a Dover Nijogbbot L- | ‘As per the revised syllabus of Gujarat Technological University ‘ For B.E 3 Semester (Mechanical Engineering) SUBJECT CODE : 3131906 KINEMATICS AND THEORY OF MACHINES Authors] ~ Prof. H.D.Gangadia (ME. Machine Design, Bia Visvakarma Maheviyalay) ‘iver Oak College of Engincering & Technology ‘Armedabad First Edition : 2021-22 Price : 500=00 ATUL PRACASHEN ‘GANDHIROAD, AHMEDABAD. : PUBLISHER : ATULPRAKASHAN ‘ne IxiT PATELy \ w Preface ve ee ugy pent Homa & Tero Mca bare senna Sr eae ony Te cet bi SUipasn Gu. esas ny cocina oom tbe tre sapere consideration ofthe causes of metion. ‘Ths book Is intended to cover al topics of engineering theory & analysis of machine ther answers and exercises ae given. \We sez this opportunity to exoress our profound gratitude to our family membes & support and motivation. We extend our thanks to the entire tam of support. We sincerely wish thatthe book may come up to readers the further improvement this book, September, 2020 Gangatia ka ©GUJARAT TECHNOLOGICAL UNIVERSITY SUBJECT NAME : KINEMATICS AND THEORY OF MACHINES SUBJECT CODE : 2131908 BEE. Semesters Tanna as Thar Ms TT. aie ars EPA [SE | zhts Sets} ae mee tage for cognitive evel | { antes = = = Tins Tnaony or Cos Dola oy : Laat = hirond serch to air | s Comprehension as > “Application 1s fa = a = ; Cra o La \ > \ Coarse Outcomes | ® ‘ters th cer the eden sete \ | Ostet Tw | Tides ted ofan 2 | a i ‘Wentifyfunctiooal characteristics of various machine elements 2 . Faas ans taser pie ST tlecirabe emse » Ga cn a ER TEES cake nyse 2 u s CO-s "Understand basics related to fiction and its practical application nent ge mie = s {mCi yr CroneIndex Sr.No. (Chapter Name est ca jon Analysis — 102 02062H Tae Spite prin = $M Serle empie130w enp7gyj ee ea) 2 eee 7 Gsion? apr Geeanbocanig =o eee oa = i |[CHAPTER 1 Introduction of Mechanisms and Machines Ta invoduation 112 Element or Kinematic Link 421 Classification of Links 122 Types of fla Links 13 Types of Constrained Motion 14 Kinom 18 tie Chain ‘Types of Joints n a Chain nism 7 Difference Botweon Certain Terms (A) Machine and Mechanism (Structure ana Machine (6) Kineties and Kinomatios (0) Lower Pal and Higher Pair (6) Mechanism and Inversion (Crank Mechanism and Double Sikder Crank Mechanism Inversions of Four Ber Kinematic Chain Inversions of Single Sider Kinamatie Chain (der Kinematic Chain nent ton 1/2021 a ‘ beans2 © wsidtinw: fat Theliskwhich intachd thes dite poitsiametanism called ty (GTU : Dee. 2018) s_Thefnks which waanit the maton by fed ress o compression recall Mid inks ioe sitet wy, ype of igi aka Fey inarytnk] [Temata] [Quatersany hak (8) Binary tink s+ Telink whichis anached at twodfient pons in messin all binary tik (@ Temary nk: (orU aay 20%) 4.3 TYPES OF CONSTRAINED MOTION : (GtU : May 2012, Dee. 2013, Dec. 2018) “Types of Constrained Motion “Comply constainnd | [Tneampeey conrad | [ Suecesilly contained in| ‘oan (8) Completely Contained Motion: or Dec. 2019) ‘= Iftiematon betwen walks isinadefnte detion tenis comp = Comply cnsnined mation ca epee it maybe ina ory ® Kinematics & hoor of Machines ‘= Erample: Motion square bariasquehole Asshowninfig (a). trishaving ony xpoctg noon | + Moinofshit witha incl bea shovm ni U6 (8). an he oy aay mon (© Succostety Constrained Motion: ‘= Fthemionterween Wo lnk posible mare hao detonate ebave mato ony noe econ ig sme exter moms, entirely cosine motion.Tian troduction of Mechaniams and Machines , Kinematics & TROY fs (i SronPai:lsce iz wo ming kav tings esting ion ete how Tis? byeuing tedster ik ee eneaee i ee + BaleSacke it 1900, + Penson + Allpirsofslider-crank estas except sider nd ie pirus | ees | ALBKINEMATIC CHAIN: (GTU: Dee, 204, June 213, Dee 2046, No. 2017, Dee 2018) ss Whcatehsema inks ee cooecteinsih os that inks conneced tthe fist ake have define snp igen bearing tnd cylinder engine xed nan be consid asin Piston cn Ye cach eemeced ot yin (kl). Coneeng owl tse ik 3 wih ennai wl te ink chs comes tee consign) oe ide & ‘wie pion ine toccbigestean lik!) tobe sie wich fed. Theta eamnaion of ese inks isa nee in A tainay belied contin or coneined To skh codons kinetic chin wc cose efalowng eons: ‘Bxample: Cam and ollower pais shown inf. + Folowerrenaiasalvaysin the ona wit thc oh sringfoce [Net One higher piri enue to to lower gt dd oe sine ake 130 0) Koma ie os Thess ne cnt ner piso pli ao inemaic he ving ihe pony kings praesent tovolowerpis wih er akon denen x nent 230081 7+ eres rr ttt a (8) Locked Chain: (oTu:may 2012) > Aspethe arangemen shown nf 112, ig. 32 Seucre Lacs Chin) = From equation 1.2, Since the ivenchain doesnot satisfy the ove equation aL H.S>R#S, China be considered a eck ‘hin. Noreativemtin possible I forms agi fame or tcture whichis sein bidges& tase ‘Terao A, C.D, E.G (Qusemyisins Total mer ofjoae = 3 1.6 MECHANISMIntroduction of Mechanism and Machines 2 “ peg LA cf ey "1.36 Maing of Mechanism Hom 3 Bn 4.7 DIFFERENCE BETWEEN CERTAIN TERMS : ‘Machine and Mechanism ary Mecano raising even] 0) eda oie eee ears (aetna oer (2) eoaverts energy into work, G) A smschine is « practal development of| tn cua opr itrtiseenietepveame mal or, printer et. (5) tum tm eh Di anc] (angles ewe si pone (GTY : Juno 2017, June 208 (8) Difference between Structure and Machine: (ow: June 2018) Machine ‘Severe ‘ip Asely of inks where ter isa eave motion etree oe note. (2) Trassfoosthesraisbe ene in some sf was (Ane taiitnte bn @) Nocenyatansemedine wok (@)_ Member ferent erst freon (4) amples: Bees, acne aes = (0) Thelin ofeuchine ts wan. (Examples Lae 0 (© Comparison beoreen Kits and Kincnatin? Kinemats & Theor of Machines Kinet Kinenat tnd the maton as been sed. Newtons ane even porate ch et wih study orev moonfparecnetcg rene (2) ore dig mots anton 2) isplaenens, wc aceon and heir ‘aon wit etme artes ated ee (©) Conpartion btneen lone pian i (210: san 2016 ‘Lover pa T Tighe (). Wienotnlstiningapsrhmeariecorace Incon argrelae moter, scaled ower 2) Therese motion may be pert ung sing (2) Conacsutiessar complenestany occhoter Teen | Eek Ere | @ Ratetenemnnimeans| | ee pee vuntecics inp oe (6 Evample Shafran inplain evn, seew | (4) Example: Cmandllower, bela pally, gear andiatete, ares © Comparzon /AToersion: © By fring sesh Kismat ein 3 @) Woxrvaosissoftnematcchinnovewit he dese prpece,iiskwn a mechani ©) Baan @ Foutarctin uk cain (_Doabesiercrankcoin (Meth of obning ifr nechanimy See notin ele er Yemeni. (2) Theratvemoton vee tearsIntroduetion of Mechanisms and ttachines bya tuming pair, o degree of fedom wil gt eliminated. by Paneer pi nef ny tH fbb pi, ten tear of epense erdomm ingen a Fg, 1.17 Dogs of FeesomFS ________scorraicn 4 rear ot actions, 440 GRUBLER'S CRITERION: sient asingleinputmtion oa one degre of eso. 1 pte Rms iets ishsving dunt const ew than ro degre of edo calle struc ore sn Hence canis bang wo degre esd.snares stl | ete evlton wll beef, Soc ‘Mecaniem ‘Doe rackermeshanisns Fy Double rocker mechani Double rk mecanim. Fg 1.26"1 production of Mechaniems and Machines 4a , i : Si Re Fixed Wk Tecan rama | j a | 7 2. Any one ofthe longest Link erate chain: (GU: June 2019, Dee 2018) Histlnversion; | (0 nd pp (A) Double crakmechanism (coupling rod ofa locomotive): 1 Mecania coni of fourinks as show nig. 1.26 Links AD and BC ar coonectd othe respective wheels and act sre Fp 128 Watts net maaanKinematics & Theory cance pau a ascorcngy psn (link) wespromte inde the nde (Link ty (GTU : dune 2010, Dee 2014, June ee al are enone ee meemgecauaiaeraerioer | ‘And tn cating tot moves fom FP nd covers the distance PP, F ao and coves the ance, ‘Ad ie eating ol ves rom P30; aod cover the sume dances itcoverd ding te cating sa Spee singe been theca moves witha lor veil. cating stoke nd backward stokes given by, “Meinsmis wid wedi shaping nd ling chin. (© Mridtversion: : Midian cbt cuando ying th nk of tierce Now a shwmin ,1 k 2 os nes There two pose apatiatons,fe 2s = Fa 134 Ted tion gro ofreiocating engine mechanism (GTU : Dee 201, June 2016, une 2019) a es iom OC, #2 OC ad cover te angle. “Andie cating oo moves rm RoR and coves thease Ry ‘= Dung ts ck ke driving rank moves foe OC; 19 OC, andeoverstheagle. natin en tiatnn! 