fRODUCTION MIT 1. UNIT 1: INTRODUCTION = Theory of machine deals with: Study of relative motion and Forces responsible for it. Essential in designing the various parts of a machine. * Classification eerie ees ~ Statics: Study of forces and their effects when the bod) pats at rest Dynamics: The study of forces and their effects wherCthe body (part) is in motion Kinematics: The study of motion of a body or machine without regard to forces responsible for it. (position, displa rotation, speed, velocity, and acceleration) Se Kinetics: The study of forces on eee the body is in motion What is machine ? . \ Machine is: Mechanism og-¢érbination of mechanism which Provide definite motion. wifes mechanical energy into desired work. A machine is A machine transmits aa a device which receives energy and transforms it into some useful work. Is this a Machine? oe Are these a Machine? |Prof. N. R. Patil, Department of Mechanical Engineering, NKOCET Po: | camanatKinematic Link: \ Rigid body: Does not undergo deformation/distortion when subjected aor forces Resistant body: These ore rigid bodies & carry the exterral Forces without ~ Semi-rigid body: These are flexible in nature & after igh hey act as resistant bodies (belt in tension, hydraulic system, spring system) distortion Link/ kinematic link/ Element : Each part of = which moves relative to some other part is known as link or kinematic “ee simply element OR It is a member or combination of Qe of a mechanism, connecting other member and having motion relative t we Characteristics of a link: * It should be a resistant boyd here should be re/ative motion between them. Types of links: 1. Rigid link: Does Adefarm/distort when loaded * rexel link: but when loaded acts as resistant body link: Ae resistant body when fluid is compressed crest ttign’ Based on the number of connection a link can have oe ik 2. Ternary link 3. Quaternary link motion between the ends of link Types of Constrained motion 1, Completely constrained motion: Motion in definite direction irrespective of direction of force |Prof. N. R. Patil, Department of Mechanical Engineering, NKOCET Ea‘Square hole Square bar ‘Square bar in a square hole. Shaft with collars in a circular hole. Xs 2. Incompletely constrained motion: Motion in more than one direction aybperd on force direction Round hole Shaft Shaft in a circular hole. Shaft in a foot step bearing. Foot step bearing 3. Successfully constrained net ven between pair is made in one direction- by external means ie. by force» Y \ * Foot step bearing Cay dettrits vertical motion) = ICengine tee reciprocate) + Engine valyes eon ony lift) oN. = Pai (iremnaric par: . of two links & one move relative to other ~ Classification: 1. According to nature of contact a. Lower pair: pair with surface/area contact (Nut & screw, shaft in a bearing.) b. Higher pair: pair with point/line contact (cam & follower, gears in mesh...) 2. According to nature of mechanical constraint |Prof. N. R. Patil, Department of Mechanical Engineering, NKOCET HaMIT 1. [RODUCTION a. Closed pair / Self closed : Elements of pair connected mechanically - Fig (a) Eg. Lower pairs, cam & follower a. Unclosed pair / Forced closed : Elements of pair connected mechanically due to external force (Gravity or spring force) - Fig (b) Eg. Higher pair (cam & follower) _- cam © 3. According to nature of relative motion IN a. Sliding/prismatic pair: Two links of ofaiAhove sliding motion relative to each other (Fig-a). DOF=1 b. Turning/revolute pair: One ghee of pair has turning or revolving motion relative to other. xs QABinate © & DOF=1 + Expressed by sit ¢. Rolling/cylindrit (Fig-c) . ss CF (a) i: One elements of pair has rolling motion relative to other BS - (b) ) d. Screw pair: Two links of a pair have turning as well as sliding motion (Fig-d) & e. Spherical pair: One elements of pair has turning motion relative to other fixed element (Fig-e) |Prof. N. R. Patil, Department of Mechanical Engineering, NKOCET ElUNIT 1:INTRODUCTIO! bj) {e) x Qe Can you identif fF pair 2 > n you identify type of pair Ze Types of joints Ss + Defined on the basis of numberflinks joined at a point 1. Binary joint (2) = 2. Ternary joint (3) é S KL aS 3. Quaternary joint Se Kinematics Chain + Assembly of no of links (kinematic pair) having definite motion relative to other (Fig- a, b &) |Prof. N. R. Patil, Department of Mechanical Engineering, NKOCET@) (b) © \ Non kinematic chain (Fig-d) Qe Redundant Chain (Fig-e) Mechanism . = When one of the link of noe chain is fixed, it is mechanism \ * Transmits and gern * Eg. Cam and foll pewriter 4 links + Simple mechanis . Compa echo = msm with more than 4 links is called compound msm |Prof. N. R. Patil, Department of Mechanical Engineering, NKOCET jos |MIT 1. [RODUCTION * Classification of Kinematic Chain I. Four bar or quadratic chain IZ. Single slider crank chain IIT. Double slider crank chain I. Four bar or quadratic chain \ * Consists 4 rigid links connected by pin joints + Fixed link (AB) is frame of m/c QV + Link which complete full revolution is a crank (AD) NS + Link opp to fixed link is coupler (DC) + Last link isa lever ie, rocker or crank (CB) > + To get continuous relative motion followin he must be satisfied + (shortest & Longest) link length gerne 2 links) + This is known as Grashof 's law QQ Inversion XN + When one link of K Ghai Fixed ~ Mechanism + As many mechat number of links + Method of he different msm by fixing different links ina K'chain is known grieverson I. Inversign af Four bar or quadratic chain “ a 1. Beam Engine (Crank and lever msm) : 2. Coupling rod of a Locomotive (Double crank msm) . 3. Watt's Indicator mechanism (Double lever msm) |Prof. N. R. Patil, Department of Mechanical Engineering, NKOCET Ha1. Beam Engine (Crank and lever msm) Lever (Link 4) = Link 1: Cylinder and frame - fixed, Link 2: Crank - ratte Link 3: Coupler/ connect crank and Lever, Link 4: Lever “Ys DB = Piston reciprocates QV * Conversion of Rotary motion into Recipro. = Motion 2. Coupling rod of a Locomotive (Double einen ‘Wheels Link 3 NN Consists 4 Kighe 4 turning pair Link 1 rived Pt A & Bact as centre : Crank having equal length Link 3: Coupler to connect wheels Transform rotary motion of one wheel to other Application: Locomotive 3. Watt's Indicator mechanism (Double lever msm) |Prof. N. R. Patil, Department of Mechanical Engineering, NKOCET HEIndicator cylinder Consists of 4 Klinks Link 1: Fixed & forms turning pair, Link 2: (AC) Oscillates @ A, LS end E trace approximate st. line , Link 4: (BFD) lever 2, one lin B& D - TP Displacement of BFD-directly prop to pressure es Dashed line show displaced position ~*~ IL. Single Slider Crank Chain ~ ae necting rod ‘Crank cee (Link 2) Cross-head (Link 4) cyinder 1 | piston et Tal N . Consist Kinks, 3 turning pair & 1 sliding pair . coe reciprocating motion into rotary motion or vice-versa aby, Steam engine + Link 1: Frame of engine, Link 2: Crank turn @ pivot point, Link 3: Connecting rod, connects piston & crank by turning pair, Link 4: Cross head constrained to slide in the guide, Pairs: Link 1 & 4: Forms 1 sliding pair. Link 1&2, 2&3 and 3&4: form 3 turning pair + Reciprocating motion of cylinder converted into rotary motion of crank |Prof. N. R. Patil, Department of Mechanical Engineering, NKOCET HEE Z RY OF MACH =a IT 1:INTRODUCTI¢ Second inversion: Link 2 is fixed When Link 2 is fixed it results in second inversion Application : 1. Withworth quick return msm 2. Rotary engine II.1. Withworth quick return msm gs Connecting rod ——> Cutting stroke <— Retumn stroke eee > II.2. Rotary engine (7 or 9 crlind "scan be used) ‘Donen od (Link 4) Fe Fixed crank piston (Link 2) (Link 3) (Link 1) Cylinder Third inversion: Link 3 is fixed When Link 3 is fixed it results in third inversion Application : 1. Oscillating cylinder engine |Prof. N. R. Patil, Department of Mechanical Engineering, NKOCET Ee2. Crank and slotted lever msm III. 1. Oscillating cylinder engine Piston rod (Link 1) 0% . one Crank®, (Cink 2) \, N 1 Connecting \ ro (Link 3) toll ~: Link t: Carry piston at its end, Link 2: Crank, Link 3: Coupté@ f¥ixed, Link 4: Cylinder oscillates - III.2. Crank and slotted lever msm NN : xX Conmecieg 5 Fenn state nN, Cea ae |e —Toot é print Link ‘1: Carry piston at its end, Link 2: Crank, Link 3: Coupler is fixed, Link 4: Cylinder oscillates Fourth inversion: Link 4 is fixed |Prof. N. R. Patil, Department of Mechanical Engineering, NKOCETWhen Link 4 is fixed it results in fourth inversion Qe Application : 1. Hand pump Link 1: Follow translating motion, Link 2: Oscillates @ A sh recirocate, Link 3 Pivoted at B & oscillates @ B, Link 4: Cylinder fixed, WERn L2 is moved up/down © A, LI slides in fixed cylinder : IIT. Double slider crank chain: Consists of adding and two sliding pair Inversions: 1, First inversion : Link 1 is fixed cen Elliptical trammel) “NX y P point on AB, trace ellipse X=AP cos 8, So, cos @= x/AP.......