Kinematics of Machine

i. Mechanism: It is a number of bodies or rigid bodies are assembled in such a way that
one’s motion causes constrain and predictable motion to other, known as mechanism.

e.g.- Slider crank mechanism, Whit-wort quick return mechanism

ii. Machine: A machine is combination of mechanism which is used to transmit or modify the
available mechanical energy into some desired kind of work. It isn’t a source of energy; it
only modifies or transmit the energy.

iii. Rigid body: A body is said to be rigid when no deformation, displacement or distortion
happens under external forces.
iv. Resistance body: A body is called resistance body when they are rigid for the purpose
which they have to serve.
v. Link: Link consists of several parts which are rigidly attached together so that they have no
relative motion between them.
vi. Kinematic pair: Kinematic pair is joint of to or more links having relative motion
between them.
vii. Kinematic chain: If there is relative motion between links, it is called kinematic chain.
❖ When one side of kinematic chain is fixed or grounded a mechanism
is obtained.
viii. Kinematics: It is the branch of machines where relative motion between mechanisms are
studied.
ix. Dynamics: It is the branch of machines where forces and effects of forces are studied.
x. Kinetics: It is study of forces when the body is in motion.
xi. Statics: It is study of forces when the body is in static situation.
xii. Completely constrained motion- When the motion between two elements of a pair is
at the direction of the force is called completely constrained motion.
xiii. Incompletely constraint motion- when the motion between two elements of a pair is
more than one direction of the applied force is called incompletely constrained motion.
xiv. Successfully constrained motion- when the motion between two elements of a pair is
possible in more than one direction but in practical having the motion in only one direction is
called successfully constrained motion.
 Power Transmission

1. Comparison between belt, rope and chain drive:

Subject Belt drive Rope drive Chain drive

Definition Belt drive, in machinery, a pair Rope drive is a form of belt A driving mechanism
of pulleys attached to usually drive, which is used for transmitting power by
parallel shafts and connected by mechanical power means of an endless chain.
an encircling flexible belt (band) transmission.
that can serve to transmit and
modify rotary motion from one
shaft to the other.
Power Low and medium power Medium power transmitted. High and heavy power
transmission transmitted. transmitted.
Power Maximum distance 10m and Maximum distance 5m and Maximum distance5m and
transmission minimum distance 2m. minimum distance 2m. minimum distance 2m.
distance
Material used Lather, cotton & rubber. Cotton & leather. High carbon steel, alloy
steel.
Velocity ratio Due to slip, velocity ratio is Medium type of velocity High and exact velocity
minimum. ratio transferred. ratio transferred.
Applications Machine tools. Swing machine. Cycle, bike, tank etc.

2. Types of pulleys:
i. Based on materials:
a. Cast iron pulley.
b. Steel pulley.
c. Wooden pulley.
d. Wax pulley.
e. Plastic or fiber pully.
ii. Based on shape of pulley:
a. Flat edge or flat face pulley.
b. V-edge pulley.
 c. Round or circle edge pulley.

3. Types of belts:

a. Flat belt.
b. V-belt.
c. Circular belt.

4. Belt material:
Lather, cotton or fabric, rubber, balata.
 Gear Train

• Gear is a machine element, which is used for exact power transmission between two shafts
with exact velocity ratio.

1. Advantages & dis-advantages:

1.1. Advantages:
a) It transmits exact velocity ratio.
b) It may be used to transmit large power.
c) It has high efficiency.
d) It has reliable in service.
e) It has compact lay-out.
1.2. Dis-advantages:
a) Manufacturing cost is high and required special tools to manufacture.
b) Error in cutting tooth make causes vibrations during operation.

2. Classification of Gear:
2.1. According to position of shaft axis:
2.1.1. Parallel.

2.1.2. Intersecting.
 2.1.3. Non intersecting and non-parallel.

2.2. According to velocity of gear:

2.2.1. Low velocity gear (less than 3m/s).
2.2.2. Medium velocity gear (3-15m/s).
2.2.3. High velocity gear (more than 15m/s).
2.3. According to tooth profile:
2.3.1. Involute.
2.3.2. Cycloidal.
2.4. According to type of gearing:
2.4.1. External.
2.4.2. Internal.
2.4.3. Rack and pinion.
2.5. According to position of teeth on gear surface:
2.5.1. Straight tooth.
2.5.2. Inclined.
2.5.3. Curbed.
• Gear train: combining more than one gear transmitting power one to another place called
gear train. The nature of train depends upon velocity ratio required and relative position of
axis.

1. Types of gear trains:

1.1. Simple gear train.
1.2. Compound gear train.
1.3. Reverted gear train.
1.4. Epicycloid gear train.
 Flywheel and Governors

• It is used to store energy

• A flywheel is used to control the
vibrations in speed during each cycle
of engine. During the periods when
the supply of energy is more than
required it stores energy and during
the periods the requirements is more
than the supply it release energy.
• Co-efficient of fluctuation of energy
Max. fluctuation of energy
(CE)=
Workdone per cycle

∆E1 −∆E2
=
Workdone per cycle

∆E1 = maximum energy

∆E2 = minimum energy
Work done per cycle= Tmax× 𝜃 (𝜃 = displacement of flywheel)
p×60
Tmean = (p= power, N= speed of flywheel)
2πN
p
= (ω = angular speed in Radian per second)
ω

maximum fluctuation of speed

• Coefficient of fluctuation of speed (CS)=
Mean speed
2(ω1 −ω2 ) 2(N1− N2 ) 2(V1− V2 )
= = =
ω1 +ω2 N1 +N2 V+V2

1 (ω +ω )
• Steayniess of a flywheel= 𝐶 = 2(ω1 −ω2 )
𝑆 1 2

• It’s stored in a flywheel- Flywheel shown in figure as discussed flywheel stored energy
at power stroke and give up at the requirement.
Let, m= Mass of flywheel
k= radius of gyration
I= moment of inertia= mk2
N1 & N2= Maximum and minimum speed of flywheel
ω1 & ω2 = maximum and minimum angular speed of flywheel
We know, the mean kinetic energy is stored in Flywheel so, stored energy
1 1 1 1
∆E = Iω12 − Iω22 = I(ω12 − ω22 )= I(ω1 − ω2 )(ω1 + ω2 )= I(ω1 − ω2 ) ω
2 2 2 2
(ω1 −ω2 ) 1 (ω1 +ω2 )
= I. ω2 [ ]=Iω2 . Cs = Iω2 . 2. Cs [ω = ]
ω 2 2

= mk2. ω2 . Cs =E.2Cs
= mV2. Cs ∴ ∆E = E. 2Cs
• The mass of the flywheel is 6 stone and radius of gyration is 1.8 meter. It is
found from turning moment diagram that fluctuation of energy is 56 kN-m. if
main speed is 120 RPM find the maximum and minimum speed.