420221 insmatice & Theory of Machines he same datas anit nro wing hcg aoe, inky te tol ier ring bck frm vai (48,240) reas $98) an ( 06,=00) ‘= Mecano widely wedin shaping and soing machines (©) Foorth overs Sctaeryet(©TU: Dee 096 May 242, ee 2019, Way 2015) se Maximum ling ped ofeach projetion (ongv®), Veod Wher, engl vlc ofeach hatin’ (= isance between the xf hess in meter, (© Third tavesion: "Eis omm. se Fourhinversione obtained by ink-4 of double slider chains shown fig. 141 (8) ia, 130 Sats yoke mechan Slider crank chin aso inf 148 shat whoceais having al dite Btvesn suuus se Tinie egution ofa ips. ‘point Psat thecet of lik 2, hen AP= BP andthe equnton vl become, Berane = Thins ecg fracite, whose adiis.r= AP. ee: a |troduction of Mechanims and Machines Loa--------=-_-[souveo examptes }----------=~-- Kinamatis & Theory of achines double parallelogram mechanism shown n igure 1A Noe hat Qi 5 ereD-ex6-1 | sear input mosions ae require to obtain constrains man trent | the mechanism isconsine,«444 STRAIGHT LINE MECHANISM : (GTU: June 2013, Dec. 2014, Series platens mechanism sreqsiedtomoveina tihng, Hene, he mechani ie which a pint ‘race a tralght path alle as straight Tine mechanism Suchen designed sng llowingtvo wy (©), Bytom oftning pir By tewseofstingrir “These ppt of stim may profs eator apprise motn, aside 142 —y a ao EE) EE DE GEE ———_-_— (tu: June 2018) apc metai wcheoneafa lk OO, ad ih ihoe tnvoducton of Mechanisms and Machines ee severe [8] Hart's Mec = Astbe length of OE, PO and PE are fixed 30, (= Fig Ssh {On «0B FC» ED x Conant Go- Ga, > Links arc urangedin such way that FEDC is tpeaium having FC pl Point © snd Aon he links FE and FD respectively, Point Bis located at such that, FAO FO 1° cE We ‘limon that OA rotates about and pont B moves inasaigh line perpendica OG pote, > Fromsinilarviangle FEC and OED, a3) ‘= Also fom similar iangle BD & OFA 0 = Multipyingeqution(L.1)and (199 08 , FOxeD On + 00 Ea on xon=rexn« (22) HS. na constant term deine CM pelle oF om pint a a FOED=EM~ED (re-e BORED =(EN-MB) “ex. (MeN) en? ND? %, FC = ED=[(CE—CN})—(CD*-CN4)—_ [> Hominy tings EA Fox aD= CE co? {€} Scott Russel techanism : ‘+ AsshouninGg LA6meshnim consist 3 movableinks OA (ean), PS and der which moves eo ‘Thelinkstecenaeted suche wy tat, AO=AP= AS + Hees it wedea ci with conte A passing though, Pand Shen PS willbe the ameter of ail[e) Robert's Mechanism: a 10 Tete octet "AB wal CD we felon Te pe Pipa oTBC tess aprons sgh heIntroduetion of Mechanisms and Machines 22 Kinematics & Theory otc SHORT QUESTIONS WITH ANSWERS. ein cona then ome pirand ithe resve mation between hn is eo, 2. Distngunh Detwoonslflesel pair and wnclosed pie. oper echnical wheesinunclose paw sks fai | = incomplete eonsunined moonCHAPTER i i NTHESIS = Graphical and Analytical 2.4 INTRODUCTION TO SY! v= Tousen dt Linkage Synthesis eae = Am (GTU : may 2012 Dee. 2012, “| i rected Seo tommantogitopatinaneueefaen eco aa ‘ool. depends on working condition & spiton omen ‘Short Questions with Anowe = _ exorciseGraphical and Anaya! Linkage Symes as > a) Dimensions 5 ‘= TroghDimensoal syubesiscne can deternintedmensins of inks ie legis reso chee dese enon 5 = Desig am pit et pci ‘smangl de egiin lee se '= Thischper gives shou gonial aprach 2.2 FUNCTION, PATH & MOTION GENERATION : (GT: may 201, ay 201, De. 2018, bc. 2018) “= yess problems ma be clase intvee erent way tat ce, Paton gsenton @ Patypneation Motion greton Ponction Generation: Initio enerion inp! ak sion ofa mechani scone (GTU:June2019) (ory mecanismina plane follows some reser ah. cic elipec ora stngitine, Ox path peo by pas rocker mechanismin which pointn th coupler es th desi = inmotion enertonamesni guided dough presi xqunce of ion, ‘= Matin generaion oad depends pon th entre notion ofthe soo = _Foxccenpleinconstmetin indy, ey pasha bucks nd blader of baat mest one tough ‘ses of peered postion 2.3. SYNTHESIS OF FUNCTION GENERATION {(oTU : Dee. 2018) = Inte owag rile we wil eirbomo geet ct fre spi mestanisn by anys pia seh = Her yest con gr stn seminomas mechanians& le crak mechunsns, ‘= Below able gives claridesopacin ancion geemon syste Kinematics & Theory of achines anes " Tounderstand the term consider mechanism in which one need to establish the function between i om link to obtain desined owspat motion. oo Toco pte cupa tip mets op toni eye tn = Tishncindeesbetat tpn) seelsainieteaens feGraphical and Analyiea Linkage Synthesis ‘= Strctral errors definate direnceherwee te gneiss the deseo eping ha "he recisonpoinsare ranged na way to minimize he raceme he nage, Graphical errors ar produced dt insecurney nscale of devin. ‘= Frome eintonsoucaal ero depend ponte sect f pression pit ad peso ons Sind by meth ame "Chcbyehew Spacing” 2.4 CHEBYCHEV SPACING : (GTU May 2013, an. 2017, June 2019) ‘= Butwene graze furconia aes fom cm at provide ax slain eerily, For exp eid 9.22 Grphiea method for thee preston points 7 Fe2908() stows te gap mtodcn=3 (reo pl anda teopaiey 1ngleb which sin th ange of Ops) = Theris ine elonshipbeteen the angler change shon Weeanite 1 Bynakng ante, y= 056 ed = Simlay erm even 4 my bien ee i BE Co ah ety gman 9d = Dreakingasonbt trots Bond ~0y = een precnpoia gution (22) a8(23) mayb wins ante ow (= Fordinensonal ste teh antizal and phic meted Sepa edb aero of mcd pent coe pe (1) Dew AD opal toghotte seen 2— Graphical and Analytical Linkage Synthesis s © Apa mast isioawe, daw AB opal okaghofinnalink ean fom AD. Alo veh ‘aw AB oftbe ame leaghf ink? at 3 raced fom AB. (©) The magsitade offink snot known bs he (G)Toing cores B&B rw ac bvig eu ru ich at ty wl itt oie Gn neh PD anangle 9, we ge point, (Join BC sing dc ine an BC ing dosed fin. oe B,C ives the eg of ik xd CD ives the nth fink coer rare ABCD sanabe fi pein fie mena andthe lags town he as wehve xed eink (CD). (1) Daw AD vichisknownand equal length of ik | a showninfg. 28. ) Fromoin.A dw AB, fie yuh nghot int ink tan angle8 mead rom AD. Alo dew A raleigh et cnet ain pepe ts es, 8,04. The epee tome x 0,0: T ic aint ‘= The ied fur ar mecha AB, C0 | 1 AB,C,Din whieh 86, & 4 Deere ar mrt § A560 ih 6, & CD epee eng ot|) Graphical and Anaya! Linkage Synthesis ee } 28:3 TWo postion synthesis ot slider rank mechanism (GTU: ee. 2013) ‘= lntinmetd vo spsifled postons ofcnnk re wed to derainethelngthof he conseing rod. Comider to poston fof ser ak mechanism avingeccetciy ss shown nig. 29 = Inthesysis we neo determine te engtof the comecing rod ik BS) and ck it angle ® +The gpl procs iss olowe (Q) Draw worl! nes 1-2-7 ata distance as shown nig 210 ig. 210 Two potion eyelet dr eran mechanem nisi mak poet, randomlyon alae? nam by king Aaa an coer ge 8 Ot(Graphical and Anaiytea Linkage Synthesis ss % Kinematics & Theory ‘= Fig 213 shows tourbarmecharem in which emi AB, rotted by angle In clockwise decton pston AB, shh et poston of he mechaniam /AB,C,D and second poston be AB,C,D, Inthe folowing arte we are mebats fortwo ade poston sassy reave pole method. ‘= HeeAB 5; ste equi sie crank mechanism Link AB, wl veda gh of can and crak ange. And link BS, wil vee lengh ofconseting ro 2.7 RELATIVE POLE METHOD : (61 : tay 2012, June 2017) ‘= Wirnabodyrlak na mechiniam nove fom on potiontosnotheraniti Stee to ie poston, such ak canbe accomplished byron fhe ink bout fixe point known a “Pole —G. ostomnietnennaeeences | gage|, Graphical and Analytica Linkage Synthesis = 1 @) Toth donee sen 2 anak AD cn opie Sn ine pasing voughDatngle}.2 fomlink AD in oposite deanna ik Pein Pisknow slave pole of couple ink 3 length oinpt ink 2 eared fom AD o get pot Th jon hs poe ine frend gt rom at ange. (©, Dravedotetine fom P whch nteresec aC with condone eagle APD an angle BPC se ByjosingBandC wil ge 21.2 Thee positon synthesis + Thearcle express dee pst ‘mechanism in which ABCD is te fest poston, AB,C;D and ABCD ite sevond and hed poston of ean pete, hn Fa, 247 Three potion sates of four bar mechanism by retire pote hod 27.3 Twa postion aynihesis of aides crank machaniom (GTU=Dee 25) Cone ta ier-crnk mechanism having fet istace fom he Kae inks stow in 218 {rand 2-2 ta danne'e a showin i 2.0.r Graphical ane Analytica Linkage lip fom it stant oppereo Pons AandErespetvely In which lin Fd (©) Sin PS wth dot Alsomakealing