mechanics

OF
Machinery
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 Contents

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 KINEMATICS OF MACHINES
FUNDAMENTAL CONCEPTS
KINEMATICS
. Study of relative motions:- displ,
vel, accel.
DYNAMICS Study of motion due to forces
MACHINES Device for transferring energy
KINEMATIC The machine parts skeleton with
DIAGRAM dimensions
Mechanism A system of rigid elements
arranged to transmit motion
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 *Mechanism
Machines are mechanical devices used to
accomplish work. A mechanism is a heart of a
machine. It is the mechanical portion of the
machine that has the function of transferring
motion and forces from a power source to an
output.
Mechanism is a system of rigid elements
(linkages) arranged and connected to transmit
motion in a predetermined fashion.
Mechanism consists of linkages and joints.
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 KINEMATIC DIAGRAM

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 Mechanism

Mechanism (constrained kinematic chain

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 PAIRING Two bodies in contact
Lower P = surface contact
Higher P = point or line contact

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 * Example of Mechanism

Can crusher
Simple press

Rear-window wiper

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 * Example of Mechanisms
Moves packages from an assembly
bench to a conveyor

Microwave carrier to assist

Lift platform people on wheelchair
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 * Example of Mechanisms

Lift platform

Front loader

Device to close the

top flap of boxes

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 * Example of Mechanisms

Rowing type exercise machine

Conceptual design for an

exercise machine

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 * Example of Mechanisms

Extension position

Flexed position

Six-bar linkage prosthetic

knee mechanism
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 * Four-Bar Linkage

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 * Four-Bar Linkage Categories

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 * Four-Bar Linkage Categories

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 * Higher Order Joints

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 *Slider-Crank Mechanism
The mechanism
has a stroke B1B2
equal twice the
crank length r2.
Locations B1 and
B2 are called the
extreme positions
(limiting) of the
slider
In-line slider crank mechanism

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 *Slider-Crank Mechanism

Offset slider-crank mechanism

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 * Straight Line Mechanism

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 *Scotch Yoke Mechanism

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 *Geneva Mechanism

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 *Linear Geneva Mechanism

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 *Ratchet Mechanism

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 *Straight Beam Walking
Mechanism

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 *Roller and Flat Follower Cams

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 *Cylindrical Cam Mechanism

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 *Gears – Rack and Pinion

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 *Gears
Bevel gears
Worm Gear Sets Planetary Gear set

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 * V-8 Engine

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 * Type of Motion and Mechanisms
Most power sources that are readily available today are either of
the pure rotational motion type, such as electric motor or hand
crank, or of the pure translational type, such as pneumatic or
hydraulic cylinder.
Translation to Translation

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 * Type of Motion and Mechanisms
Rotational to Rotational

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 * Type of Motion and Mechanisms
Rotation to Translation

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 *Degrees of Freedom
(DOF)
The definition of the DOF
of a mechanism is the
number of independent
relative motions among
the rigid bodies
(MOBILITY).
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 Mobility
*Mobility is the number of degrees of freedom
of a mechanism.
*The Kutzbach criterion,

M = 3(n − 1) − 2 j1 − j2
Where
m = total degrees of freedom of the mechanism
n = number of links (including the frame)
j1 = number of full joints (one degree of freedom joints)
j2 = number of half joints (two degrees of freedom joints)

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 *

M=3(8-1)-2x10-0=1

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 *
M=3(6-1)-2x7-
1=0

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 Mechanisms and Structures

The number of degrees of freedom of an assembly

of links completely predicts its character.
There are only three possibilities:

1. If the DOF is positive, it will be a mechanism.

2. If the DOF is exactly zero, then it will be a
structure, and no motion is possible.
3. If the DOF is negative, then it is a preloaded
structure, which means that no motion is
possible and some stresses may also be
presented at the time of assembly.
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 M=3(3-1)-2x3-0=0 M=3(2-1)-2x2-0=-1
M=3(4-1)-2x4-0=1

• According to the transformation of motion

– There are about 262 different mechanisms
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•Draw the bath of point A (mid point on link 3) on the shown mechanism
•Find the DOF for the shown mechanisms
•Draw a complete cycle for the drivers of 4 – bar mechanism in the following
cases:-

S+l < p+q (between

origins) double crank S+l = p+q parallelogram linkage

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 S+l > p+q double rocker

S+l < p+q ( s = driven) rocker – crank

S+l < p+q ( s = driver) crank - rocker

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 S+l < p+q S+l < p+q S+l > S+l = p+q
(between ( s = driven) p+q parallelogram
origins) double rocker – double linkage
crank crank rocker

S+l < p+q ( s = driven) rocker – crank

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 Radial accel ar
Tangential accel at

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 Linear Circular
motion motion
Mass m Mom of I (I)
Velocity(v) Angl vel (w)
Accel (a) Angl accel (a)
Force (F) Torque (T)

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