcrew and nut, coupling beam, power supply and spindle drill. Figure 2 is a 3D design of
CNC machine made using AutoCad software.

stepper

spindle drill
Z
section place
for the object
formation
Y
X

Figure 6.8 CNC Router

Electronic Design:

Figure 6.2.2: Block diagram of electronic design of CNC machine based on microcontroller with some supporting
softwares

54
The electronic system used on microcontroller based CNC machine was the power supply which used as a
voltage source on personal computers and CNC machine. Personal computer was used as a device to run some
software such as Xloader, Universal Gcode Sender, and Arduino IDE, also to send design file to Arduino Uno
microcontroller using serial communication. 12V 10A power supply was used as a voltage source for A4988
driver motor to run the 3 Nema 17 stepper motors which controlled by Arduino Uno microcontroller, and

12V fan voltage source was used as a driver motor and Arduino Uno cooler to avoid overheating that
could damage the component. 48V 10A power supply was used as a voltage source for spindle drill,
the voltage that goes into the spindle drill was set using a motor controller. The 3 Nema 17 stepper
motors will move the spindle drill in the direction of the X, Y and Z axes, so that the object can be
formed in the wood board according to the design.

The followings are the specification of microcontroller based CNC machine :

Dimension (XYZ) : 33,5x31x44cm
Cross sectional area : 26x26cm
Workspace area : 20x20cm
Material : Multiplex board 12mm
Spindle drill : Air cooled 500 Watt
Stepper motor : Nema 17 12V 1,7A
Driving : Leadscrew 8mm
system
Controller : Arduino
ATMega328p Unomikrokontroller
Driving motor : IC A4988polulu
Function : cutting, engraving, and
marking
Supply : 220V /50-60Hz
Interface : USB port
Software : Art Cam

RESULTS AND ANALYSIS

To be able to test the CNC machine in doing cutting, engraving and marking into the wood board, the
first step that must be prepared was making the design form. Then prepare the wood board in size of
the design form and then clip above the CNC machine cross section so it won’t change position during
the workmanship. Upload the design using Universal Gcode Sender software into the Arduino using
serial communication.
Cutting System Test
Cutting is a technique for cutting wood using a drill bit with a shape according to the design. The
cutting system was tested on a wood with 20mm thickness, using 3mm endmill drill bit, 12000 rpm
spindle speed and 20mm cutting depth. Image design using Vetric Aspire 8.5 software, design example
is a square shape with 6x6cm width.

Engraving System Test

55
 Engraving is a technique of carving on wooden material surface with different depths, so images or
letters can be recognized. The engraving system was tested on a wood with 20mm thickness, using
3mm vbit 600 drill bit, 12000 rpm spindle speed and 7mm engraving depth. Image design using Vetric
Aspire 8.5 software, design examples using writing combined with engraving pattern.

Marking System Test

Marking is a technique of carving on material surface with the same thin depths. Usually marking was
used to put a mark or a brand on a metal or a non metal material. The marking system was tested on a
wood with 20mm thickness, using 3mm vbit 600 and endmill drill bit, 12000 rpm spindle speed and
1mm and 0.5mm marking depth. Image design using Vetric Aspire 8.5 software, sample design using
writing combined with carving pattern. In addition to wood, the marking also tested on a PCB to create
the electronic circuit
Accuracy Test
The accuracy test was conducted to determine the level of precision of CNC machine in making shape.
This test input was a 6 lines design with 50mm length, which will be formed on a wood with 1mm depth.
using 3mm vbit600 drill bit,with 12000 rpm spindle speed.

Line No Design Measurement Result Accuracy (%)

1 50 mm 50,5 mm 99%

2 50 mm 51 mm 98%
3 50 mm 50,5 mm 99%

4 50 mm 50,5 mm 99%
5 50 mm 51 mm 98%

6 50 mm 51 mm 98%

Table 5.2.2: Accuracy Test

Figure 5.2.3
From testing result on Table 1, it was obtained a test result in a form of 6 lines with 50,75mm length in
average and 98.5% accuracy level.

56
Depth Measurement
The measurement was conducted to determine the level of precision on the depth of CNC machine when
working. Testing in Figure 8 was creating 7 lines each of which has 5cm length and 2mm depth using a 3mm
endmill drill bit with a spindle speed of 12000 rpm.

Measurement
Line No Depth in design
Result
1 2mm 2mm

2 2mm 2mm

3 2mm 2mm

4 2mm 2mm

5 2mm 2mm

6 2mm 2mm

7 2mm 2mm

Table 5.2.3 Depth measurement

Table 2, shows that the line carving produced by the CNC machine with 2mm depth has a precision
accuracy of 100%.

Figure 5.2.4 Depth Measurement

Speed Test
The speed test was conducted to determine the effect of angle on the speed in the object formation.
The input for this test was a line design with 10cm length which will be formed to resemble some 2D
57
 shape. With 1mm engraving depth on wood using 3mm endmill drill bit. Uploaded designs will be
timed using a stopwatch to see how long it takes for each design to be made.
No Design Time (s)

1 Line 7,1

2 Circle 10,9

3 Triangle 10,5

4 Square 12,2

5 Rectangle 13,4

6 Pentagon 13,5

7 Hexagon 13,6

8 Heptagon 13,7

9 Octagon 15,2

10 Nine facet 15,4

Table 5.2.4 Accuracy Test

Table 3 shows that there is a time variation for the engraving process on a wide range of 10cm length2D
shapes. From the 10 tests in Table 3, it can be deduced that the more angles in the formation of the object
will slow down the work process, because the X, Y and Z axes on CNC machine move more simultaneously
resulting in slower movement of the axis.

58
 CONCLUSION
This project is all about formulating the relations between the lengths and angles subtended by the
linkages of the Peaucellier Mechanism during its motion. The main goal of this project is to provide a proper
design procedure for this mechanism so as to minimize the errors occurring during the manufacturing and
working of the mechanism and to avoid the usage of hit and trial method for determining the various lengths
and working angle of the mechanism. In this project few relations are deduced to calculate the working angle
and by knowing the value of the working angle we can easily programthe motor so as to operate the
mechanism as per the requirement of the working stroke. Further research on this mechanism can be done on
its optimum utilization by calculating the minimum working area needed for its antilocking condition at its
center and at the end points so as to maximize the stroke length.

59
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