AX witha kgthtanange 9 messed fm fe Io (Measure sle APExod drawalioe PY with sume angle messed rome PS Te fine AX an PY intersect a pia thenjoin AD and BC. = Tete A wl giveth length rank and engthBC wl giveth ng of omecting 2:74 Turse poston symhesie of slider crankmechanism ; -=,_ Ties psn ft sider crak mechan withecetsty ele showm in fig 220, 2.8 COUPLER CURVES : te onetng odor soupleofs plane outrage: yb imaged sa fie ple ee ple carve can be fee the Mecha wicha sho CC), Cr Cs, Cg and ine ig 22 (0.Graphical nd Anaya! Linkage Synthesis, i. 222) Couper curves for for bar mechanism Kinomatice &Thery Machines ION TO POSITIONAL ANALYSIS = on then it ms bess Ani of emit says dete be inte wseny te emponca we needa etemine dai rss Alo scoring o News opr to aeeration ino ve requ poston afl elias elmenin mechan ch aut tony dog wept cpatn wee sts il poe a cae ‘= Thscante ont many mats bt wea cocenag in pac pris detemie he poston wy ofsmehani nisl we lieth lif les pots oakGraphical and Analytical Linkage Synthesis o “ amaties 8 Teo = Loop closare equston proves the relation between the position vector of Hes nomen “a Thelin re repesemesas position vectors, Pasion vector in mechani cess oe €or veo op “Tound elise fw move round oop, the ecrsin top he wom one Hk 1 anak gh ‘joi uni sed we retro to sae fink from where wehad sate. = Meats this leopeloses ef by making the sum ofthe vectors around the oop equa 2 v= Inde fellowing cases we wil se how ecto lopsare const for soe commonly sel mest, 2.10.1 Vector lop representation for a four bar like v= Fig 225 hon four bartintage mechan inc ks we noni pion vst it fm et = tndimstaian ox gual {nds mcian ne i re ong pe Bande gms Theives ome owing open Bao * Rax~Rao™0 = lnstoverqtin ycer gg illhne avai mgunle When ine move te magia ‘eyes te date of Be sec pout om the pr eee sO. oeGraphical and Anaiical Linkage Symesis Regindle, bone of im (Re) will bea vec ‘frying gid ondang oti bever simple ist analyze mecha | ao fo esos Rap Rpay Bey 24 Reo: ASTe ‘romety vector yp Saenger othe as flr it shows tit etary represents constant ection nd Ra reset constants magia, = Thefouvectorfalows below vetorlopequstion | pat Rea Reo ~Rap~@ Fg 227 fst Ser crank machania 12.11 ALGEBRAIC POSITION ANALYSIS OF LINKAGE (FREUDENSTEIN'S EQUATION) (@TU: une 2018) Sys of enya can be done enya end gap. However gpa mtn sore ve Sei tnaiel pct selgic andes intve sagem inqute sable fr compu, Sythe four barand sie mechanism by tly! mated ie expaine below, 2.11.4 Analytica synthesis of four bar mechanism: {orU: tay 2014 May 2013, Dee. 2012 June 206, Jn. 2077 June 2017, De. 2018) = Considers fou br mechani ABCD as shown ng 228.Letab, Beda lenis of thinks AB, BC, (CDE DA repeal = ThelnkADis dali AB BCDC mae 3a Don Cant inkses conanidighemenlag svat Ang sit ian cenkion Ang yom, ey = Rewiting Exunton 24) and(25, es) 28 en =e es » = Wo ine the values. “ : semictt8tdteptnr id s Kinematics & Theory of = Condens of points Band Sar, Tprees®, yp=rsin®, x,>eandy,=@ = Conicera BSD, A sighnglewanle a BS?=sp?+ 80? Pa(O— Pet Der cond +2 resin Pay F008 OF Ky sin HK - We, Kyo K,72e KyeP-A-2 ‘Aorecnation casters Fendentin equation lier crak means. Fp. 230 Two Poston Analy! Syetheaien Kinematics & Theory of Machines cohen and Aosta! Linkage Sytesi SAE TIREE POSITION MOTION GENERATION BY ANALYTIGAL SYNTHESIS: Te aienotonaybevcanbecsindot te, urd fr pston mans. thiswherefourbar lagen ore eral ston ith eer pot rig. 234 Taree postion anata eyesWhere) = 1,2 and 3 Forj>2, Forj-3, valerate Sine firetiony y= the cores ing bof sds ual ove the namber of preion posto dr hexagon ine the cle.(Graphic! ang Analyca Linkage Symes n (@) Draw perpendicular om each caer which nret he dagnal ofl at recs poo, jan ssshownin ig £-23. rom fg, 7)" 125, 45" 3andx,>47 (0) Values of: ‘Sicethe fueion nye th conesponding ales oye, ree ede2n, yr CSAS, 8, By= M995 5, y= 2 2) Hence he precision pnts ae, 80+ Sea whe Posh Ans Fain, Am. Maen neat ante BOD Feist, ay=s0+ BE, 49-27 «50 ans Foie, noo 8-27) = 6 = Poin * 099-271) = 18° ie amma Tn tn 30031 Nioematie Theory of Machines Acsting 0 Chebychev spacing Ath Som aa ca Ans = 1 cast: ery natn, nee igen Waeso2ed fae pease @ cate 1= ane amhic and Analytica Linkage Synthesis Kinématios& Theory of ie 5 rars=2, eats snare = 05-4562 @39n n= 10098 = awed feeb $2 aamso sas i rain, teat 2 0-20.00 os 135+ 22 omn9-=amse = 358, 6," 45% y= 60" Solution: Given: 0-20, a= 38, ase", Freutensnsequtionie by cord + hoor 0+ 4,08 0-9) Subesningthe values of0 a, Now, cos 35°05 35° cos 5°) ~cos 20° (cs 458 — oe 60) + (eon 45° cs OP — oe 6x 08 389) = 008208 ‘Siar, Bysoving weet, eoa3s* cou20” con (20-5 cots cou3s" cs 5" — 45 lxeso? cosS0” cos (50"~ 60" 4, > nan, 4, 000391 aj 000597 4, 900m ao 3S" ons = asso 000291 ho So Sone =-07813 8, -a00sor Ba a un 4 a mek suede tn iss "taseco una pray Linkage Syneala a Breen igs 4-153, 23, d=30mm 8B =6,-8g= 120-30 = 908 dpe B®, 8484p 45 = 130-60 = 70" tej =1,20083 Forj= 4, ae e=2 Ferjn 3s cra ae eyVaan of ‘Sic feetionisy=!4 he comes apna age 8127 ees Kinematics & Theory of Machines For=2, 4-0 Pas-y=re oo 8-304 % G7990~)= 11397 fee na B sae tases, 005 game (6) Value of by ty ad y+ Freya oon 8, By sling above tee eons: B= 24326, ky =-2.1027 and fy = 14002 Length of: 430mm as afezansKinomaties & Theory 02 Begamy Maw 283 pent oyes0+ M aa-nese rind os 2 as-ya18 290+ 2 aa-y= 19" agrme. 8 = 16070" = 90° Fixadink, d= 100 mm Teptink, = 40mm (Values of Aceon Cheba, tte yy tei1203 beset tems Baar-n= nase lea om Be anue rej =1.2and3 8-704 F esse — 1) 1s0216 Arco +bycang +h, =c08 4) or} =2 Suhsiig eat dh, . +h co 36) +4 = oe 06 —72.267 os (15 10) Fa 197) + by cos (11397 15021) e Sie funcon isy=2~ (OLeage oftinks Wisgiven tat = 100m, anda = 40 xm bs hye -fe-uns pong 28 oe Byer 7 BS = 5436 mmgeese 8 ros ne eeeeee 4? 4.6456) + G00) 8 Baa S56 b= 434mm, Ss 2,538, 03-90" ie GB ese ink recede ve poston sitesi of omens in sction2152. Ree Fig E28 im and i,= $7 ante ern 8202021 Bh be amie. wis T ls Fori=3, y= ed = vatec of n= Ssinvr=0 rr Sing = 5 a Aye wy-vgr 5-085 Values of spon bythe gato, Feri=2, Ferj=3, Kinematics & Theory of Machines 1 1209 60 = 60°* gree ow t,o 2 -9-e6me te 0s 2035-9 1mee t-t06 2 asn-o= 980 4, cos + fy cos + y= e080 -4) Subst te val of 1 cs (65.2916) + yeas (98.026) + y= ‘Solving sbove tre equations se a vena sample @25).we et y= oQ4h, by 0222 and = 0882 f= AU = 22.721 cn oNeetng a an b= 5" 2 em een tye feo | = FE Gag “Hot em electing optive sgn) a Bedeeee d eno = be2tsniem 0, =20%,0,= 38,0, = 50% 44 = 35% 4, = 45% ty = 6 asf ~ £088 + ty = con® 4) Subing te abe f9 are 4 on5)~ con) + ky = cos 20 ~ 35) 4 e45)~b,couS5) + fy = cos 35 - 45) 1 const) ~ sot) +f, = e050 65) Saving stone snag pans, we ge A009, = 07516, = 1678 2) Length tak — tem a =f - oss bo Gy = 15027 yt and opt lok’ as follows Design nur bar mechanism co-ornste3-posiins input and out‘sphletandAnavicl Linkage Sythe srbar mechanism with npotink'a! and outpet il, Angle ven lathe table below © z a5 = Sang Freudeastela's equation find oot ether ink lengths Fo.e2-80) Frcs ution, Sobingahove tee simatancous equations, weg, f= 0483, b= 0431, = 0986 © Length ottinks: ispvetig, d= 40mm Kinematics & Theory of Machines ofthe ouput ike Assume{Graphics and Analyt Linkage Synthesis a id side: Use the method of iver Aso mark the complete mechanism the thre preciso postns Shay the inremcatl angle in thse pestons. ns, W73 @Ux=0) wnis (x=4) Oy=yp- rg 1S—3= 12 Forj=2, cos (=) 2 conenenion Fee=3, Coneesig 2) Vales of 0 and oem a-o= me" fal=3, gel oro ts tt anematios & Toor of 30+ 2 oye 50 arts Bo-99 pye10 2 cans asses 6 goto o-n-ar gore aise) tee 5 ® as-3= 120 Fa, €212 Th pein eye Oven mathac)“Graphics and Analyeal Linkage Systhesio Design four bar mechanism witht coupler links and ontputlink ly Anges and for tree eacressive postions are given in table bel users Ee +L Par Pas tlegths of other Uns to iste per aoe Hy con 0+ by =c08 0-8) 9) ~ cos 4) + y= c08 40-50) = 08 (55) + fy = con (55-60) co (75) ~ kc (10) + fy = 08 (70~ 75) Salvng above tae snultaout nuns, We Et A= 017, f= 0205, = 1015 (0) Calelatelength of inks Mm a oto = Gyn tsattam wa t= boas ro en Ans », - bebe a La = a 5 =16322m0 (©) Draw sytheted agra: RefrFig E213 (007 + 052289 Kinematics & Theory of ahines = 1633200 (0) Drow pence fomesch cme nd hey nteret he dagna ole a presison pois,[. al and Analyte! Linkage Synthessa cc rpc and Ansel nkane Synieste . 