(i) y=BP sin 8, So, sin O=y/BP. (ii) |Prof. N. R. Patil, Department of Mechanical Engineering, NKOCET ElSquaring and adding i & ii sin? @+ cos*@=1, Equation of Ellipse Tf P is midpoint of AB, circle AP=BP, x*+y*=AP* Equation of circle 2. Second inversion: Link 2 is fixed (Application: Scotch Yoke) \ . ‘ Link 1: Frame slides, Link 2: One of the sides ®Y Link 3: Acts as crank, Link 4: Second slider slides Q 3. Third inversion: Link 3 is fixed Ger Fion: Oldham's Coupling ) Intermediate piece u1 Flange 4 Flange t2 Driving QP supporting . frame ws ~» Link 3 LB) & |Prof. N. R. Patil, Department of Mechanical Engineering, NKOCETMIT 1. fRODUCTION Degrees of Freedom (DOF) or Mobility DOF of Body placed in a space as shown in Fig-a : a number of independent relative motion (translational and rotational). a pair can have. Hence DOF = 6 (3 Translational & 3 Rotational) DOF of Body placed in XY plane as shown in Fig-b: This body will have two translational motions and one rotational motion. Hence DOF = 3 \ Fig-a Fig-b ; Fig 1 (a-d) shows four Lower pair cng Fig-a, show single unconstrained link has Fig-b, show 2 disconnected links has 6 DOF. Fig-c, show 2 links welded fogettier has 3 DOF. Fig-d, show Revolute joint has 4 DOF ° Hence, a lower-pair joint agers in Fig-d, reduces the mobility of a mechanism by two DOF Qe Fig 1 (a) 2a Higher pair configuration Roller DDG ()00F=6 oer (pore |Prof. N. R. Patil, Department of Mechanical Engineering, NKOCET ElIT TRODUCTION Fig-2 (a) show two elements before forming a pair having DOF=6. Fig-2 (b) show two elements welded together having DOF=3. Fig-2 (c) show two elements forming a high-pair having DOF=5. Hence, higher pair joint reduces the mobility of a mechanism by one DOF. Grubler's Criterion: If one link of a four bar kinematic chain is fixed, then the number of movable links will be = (n-1). Hence total no. of DOF before connecting to other link will be = 3 (n-1). Grubler gave the relation between number of links, number of higher pair and number of lower pair as, Xe m = 3n- 1) - 2 jr - jz > Where, n = no of links, jy =no of lower pair link, j2=no of higher pel Kutzbach Criterion: (modified Grublers equation): mae pair (je = 0) m=3n-1)-2 js m = 3(n- 1) ~ Mobility of various configurations of coe ine @ o @. “N (0) n= 3, j= 332 =0,m= 0: (o)n=4, jl=4,j2=O0.m=L (n= 4g ®4.j2 20 m=1: (An=5, jl=5,j2=0,m=2. RSH ter following —pJ |Prof. N. R. Patil, Department of Mechanical Engineering, NKOCETfRODUCTION STRAIGHT LINE MSM 001 isa fixed link O1A isa crank AC=CB=BD=DA ; OCOD & 001=01A When OA x OB is constant, B trace a straight line In triangle ORC & BRC OC? = OR?+ RC? BC? = RB*+ RC? Subtract ii from I OC? — BC? = OR? — RB? Peaucellier msm OQ will be constant for all positions of A, so position of Sires Hart's msm we ” In this mechanist eis a fixed link, O;A is a crank, FCzDE and CD=EF. The points O, A and\@ divide the links FC, CD and EF in the same ratio. When OA x OB is constant, B we straight line. In riang RCFE & OFB _o Sek" Or oB = x OF...li) FD _ oA D 2a oroa=2 x 0C...lii) Multiplying (i) & (ii) OA x OB = FD x CE x SS*0F FC? = FD x CE x constant |Prof. N. R. Patil, Department of Mechanical Engineering, NKOCET EaSince OC, OF & FC are fixed = FD x FM = (FN+ND) x (FN-MN) = FN?-Nb? = (FE®-NE*)-(ED*-NE*) \ = FE? - ED® = Constant Hence point B traces straight line NS Pantograph In this mechs NG B is pivoted at O, Length of Link AD=BC & AB=DC, which forms paralllogear Points O, D & E will be on straight line always, From similar triangles CAQians OBE o/oe SAb/BE For Yisplaced position D’ & E” Ob/OE = Ob'/0E" From fig it is clear that DD’ is parallel to EE’, Hence, Point E will follow or copy path of point D Geneva mechanism: Driver: Link 2 (wheel) with a pin P & Driven: Link 3 (slotted wheel). Transform a continuous rotation into an intermittent motion of the follower |Prof. N. R. Patil, Department of Mechanical Engineering, NKOCETEze IT 1:INTRODUCTI To make the engagement and disengagement as smooth as possible, the angle between the crank 2 and the slot must be 90° Number of slots needed is calculated by the relation given below pe de N Where, Number of slots = Nand Angle = Y The minimum number of slots required to work is Nmin = 3. 3 |Prof. N. R. Patil, Department of Mechanical Engineering, NKOCET Ea