8 a = Ams. a Kinematics & Theory of Machines +0) 00-0), [2ex2-0) taint BOE) cise omGraphleal and Anaiyiical Linkage Symhesig gs scecssist rns eed Satan > Reig £2190) and oc ia flow ‘racedures (0) Den th pve ps ia, £2.60)‘rephcal and Ansys! Linkage Synthesis ive pole meted sythesze a foo oy 0 On. aa" Ma = ead Asmume = 32? a 25 ‘bar mechani by tog 2 50% =30, rina by taking Hak length 60 mm. (GTO: May 2011) inamatics & Theory of MachinesKinematios & Theory ot niptorge exenied by the ive ako te Inpu argue required at tdi {0} Dimensional Synchesis design orrete a mechanism atcomplah desired atk '= Forsolvngan sytess robe itis very imporant that which ype of mechanism ie elated which cai 12, Whats Number syotheis? , ' ‘= Asythess suede determine how many joint & lnk are requred to produc dese faneion,i. ‘= Dire shes toi afore dsl moson wht shold ete dnension ofa ie eng ne 14. Whats the synthesis of fanetion generation ? th eer te point on up ik oT edna inaplane follows some peste path ati Motion Generation Synthesis? thereat etn po onthe sed pth sch point oe dined es "Prison pln" 1% What aethestteret types of error in function generation? Theenor ae + Stusul err ‘7, titdebsedas ne ditsene beeen the geen fntion & the dsr frcton. "_Sacherorsare produced due to mechanical defect soca mproper machining, casing component es 21, Whatis Graphical eve? 7, Sehomorar produced deta inaccuracy in dcmving wong cosinor sel, 22, WhatisChabyehev spacing? “* Misamethd sdf sletng pression pias which can miaknze the src erro provid bet between pein 23, State the analytical equation for Chebychev spacing! = Fornpoiiiathe rangecmoioumatoaniatunio synimde___ a atthe equation of Angle representation for function generation. 9) [exercise] heaton digo Waite sort ot on Loop lose enuton Eplincorler curves. Wt a exreasion fer determing the pression ots : 5. guna poxton ce poston yuhesi ou brand sider cask bch ing eave poe eto {6 Deemine hire peison postons int ouput anges fra mechanism sre iton "Wheres fo ing Cte Aine a final & initial tate vale fo te input & opt cok we ales rt np & once ah Velocity & Acceleration Analysis 4 Topics h “1 nroduction stand Angular Velocity 33 Absolute & Relative Motions 1 Relative Velelty by Vectors res by inspection 355 Kennedy's theorem 357 Method af locating instantaneous centres in 8 mechanism Wo theorem smple 3.11 to Example 3.17) 38 39Yelocty & Acceleration Analysis papclly oranagealy w= ‘Amiga meds are moreconvenntnthe ros ofeumpues ant cles bt gap mod tbe ‘ele = loexpresed by ¥, ctr quay andthe ST nit oftines velocity ines o mies pice slong cule rathhenitscaledangulr displaceese rg. 32 Anguledplcament of ey 3.2 LINEAR AND ANGULAR VELOCH Linear Veloeiis on -Vao- 35 RELATIVE VELOCITY METHOD : {(GTU:: June 2018) ‘= lntismatodthemectanism represented by selon olin gram, commonly knowns cnfguaton ‘Sowing 34 ingmatie & Theory Machines Tow tc aw ofveor ation or, = Acynumterof vectors Tepining oftheir = Onceanpette sen Pee 7 oe ig 28 Relative vec of mle vers Tromae a 35 Yoo = Voc? Vea + ¥ant¥ao ano Van ten Yor ed -oatabe tered veces Theenowsottetwo coer tobe adden te see okra hatte ia rst vr vig ik AB, Conic pnts and a ek otting csi. Thera fe 9 a Sg longest ste beeen Aan Bremsn tbsame Fre ato of Ak> ay 63 a3 seer onder hl the pnt C deve te west shin he ume isthe pit © gi tink the eve velocity meds based on therelative velit of oat on iit sider he points A and B on agi ink 9 Anpinrvelocity of ik AB maybe cerned viding Vp he ng ink AB. Matty, on get 18 AB 354 Velocity analysis of a Four ber Chaln Mechanism : = Space dara of fou barchainsshownin ig 3.8(0, “Theveloiy diagnm frtofourbar tina shown 3.8 (isdn spr pncde dace (0) Astbotne Cie fxd te points dan Caen a oe point in te vlc ingan. Dra ti ‘ependiulr to DA with bane suitable scale repesesing the veloc of A wit eet D~or lacy OA (V4 V9) Van: AD o Vy =a: AD a 28 Vloty analy of four sar chaln mechanismelocty& Acceleration Araya 00 2) Now om alt re vecoraeprpardari ink ABto epee veocy of B wipe Cp pepeniclar to CB a repeset he veloc ofB wi espa (GTU : Dos. 2018) repre tr alte pat of the velocity of sider Ae. Vt theses TH Sevolt elciy fey print onthe connectingrdcanbe obtained by dvising vet bn sopra ‘open, inmates & Theory of Machines (GTU: May 2012, Dee 2078) ©) From poiotD, drewan ae DC= 22 = 38 mm(1) rte one pointspeiing it {@) From pointe row the vector ab withthe seal m= 10 ee onthe comeing rod bic he eat velo rave te canst cs raw og perpendicular toa trough. Loewe the ois Qn AB sich ht, ia AB ob Vg vestor ob 9.7 mice Vp = Vector p= 102 miter Wy = Vector og = 9.4 mise5 woe ee re 1 Kinematics & Theory of Machines eee “Therefore, velocity ofA with espoctto or veloc : vn As. + citing pinot ca ie You (ay = 40 4 eae 005 tneVelocity & Acceleration Analysis. us Veloso, : vie 8 CQD is locks. This caste pit + Complete theremining velocity digram fr the mecharise QDB, ‘Velocity diagram: (0). Markie pins o,2and gat the sae location as they al ae Fixed pois. @) V)=0,x OP=22x 170= 3740 mise. ‘Draw vector op perpendicular to OP. Draw vector py parallel io AR and vector perpendicular to AR, Intenecion of bth the vestorspq ang wil be a pointy (0) Locate point ron the vectra sucht, oak a 70 (© Daw vectors perpendicaro RS ad vectors parallel othe ie of main of he ide fbn veaasrandg willbe pots. = Vector 08 (or gs)=3.9 mee (toward right) ‘And anglr velocity Fink RS, vy is n+ Be= i = s0rmttee(ockise) | ‘Anil loci ofnk AB, 1 1885 eae (sks) Vel ofenak AB, Vag gy AB 1885 0.15 = 2827 meeVolos & Aegsertion Anaya "Vel aigram (0) enwite ctr ah pnt the tion decton ofa shown in fg E36) by taking sabe see w | @) Deawihe year ppendiclr toll CD and verb pepe lnk DC Te inecton of vec + Gand wll beat point |) Divide tein ed such hat, (Daw vetr ef pepediclrtolik EF and vector afparel tothe ie efecto of der. The inteston ofvector ef and of il beat pis By meas (0) Velo oftieblock Vp =Veetoraf= 1.15 mise Ans) Angus veloiy of DC, | Vo # Veo Vesor l= 3.35 m/e 6 ecg Y= EE nati cumin) Ane) ©) Rating sete, Pontgae)160, 14 ne orev ‘Ruibbing velocity at pin C,, oo Ame 8) Kinematics 2 Tory of Machinesre Ty erareweats osc Opts ets ent ‘ad/sec (counter clockwise) vs Ams. eae yoy = Velo eo = 0.175 mee Seletion ‘Angulr Velicity of Crank A, a 2a 2a oy N= 628 aes Velocy of crak OA. Von * to x OyA= 628 0050314 mice re pepediarto BC un vor pl tothe ie of veo wiles pit a(Loctite pointe on venorab ck at (Veo 609 ag Vqg™ Veetorsh~ 0.066 mise As TO) Veli oftink BC, 7 Vyc™ Vest be = 0.132 misee oo A tm G) Velestyefiak 3, = Vyg= Veetarbg = 0.136 see hea Fig-E5:10) shows a mechasisin which crak OA rotating oeovine at 20 rad Find veloc Fg. 40) ete agra ‘Space diagram (0), Drwtne CD pepe to vector el hm inthe pce dram. The pis chins by he tection Fa. £100) Space agra ‘lin CD and lino action of sider D tacked as. Solaon? (2) Measured lngthofD, VelosiyofenakOa, cD=12am An Vpo"@nq* OA = 20% 0.04 ©) Webnews, Vyo= 08 mee see = Veto agra oe De” DOR (0) Drew vector o pepindouarioOA by considering sul sale a epesentV, wpe IA nie Ans (Now io pond actor abprpencrto AB fom plat draw vector ob pall neo ton salieri Thepin of mersecion is matked ab 4 Semtea meenar elocity & Acceleration Analysis 12 peste Recneredon Amateig ts ( ec" ce *o0) seg 6 mm. Alo ota DE By mean, rar foo} AB, Band then oa boot A, nd Sl posi ist roel AB 10 AB about Aad ten sie om AB's Ay AB considered ob smotionof pur oan shout ale insane cent 1). ison msecton afte perpen bso fears Ay dad BBs shown Fg. 342 Valocy of polit on nk By Iatntaneous ene mathod ‘Conserve alts A apd B on aig ik as shown nig 3.12 [isesamed hat gid and direction locity at pit Asknown ant pint only dco of own pees ‘Ope en etemine magi of veloc a point B by sng IC methods discus below, ‘Daw Al wd BI perpendicular othe diecten Vand Vad wll tet point | which Insane cents OC, 5, one tee at Seale) ‘Since theres orelaive motion between Aad they ae the poison agi ik, ©, “ep 8, nen? {eC san othe pon onthe inkhen, mee From he shove equation, ns can sy tht |. mapitoe aod drecton floc at pit ie known an eton of wc po Be ene ‘maa of veloc at pois B ane deen, 2. Thempitideofvelcies of various pin onariilinksiavesely poor the ane inst th 3.6.2 Properties ofthe instantaneous centre: Fling ropes ofiasantneous cent regent: (Aig ink rote instantaneously elatve to another kth instantaneous cate by. ‘enfipratinoftemhien,\ osay necleaon Anais eo Oe ie oteedngaine nn Se Howth 43 Number of istantanous centre ina mec 968 eo boes big lative rotion even he T unftenectansm aven-suber oink en Te, NeNamberofintananeous centres (C8) Nbr of bodies ks 1Cas discussed atopic umber 36. wll begat pose pir of odie inks ex 7 ~ 6H {484 Typo of instantaneous centres : (GTV : Dec, 2013, Nov. 2017, Be. 2018) ‘> Teerpetire pes of instantaneous cones. (0) Fhcedinstancous centre "nance cen which remsiasinthe ste position forall configuration of the mechani aid fd + Tyan yy athe fe instantaneous cents as shown in i. 3.13. 16 Kinematics & Theory of Machines (@ Permanent intantanevus entre: aise ad ae ae ot ini, instars xa! ini 3 14(1) Bator oft inks xed esshonn a. 3.14 (0-2) instance Fg. 244 Ruts to locate ntananeus cansVelocity & Acceleration Analyse 2 ‘36 Kennedy’s theorem (Three centres inline theorem): (GTU : Dec. 2013, tay 2015, June 2016, June 2010, Dee. 2018) = Consider teelinks having slave motion a shown ni. 2.15, = Thenunber pinot Two permanent ICs tte pn in fink 1 wih lak (B) reget + Determine mimberof ICs by using equation 6 nin MA-0 Where, in ~mesberoflinks =A (inourease) Step + Sion ie fe ‘heya ot ined and an move when oe mechaien moves bth on ee Pema. fener stown ntelow abe a] ® 1+ Terecetes uve ben nice Steps + Nether enor pemane: Cs canbe ented sng Keanety'theorm To nets, dwn owning 31600) andes pits onacioesal he amber of ek ina mechanism, Hee eving our beroins| lle fies an any Wl Beare permanentacy & Acceleration Analysts oly Acenerton Anatyee________________us “FP jane pins by continuous ins 12, 23,344. Thespesia ox peoneant ype Kan have eonalendy oct 10 Kinematics & Ther of tacines 80, Vel oftink2, 1 Nowifitsrict fin bangla whoa fk by coming th common IC (5Alle posible are: sk = Theabove equation in known as angular ek Angular velocity rai frlink-3 and 4 acco lcs aa | i) ©) By napetion Fed Ia ube “+ Siielyyines eth itsetion ofiing the Cs yf yt a8 show in“Angler vloty ofthe connecting rd A Frome angue velcro theorem, ‘ely ofthe sider A= ‘Welnow tat, Git ofal dw te pace diagnos (2) Ania vlecity of becrank AO. (0) TRemectanism has inks. Teeth umber finances nin) =D 5 Allie posses reFortink 8, FortinkeD, Velocity of B,C and D = (Point tion ik-5) rn fig, B-213 (2) represen “own, determine the 20 per mechanism. The crank OF rts ra locity of Hinks 4 and Sad sing vey en mand = 7ay Sa TAT 10 inematis & Theory of Machines ] Velo octting tool: rotting sori at 20 rpm. At the instant voc ostdr as wells the angular veloJ at si a () Draw the pace diagram by sing cor 2) Angular velocity the crank AO Gop (©) Tota menberofisananeo. -Peseior a Fig. 3.4 0)‘yy 8 Acnratin Anas nt ‘Nanomaics& Theory of Machines indo velocity ofthe nce fixed othe slider D when the crank OA, rotates 4 ral for the IES (0) configuration of «sewing machine nedle box, OA = [en re = JOA = 15 em, QB © 28 em, BC » 15 em, sotto: (2) Argun veloiy ofthe ink ~2 is 0 ad, 6) Forte links, munberf Cs are, Ye re ia-ho a4 224-896 amber in ig, E-3:6(0 locate a the instantaneous centres. Using Instantancons| HtNy= 160 rpm-0,0,~24 1m, O,8=94 mm, O3 A= 47S am, 0;P = 375 Sotaton Fe e398 0)ols & Aeeeeraton Analysis cy Pa £3.18 0) ©) Tse xe fens monamber fC,6 Kinematics & Theoyof Machines own seston oration loci with espet tine idee engl evean sexes by Grek (= salsa vector quant, 3.8 MOTION OF A PARTICLE ALONG A CIRCULAR PATH = ‘= _Asshowmi i319 (a) cosiera price Penal ah “ on A 37 LINEAR AND ANGULAR ACCELERATION : (Gru : Jen. 2018) + Umea Aceiertion: > Raof change of velocity wih epettime fina acco, Matheny linear aesenton, “Tange aceon ofthe prison be Linaraceclerton esl expressed as, I gente « (erie # ale ale ale ale 7 Rae enna 8280028r oloiy& Acceleration Analysis er the very smal valu f 8, cos = ‘Nonna (ai celeron aprile, ner 09) Note (Tol enim ade © Wintepeidenoesenssmige. tier tien bce ne Oud Watnate ©) Wiens move untrm ay. en ake Oud ac 3.9 RELATIVE ACCELERATION METHOD : Welw dint bon ete wot oe = snaps fodetona clone waatnes 2a pccraton aor ornate ‘essay find he acsratosin te vast ping ie conga orev acy meted, weet Ale indou te seeteriono poms the mecansns, (GTU:: June 2019) adil component of B with respec. 0 A, re oa 3 ent) sng connate oa: Ba Popa e A) = unin dag soni. 3900 rao B wt Aan Seu enpoetert "stent ern np ont pte som by som Tiewcero nwnstandonlang fos a Theclenatinat sot aace: ta = Yk sasna 3.912 Acceleration Analysie of a Rigid Link: = Consider woends And Boothe rigilinks as showin fg. 2.21 (aecono Anale “i snl bth no anwar A eee emima eke ban | {h Dawvecaro ple oth deston of abot see Graeme of ithe Ae gy hte 6 Rallompnet ote acleaon BW Ale gy Towa one te seaanofBw ct Ale te conan aly pen 0 components we ee paiva of Vg ny tly ing (9) Frompont, rw vector pepediclr io AB (orvetr dan tog ‘iepaofB torrent the saoltesoseatonofB = ag, The veo ‘hevahe fag ado, may bemenuredtoascle 1 end we may determine tet seeeraton of BW: ine pari inte VN © seghistwocompoent oy od asshounby tan shown 19BC and 20 is perpedialrto Wz or BC. 139.3 Aceoeration Anal Fapem ofthe four bar ebin ABCD dram sae isshown nb 322(0 essen velocity of CB (Veg) ad front ot pom Gort D(Vep=Ve) bent dis (@) Angular acestert + Sieetesne eect, + Terai component ofthe szelentonef agra Bw A vaVestn a ~ oy =a (2) Promo dws vector pallet BC rereeaterai conpenct ie selon of Ci apc point owe papi CD tere tng component of € wih eet to ie ey he vector and eine a Join nde ac ha | Lette OB makeoge 0 wih henner ded ene D.C) and rotten te elokwie dition y= estore \ ‘ae prin O withunfom angular veloiy ogre, = Save of Bwthrepto Oor veto tems: ffx pit) Vp “go OB, oy *Vetor ye ae. Angerscelrion BC, | 7 Balen conenttB ys Crass ues Otro, 1 y= = tg x D0 = EB Aponte enfin wich nove with constant ng ves no tgent compost eo, + Thesclertion digr a shown. 323 (may aow be dermis discued elon (0) Draw ese palo BO an stoi inmngine of y= of tosome tale + Sine pris moves witheseant ang vey, the willbe no nga cmpore of te (2) Pn vestry AB, The vec bere he dil conponent of eso ‘open B wos magne venty okpits dw xt peni B) Theva naa = No Pera e ‘cst be pomp a be aenmapoterenn iio eof ny, 'mustbe prio velocity. Therefore fom 0, daw da! gt conf cmecig ol AD). ween Be eh be sum of vector anda! o> TevarbinSnunf xen deen CA her Bag aera (0. espa eclerton of coneting rod AB ny be oie! by viding he tangent component of zosentino Ai epecto Bote length AD, : 5 sepa 1.45 ~ 8 in st) Sian (© Conidera slic roling ona hrizoatal oor. Wetsuit, sorxo ‘Wire, $Iiner displacement 0+ anu displacement (ain) 4 | Phenyl, of Aodinaeselenionat ne pintfconactontedi (9358) "Sens retains 20/308021 | Soteion apr locity ofank AB sve, ona" 20 rae + Velo oferank AB, ‘utblesale Aint Aan Dre fx (@) Dnwvctorde enter Secon of mation sk al dos were ppt BC Imeracton of thse etos wil loa poi (2) Dinietetine beach hatr a ty & estan Anais Dy neem 1 eect | Yee Vous 25 ee os | + Fearne cb, = ES a ate een) a + Vela oft, Vac = Vere e= 7 mies Ans Accelero diagram Meine teal nga arpa een vos ak mone inte 9, ‘Angle AO, yg = 2s B82 35.15 nde 10 Be a 40, = = Pe ae tate desta trae =p ele nga: ono dia ofc shown nf. 63 + 1 0) Dyes pra dott fem aan = =r, Perr) 5, ese drab aking bent ales bom nig ESB By mena Ah Fees ee {@) Dean vector opp! oti ofan fn P ad ea popelndar lak PA fects op nda willbe point. + Meo oti, ‘Acari iagem ink) | nena | vets es) 20 | as an‘Determine; 1) tbe magnitude of vertical and orizntal component ofthe aeckertion ofthe pis z (G10 Dee 2013) —<$< i@—£ ____ Tis Dagam Me rnrac (V1) peste scion ft ier shownin £321 (by ing ee (a) Dente vests perpendicular tothe ink AB and ver pedir te ink BC. lnerseion of tse vcore poi Acceleration Diagram ee emia ofteial engnal comport wzletiono is inks me metone in ale 321 Table Link tact (mi) | a= F— (ais) a 07 327 wp ink BC and vector ob (eg 0.16) parael ink AB wpe (6) rw tbetangentia component and perpendicular tte ks BC und AB pete, nteeton ofthe ines leat point. By measurement: fa" ae angular acceleration of tink CD rank rts wiry 180 pom ack PB > 240m BC= 210 mm 20d CD~re oto &AeceterationAnatysis Kinematics & Theory TableE322 ‘Veto diagram + Deawihevelsiy diagram ar shown Fg E-322(8) bytking the suisbesele + By mestaremest: Velociy ofthe sider, Vp= Veeor od =2.36 mise ‘Velociy of withrespeatC, Voc Vestn CD: Velocity of B with respetto A, Vga = Vestr b= 14 mise 1 Magne fein tangent comport ofan f varios ae mesos in = velocity] a= T= (mt?) | = Lt 285 53008) (5) Draw ear e2 («prio CDand then dew (af rll tink CD. Daw vce 1 faton fide. nerston of vectors dt nd wil lee point tie B32,‘tates — Sr nnn ba et ‘ ymarcement: > eosin Cwthrespcio A, + losiyofcwihrepettoD, + Neos of witht B, "erin tuanon 338083 Vou Vesar ae 0.53 mise Fp. 6323 (9 0 Vep=Ve= Veter de = 1.7 mite Vp Vector be 1.9 mise Kinematics & Theory of Machines #0: Ly (ah TEAS =e) =GRE, ‘Veloiyaftheemnk OA, Vg 40% AO ‘Veociy dagen Daw the vector oa perpen to OA by taking a proper sel. eetoracperpndzlrto AC aver oe palo of eon f OC. Intereton athe wctrs ©) Les bensenen us = 2eS pepe Dw cod wa en af an fair en ose 8 ra Togs, Nineties & Thee Yop _ Vector 53 opp = M82 = + 8 eaerndve mo" ap ep a _Acaleration diagram (0) Daw vexora'= bg pall to AO by considering suitable sale Tabiek-324 inka) | Sength(m) | velocity (ms) ateae Lytait) A 03 as = AC 2 38 =CAG Thiet = 5 ro 2 33. Siew [| — 135) Draw of, pale ok AC. (©) Daw sera (of) Repent ink AC sd veto paral Bie faon of ofthe vcore il owe point: @) Locate ont sh ts, ‘By measaremeat (Meio i Yp= Vector d= 1.35 mice . \ | vetoigere, i“ | Veer 0054 mice au fy Agu elaiy oink AC, = | Ky we ne Re es.BL ILLS Le ea pasty & Aeration Analysis (0 Anti dope . ic mentum My enontod ra we Sere a snyntO4 asain ee annie | sem aes SUT hemtaemntenbpusaneed —— Le : nn yma : = 7 () Dawvenor see 6mee “Tg eoetion oD witpetC, sgn Vest Hee agua clenon sD, tos acy" 2 wale? tolak Dad dew vege) Peer CD son ofaierD. Veo an i wine it s-Ans. 8) Aas)ciety A asowernton anager a ‘ees of whey, : Vgc * vector be = 2.85 miser Angi vey of BC, 46 = 22 is 8 ree (comeatring ogc = 2B «11.8 rates comterclcn) Vey of withemettD, . Vap = vector bd = 2.4 m/sec. Aap es oink BO, = Mo 2 set ai np" Le = 24 4 ie aco) abbingeloiy for pin at and 0. Relavempu wlio 470904 yp —Gyg = 1188 + 4.46 - 2.085, 647 MB rales ubting veloc forpinst A, ¢ ons Jog "021 mise Retave angular velciy at, ep Hyp = 444 race Rubting vleciy frp, Vomiing =p Si dt 208 Angulo ferk OA, een ? Yontiy “0.957 mine Velen ofcank 04, Wyg= Ax Velo diagram Draw coc dag a shown in By measurement; Velotyof sider, Veloso wih Angular acy oink AB, Aoy avomates& Theory of Machines a0 cas | “tim | =e Dive again tenn ie 23260 ‘By measurement: ——— Nene 7 ngs, enon = 228 8 on = = ‘raed ni Joven tint hi eae ee200 adie clockwise) m m. | 22 Cost cpa aero | ‘i Cronica OA Sines omer ae ak Oa bo Ysse Acesestin Anya 1 yas scederon Ante i a) = From Fig 325. 73 yore sind “paceiighotte ie th epson Boro 0. Ms ing. Bere. Beano. | « m Bo md $.4.% a ~ Ys = Velocity of stider B wat. C. s| ; . Y arcond-w 4 800-¥, | pminatenining with espectiotines, So ofreamn ss wre 8] [out ane $i] eine ® ees Gos S 7 ay, = $e ction), B= nd SN 4. oy, # 0: V+ (Vy-s080- 9 sin8- 3) = ae Ps Py a ahersno toe 8 YorVoronove rants x | = Athepaiclarinsant where®=0, + Covssconponestofecseati 13102 Direction of Coriolis Component of acceleration (TU: sr “= Direction ofthe covoisacelerton componet change withthe change in we Kinematics & Theory of MachinesVoocty & Acceleration Analyste egy = 280 2210 oe = 22 mde ‘Velocity ofthe ra OP, Vor= op OP =22 ‘Vetoity Diagram: (0) Drawthe vector op perpen tink OP by (2) Draw he vector aa perpendicular tothelink AR: Intersection of tt wo vectors wil leat poi (©) Drawtheline ar such that (4) Drawthevecoros parle 1 Interetion of hese vector Acceleration diagram: tte ofthe rail tangent and coriolis cumponent of acceleration of vious inks are mentioned in ink 2) | tengsh my oP 02 7a = ag os 8S 03 Ties = these, ° ctr ond perpendcerio he etry ed pe epee ntston of hee te point Jina ‘Acccealon oe iting el Sis ‘Agulrscleonof he itig oli,\ ‘\ \ soins foty& Aceon Arayeis (9 Vey gr a0 ‘lol dlagram () Draw vector on (Vg) perpendicular Draw vector eb perpendiclr tthe ‘erection of these vectors wll By measurement: Velo ofthe pint, ome sabes. paral! tothe lin of aionof te tide Vq= Vestorbe= 1 mise And, veloc of B with espectto A, Vga = Vetorta = 24 mfsce Kinematics & Theor of Machines “Angle welcy onl component of celina ou inks ae mene ia Teblek-329Velocity & Acceleration Anais 19 ‘elo diagram 100 Klnematis& Then A) Draw vecioron (Vg) perpendicular tthe link AO by considering asitabe vate (2) Daw vectra pale tothe ik AB and vector de, perpendulr oe ink AB, vectors leat point ‘nesting (8) Locate poit such hat Oo, G0" ad (4) Deawvectrcb(Vp) parallel thelnk AB and vector pepe he ik AB, ag ‘over wil oct point. i. (9) doin vectorob By measurement: VeleityofpisonB wth respect to i] aus) (Angular seeerationofcomnesting red: Angle scl tc feng of agua vealy ofcemeing a wthrepet ne, en) s+ Toss ins th eses of plea ofthe lish ht ends ede angle esir: Velocity & Acceleration Analysis Given: Ceaskraios, r= 15cm =015 m Lengtnofeomeetingred, = 65 cm = 0.65 m, ‘We know tat, velo of piston, prose (sao N= 3106p, 3246 ral ar xed connecting rod of steam engine are 0S and 2 lng resp wep nthe clcknn direction, When it has turned 45 from he anor dn (4) Velocity of piston gala velocity ofconnectig rod rnsm, fa2m, N=180rpm 1 apices Ben _ 2 e180 = 1824 radtoe (4) Velocity of piston: fone « #222) v, = o-rfine + 2] scsi lae 6) eh (B) Acesieenton of piston:(© Magis ofpien depends upon crank angel. Soothe sve ck me agua of ely psn mn seme eendeoton of rank reversed at given ck poriton, inemates & Teor of Machines ‘SHORT QUESTIONS WITH ANSWERS ued pt ren tikow 8 displacement sc cert acest with repeat one gtvieesee ee tebe ae ar ‘Neither i remanent one.m= Kinematic b Theory o Machines remain reory ot actin 10. A Quckcteomchunim istownin fg Unk vem ade Dew te wey nd alton Sgr Given BC = 25m, OA "15 emand OC = 35cm 1. Aelia witout pp on ahr or wth ange vey nt ag sean 2. Determine magia ofthe sero te point ofcomact on he Chagrin ty . % (eons 0p O,A= 3m, 3B" 12. AD a 1 wlons eo fsa omen 43th ypeolan lok ieafatpse The poowe wi BP? eterno nt tt fe Rb ome AP wiiomnmectndtointehonemal dein atte sae pistn ve wn down ath pe (0 Radicons oe sap oftiscam slike dis and hence itis a Fg. 7 Gabi! em (© Sphericicm "= losperal ca follower ull arpendiclrnbsisofroaton athe cam. Cam having a phe! sfc Refro.48. 1 ve a | o Satenrietmecins ° [2] Basedon follower movement: (A) Rise-Reurn-Rise (RRR) + “= nth otowersss and foowedby eta and en apn oesstowninfg 49(0. = taweivery ti ©) Dwe- Rie Return Dwell D-R-R-D)? Inti tower dels Folowed yi ound dls shonin i 4.90. + Tse oeam swe ised: . | OF FOLLOWERS oT 12013, June 2044, June 204 informof char ss sbownin 4.1. cont sg ie sharp ge of te Bae ofthe if Fg 4.11) to ‘ppt ton kes le between amet owe eis. As si (©) Det Rise-Dwll~ Return — Dell O-R-D-R-D) + poem istypect follower coouonl us Tis pee lowe {nC engines machine wl accra engies, ining pres machines rollers filler me flowers te subjected low wer compared kegel. =f ~% = SO | Fig. 41 Type f flower beet on shape of contact suis = Intistyeofcam ol fellowes operating inside te prove ofan Fllower cannot put of he roo and ‘insnconnina cons with he cam, eri. 43. iE (© Geviy Cam: = Inthispeofean, eum ofthe followers byte vit force. Referto fig 4.1, 44(8).foam - Se | repeat aca aoee ee ee iment ee epee hat bere nae i dperoetrreyryseree eee rane sean enn ne tc hth en cages ‘Based on type of motion ofthe follower : Reciproatng Follower: “Asshown in i. 44 (0 when car oats about its, hefellowerin cone! wil mvet ard oath set Tremor dog the guide. och peo fllower i kaown as repeating flower. ‘Asorngio skeen flower canbe aratgedtoovein veil or oral dreon. Ki ig alle {ilwer flower or mehoor falower aay bearexpocating ype owe, Oncitatiog Follower: Usssova in fig 44) te fellower ie pte othe overated athe ote son fern, When amoebae nil bot he fleumpnalong withthe ever. ‘Based on tine of motion of the follower : Raa Follower: [Asshowsin 41, whe telin of maton ofiiowerpasesthagh ic nso te cam sac lowes ‘wclaown seal llowes Ofetfolowers: “Asshowninfig 412, whe i ie of motion fhe lower does ot pasthouph be ai of the ch or carota eam btsat sone distance (ram acs thn sch peo elves known aft ‘lowe tg tem ts! ten 53] Fig. 4.2 OfeetFolower — Syke mri ofc ster ator flows ee tb i oi Teen te ler flower used wih the ever isthe cxampe of het flow ’ a4 aoamates 0 Thao of Machines ‘44 SOME IMPORTANT TERMS RELATED TO CAM : (ew: Dee. 203, Jan, 246, June 2018, Now. 2047, ame 218, Dee. 2019) = ners todawibe cam oleitinecsary to underand he inorat ms ree car Ths ems SSowminti 4 3yeals die camera rr lloseranddiasel be fotos (Base Cite vm Acie dn fm be cea ofthe cam ha of mais and getter ries han a ‘ioe Tanna noma cielofmsiman fs Thecneisbown ng 413. ris he a ce cane dao tbe cam profi © GumProfie: Ties woking of cam tick mri cette lower an inp eo | tote followerieknownascam pele Cum poe artes oweris shonin 415 a teface pinto he owe fom wich bps geet Tas pi fe ie (te hntdge Whereas fre billows ace puts ceue fra em whch eh (6TU Dee 2018) ome gente by hee pit the llwer ner ets cam orice owe te several can ence be sar where tol lw, ae seid ye ras fre Te tech cuveis genre byte cet oa.Un MOTION OF THE FOLLOWER : ‘When the cam es out es, te allower incon ithe sure wl Yontecnmemsosions scams wil move wis diet mon stems ‘Se dacuseed er, {orntcofchang fin, hen the flowers moving with anon ee. sn ching ofa withespet aon peas desreaseintines const gv Redsion” se nayemmandtheprotiot canis die eg pein ont creates ofl cite ol lng ia > 4.8 DISPLACEMENT DIAGRAM AND ANALYTICAL EXPRESSION ; = Themovemeot ot welrocaing or xing follower wit the rotation ofan is known ad ins A and by sight showing thevsing path follower with niform vee.‘2 inDE wittorzota ine showing the del prod fellow forte a ation ofa 8 Poon. 2 TasABCDENs shownin Fg 4.4. BB'OR OC isan (@ Dive ie AB on x-axis) into equal amber of pars (ay 6) Draw pena fom ete pine legh qual oof eating), Devt AX cay) nse mambo pars AB ad eral ne peak pati et ioe BB. ? ine AB shows the ph fr thi of lover a ‘eli. Simian fr teil prod of oower gine CD whic lbh etam ph fob tn ‘ues vali Analytical Exprestion: La, Maxim iat flower {x = Liftffollower wbenthe cam tu by angled -4n) oman Thy thn ()Acclrationofolbwers Dierening eto 42) wept tins,Fig.4.17 sonst dglsemen dag single hamoni motion Gra i eg fllower The placemat dra far ane evalason oft, (ote sine. sna line ABs ron foro revelation of cam S60 wo 3 ae se * a; wey eTum ow) ig. 4.17 Diplcementdagram for snp armone moon Jee gr AB repress si period ).BC vel pid) CD fl pod) and DC ap vel pod (©) Draw everallne AB equate life flower Best AB MO, Taig cent el OF sais, drowaseniinle Divie ie semi incigh equal pas. Mark 2,54, & Now divide nd in igh eu prs une smamberof prt ofsericile) Mark aber a shownin gue. Dr vet nes fm al pots neem forza neo | of sence wid verte om | fy Ge lly get points"; curve Join Py and 'by orzo ine Join y rah by OP repesent se curve forte follower with SHM, Py-Py seresent vel psi forte ellomer Ta rprvens aleve ote follower with SM Eeprsets vel peri ofthe follower, yal Expression a. 1H =Maxinum ifthe follower 0, ~Angle fea ding oustoke 0) ~Aagleofeam dng retam stoke @ =Angulr veloc ofa 1 =Liflof the follower whentbecam tums by ange) © =Angletumed by eam ntime, (©) Displacement of follower: ‘Tecioplcenet ofthe follower 2AQ=A0-00= 4-2 cas Be F(t ~cosp) = Wienbxcanstnelyanange,snthcoreenting mpeemedby poi. enraged. ecanernding sn tenedbypi wibepa 8. @) Velo flower Dien eqn (4) wih expect tine,Gamiommn | Soe ee gprs ei Cite ren (3) hep te 6 teketatoers Dizemtiaing equation (4.7 wires totine ae? mae 7 (mg). 2-2 a) aa 4) Jk, 0 {.6ntorm Acearaion and Retardation: (russe 2015, ue 206, Jan 2017) 1A) Dacoent Diage: Fg 420 shows dgaenedagan fs i ee lve moving wih nen set ‘vain Teper dap scm ne oon fa ; 438 paceman ayant norm sen an eon fi Mia b y | PY 7 ' 3 bi ath Gaps of naa expan fo sin amen melon aodFrom Fig. 419 when follomeratthemidof roe, rohed to From ution (49), 2) Veeco toner: Dieting eton (49) with espectiotine, gle 40) v= (4a) (4a ma ‘Vay wbemasima hen @)_ Accra of flower: Fromesutan (4. 1)asleona floes, (9) Serko ttoner: r 422 Graph of aay ern fr io cern and arian mata. ome = ‘ove Tee fttng \ Geecysatia woton: (GPU: don 251 done FoVe dan IT) ) eno : 0 esa treme dagen slaty hewn Somitemtrcrreksmclenn Te inte ey 44a fae = ditt aB mpd eine CD taerdpsedneeeneten vee Be Me atus essing om 011,23, . 60 ine AB. Inthe sameway umber ip fe Bie = enip eters meno con 22) oe ond (Bea ont 1 Novintramfe centimetre ili feo) ® weet s sender on So, he2erorre mI Dicey apation (4.1) wih expecting, Draw cle ofraiusby aking A ascent. Divided ie int six equ pars stating om, f ‘ins cand dead ote, po an atthe middle pins of ines», end -eaaa Ca STS Tay WRT REDIOE 78 BRD VEY Bid ‘Tithe + gaan forte diplacomet vey, eran & Jerk or vr yt of motos Type of ‘cern, Westy mS orn mm PRs y saneuup) aper ofeamisenasmced 2.) + emit can pie. tamination ante flowers loved oe apes £7 geen tbecamroation = Taping ens reposting ston can, epee aig + Hecrevillam emeted ofcnemston fom pots fread cam ane and et pe offline rohit pobiens. {| --------------[souvepexawpces}—---___zn own nig. 6-42 opie arp asin plosmen agra). Give munbers te ge at sowmin ig. £42 (oath creunfzenc of ne cil) and 07,01 02. 08 and extend ech ine outside te bse ee tusks eq to 1B menue hm placa diagram an et ma ican gle Now ent pit A B,C, D. Ny soot cure the equie roof is obo Fig. £-42() sowsthe rege camCam ange for ream pio, 8 = Lit.h=40ma “Typeofintianofalloner=SHM (forse and etm) (= Astnessdinthe ale 62 (A), fst diplacement agra is dein as shownin ig, 6-43 (a He tie scmedtia cam ots inclockwiedeton—v Pewat Vipriihnt nent each ine outed the tase (©) Now onthe xen ie 1, Ma the ditanee equ oD ese fm place Jap sd get oim Ben exended ine 6} (©) Simi by taking dance 20,3, 48.66 nd 0H, 11.25 .. EN the ote pints CDEP et ae obsined . (10) Taking ecnve =O), draw tear GH with ras = 7 mn for cam age (1) Nowoin he ott A, B.C.D.... Nb smooth cue, th equa profile of cams obi Fi E44 ©) sows the equa cam profile. ) Dorng fanen ene Kinematics & Theory of Machines: Y () Dering:eo hee Fig E45 0) (N16) Procederefor drawingcam profile: (0) Draw the be cirl with centres‘ and rads 25 mm 2) Mark point Qn the vera axs meting he creumfeence ofthe eam. Wit A ene and aus ‘AQ= 10mm daw a ciclo fr role follower adjoin OA (0) Draw pitch circle with 0 scent ands = OA = 25 + 10)=35 nm, !20°counterlockit from line"OA’ daa line'OS! Y Kinematics & The seal ¢ Drawaline OF at 0 eounterlockie rom tine OS: From'OT a6 counesockwise rev line'OR ve 2 AOS ad 2 TOR insixequal ars Givethe nunber tal pars n thc ce, shows infig E440) (@) nino, 03 06 nd 00,010. 6 an extend he tines beyond the ph ce (2) Surting fom Q daw smooth curve trough angen pins torollerce til heen ofagt, Speedofthe cam sha, = 10057 ann) _ 20100 ow = = 1047 race (cor) = 0 mm @=0) nero 8 tad) em co =) A tc) Ny ccornehestim (©) Vetocey © = 0, 0,3 & wtta(e) oon BaD s(t) = Sgr 2 Aa =o29miee (© Aceseration (@= 0% Oya &0 3 Ane eed ee oe ee Heat) sing “Htc 2) = 250m ne25me) nact[l-g ate farses sent 6.45899) 1 ale sear -t2 a (e)-0 hw --tga()-0 wna OS (© Acceleration @ = 0" 050 0) neat (at|--$ oF ono 3 lS, ae 50, PH0007F pega? An * (a) sont HEE (G)-° | mmr etn 1208034 | ™ ane -hfe (ft 7 FEF oo (ee ie as + Asdscimedin aie 62 (A) fstdiagram is deawnas showin ie, E-46(0) 1 Hes tisasumed ht ca tts incacwse rection 2 nasa wlsiy othe cam, «= 228 12 sera (N= 12099) Maximum eli, 7 783 6mmfec= 0753 mise oo Ame ‘From OT at coursed fine OR() Divide Z AOS and Z TOR ins equal part. Give the number al parson the pich ce ceunfereace sshowain ig £4600). rocating follower nd with the fteming a 1S. The cam the lower ore cam retain wi +e same tecnico eion Anpersyofam, = 22% _ x9 * =1570 nee Proceerfordravingcam pte: (© we ae cil with cena 25m @) Mak pie on te vee cis mee te csc ft cm. Wi A cen ai GA> $75, am acc orl flower ajin OQtaking cent 85, B,C, Pacer, death ci witha equa orale aus (7a) Staring om A daa smooth carve ough eget posto ler cil ite endo ane (2 Olcenen damtiter mri Sy cn ar i eg | 12 remains inthe same postion during 30" of cam rotation, follower retary te de peor oy fre 120 ofrotaanofcam andhen for lst 90° ofrofation falewer remains stony Menon ies mm andthe dante ofthe rele a ae toner 2S um Dae ene (GTU : June 2016, Des. 2018, Dex 2019) Saas ere weasumethl ihe can rots in cote lackvs diecon, en, 8-30 0-2, 8,98 (0) Frome OAin clack deco daw aline OS aan ange of 120°%90N6) Fron 0S inclokwise don dawaise OT atanle of 30°(0) (6) From OT daw the ne ON 518, 120° in clockwise deson (©) Divide Z AOS md TON nsx a pats (sin displacement igen) Give te manberng shown a Sg-F-49(0) (onthe cieafeene obs ce) (New in 000,02... 0608 00 01, 02. 6 nd extend each ine outside tebe ile stared (0oy brane pepe oe whine eighis opis ctl eco ae om pos BCD. Nnughture ponte B,C, D_- Net. emia as mi point a ewer fie. (01) Dene cath carveinschany Bath enone carve ain get te luc ce Ea assis : era 2120021*_ASdicusdin ate 662 (4. dnt dani sown fg E-410(0 fe sand ‘Tetum of the follower. (cycloidal motion) a + Aaguleveloiy af beam, (©) Sinisa ty ehking cance 20, 3D, 48, a OH, 1,2... Nth oer plats CDEP (10) Dewi pentane whos lngthseqal fallow oe amet ll he ered es om pois B,C.D,..Natchhathe pois C.D ~ Net. emain ar mi pit ofthe flower feng. (1) Drew te smo caren such way hth prin onthe curve remin agen othe fle fies ween “Thesmooth curve tha obisined the requiem ele+ Masi Asseratin: (During Ascent: stern Draw ts ie with uniform aecleration and retardation andthe return motion eas avng 2) = 139 mee ae prafiefrthefellowing details. = 90430. 129)= 1208 (A he Silene dia som as thon i E41) fore i and orm ezleaon ad reton. () Daw bedi withcene a0 and rais 25mm. (2) Mat pine othe vec aisattcurenfthcam,Wih as ene and mas AQ = 1S me, follower anda OA iO a cen nd rss ~OA~(25 +15) 40m. ise Gortine Od ane OSsowninfi E4120). A (@) Mazes 8 om cielacemen casa fis get ine ne pin Sint et ech point oa ier angen lines 3¢C, DE, (9 Nowjpinte pons A,B,C, ..N withsmootn carve, Ts carve shown in Bg 4.12) st reid ean2s Kinematics & Theory ot achines — + Asdomain aise 3 (A) ieee nga dom swan EA ‘tum of the follower. (Uniform acceleration and retardation). ae «+ tise atc teins ison ce reerfr dein fle: (9) on OA From/OA; 120°in counter clock (@) From0S,6Pia same direction dane OT. (6) From’OT aginst inthe same dieton dr line ON. (6) Divide 2 AOS ad Z TOP insix equal pars and umber them as, 1,2, 6nd 142. 8ea tie clement ce (oe dee fines tegen he fet izle sd passing though pin 1,23, shovnints E4130) (@) ema Bris ng ovr fis angrily te er prints difereattngeat lines as CD, .N. (9) Now jin pois 4, B,C, D ..N with smoot ere, (Gta prado and then cond del prod (Ussirn eerason and etn,came 20 7 Here sas tte cami in cosine deson ued tthe cm rotates cok ee decton Procoare fo druving cam prof (2) Widheenoe 0 dew anf ce wid 2S mrad Ont it side of oft cle drow avert oe fa E4140) fw OT, And fam OT ot (6) Divide 2 AOS ad -TON in sequal pans 270, 3,2 Gand 6 resecvey,tof S) eons 281 (@) Measure 1B fom dips’ agra nd aso dawn fom cones Vande at shown Simin gette pint, DN. (0) Now wits A.B... ascentre, drow the cil witha ofr, (Sig oda soot cure hgh eget point show inf. 415 (0+ Maximum Velo: (1) Daring Ascent. =3000 mace ~3 mee Ans. Kinematics & They (2) During Descent eae ieee opting ise te groove ofacam, Follower cn ot oot of theca. % Whats preanded spr nti ofcama pre-and eampeson rng used Spring keeps the contin conta! even flower, What s gravity cam ? In hip fea, um of he followers bythe evi frefinan oft fllowerdoeotpas Soup te isthe sh assim dane fe stench pe of lowers known si over. wer i xtenvly aed i srrall engines? fete fam Datos Bie Cire, + Auten eta ema en one 2. ecm profile ‘= Tena! wodigcanefthe ca which inseam ewe flower fis nl inp moto ‘alone ancam pro aan yeti 4902081 = inematies & Theory of Machines 26 n * », - ih cure hving maim presi ane ». te - yet cante rem rome cee of he cam and angst othe here. 2 = rethought ihn. 2 rte and the se isle areiential?™ gigegecams er Define cyt ‘Acysoidisacune tracey apinton the ctcnfzeneof celeste cc ols ang si ie without sip fed eomtours. 2. Cielarsrecam 3. Esenticcim EXERCISE Explain various peters and lower wi are components ofa mechs ? ‘St the tps of mesons teflon Ena one ed pret tle (Pith post and race pin of ellowe passes tough he aise salt Drew he eure cam of Desgnacen for oping theca ofl eins Rimeuiedo gv SHUM ang oping a cong gfe vale enc which coresponsio iP afeamoaon.Thevale memati te hy open poston 20 ofeam oan ‘Thelitftbe veis 36mm ante kastraasfeam SO man The flowers povided whl of en ameter ar istne of stoke pases through tai cam Find mint ea felone ding opening and losing prods fr cam seh eso 2501p {£Ygg, 138 my profile of scan wih sag reer lowering te lowing an. ‘smn in 8° ander 15° nd vel Beh itn eam maton reo. Ca osteo 54 Bolt dives 52 Materials used for belts 548. Ratio of crivingtonsions for Viel ive Solved examples : 5:1 to 5.14 S517” Rope crives 518 Types of ropes 5.19. Ratio of driving tensions for rope dive 8 Solved example: 5.15 {520 Introduction to chain dives 521 Terms used in chain dive 5.21.1Relaton between pitch and pth crete diameter 522 Velo rato of chain drives523 Length of chain and centre distance 5:24 Classification of chaine & Short Questions with Answers 5:4 BELT DRIVES = Beldiveismschnian rtarsnison ffoer ome rnectig to ply eh eau exe ‘lt Powertansiion kes place rom diving ven pulley due to fiction been ploy anf be cor ian een ts neta side and the side with lesser tension is called slack side, ~ sin pedro cannot be unt because of sipping ofthe belt required tate tension nthe bel ie tosime. pons ae considered wileselecing the ype of bet ive: Cenrdsance beeen wo shafts Syeda between river and ven shal (©) Senieecndon nd climate ‘ast affstig amon of power transite th ‘Tesmoun of power tansnited depends pon tefl (0) Teoteionsnder wich he bet sinsalledon 0) Theveociy ofthe tet (0) Thecafeentaet between bland small pully 0 5.2 MATERIALS USED FOR BELTS = Betti sould file ele ard Guntle Many eter coton rf, bier and belt we wed at ‘koa (Leather bls: Kinematics & Theory of achines Baia ae sedi fed pekingcomeyoras heya wateoofanve ih sine aed alae roa 5.3 TYPES OF BELTS : hope oft crs secon f hel, hear for ype of wd a patie late betan oc Risse forte dive having ge ote ste the underside face ofthe tetas shown in figure 3.1 (6). a 3 | Siipmay occur 5.4 TYPES OF BELT DRIVES : ze (© Qunrtertarn bet drive: nds dive at bets are seo tons the power between nan ple nn nesting shafts svn fgwe 54. The wif the pulleys isket age to prevent he bet leaving from pulleys, (D) Right angle batt drive: + Inti of dive the at beset © Compound ba dive: * Compound vei hen the high vey ais ‘ead ud eso when lage distance between the ipa | doula sha isesiabe, may be transite trough two or orenl, Ropes ané Chaing 7 grave die pens of even sathy sifing the el om ons Tat? |+ temsssoro psy sie ssthoningaes9, Oe pally tewaouy | ests noma pall) ley | andteraeyis eto ot nwmasto pl) Ser” |+ Wimnpoveritsbexmmte i betiskeenn wth vipa ands ley and wien sequen cuff he power sii he Teltnthe ist plese lowe ply. This ie widely dn aoe mihi. ven pully the veloc of ving pale sknown ae icy. en alley=dy + ‘Velo tio= Ft ‘enna hay scien 3820081 Led yd and yet ameter of paler 63) 5.6 SLIP OF BELT : (6TU : bee 2019) ‘= Powerransmision tought appes ion ltwamntcand pls he ona gp Bee ‘ean pley stich soe rear aon oul ke lace wit arying est with hm, ets ner pod oes ftp andes nown ip of he a oBelt, Ropes and Chasing Ss, SoS anit very sat > Yount’ modulus forthe materia ofthe bel 6.8 LENGTH OF AN OPEN BELT DRIVE : Fig. 510 showssn opntait drive wth wo pales having ifent ai, c= Anglesubtendad by cman anget(CD oe AF wththeine of eenes op Forth pore of the it ina = 2M. OS=EM n= sine 90; "00; = a en DED (sine a ane invery small) ‘Length of te bet 1 =Are ABC+ €D + Ate DEF + FA = 2 (Are BC+ CD + Are DE) Subsing te values of re BC, Are DE and CD ftom equations (2). (3) & (in above equation.os a le | wa[Brmsen-mes Men on, Subtiaig the va ofa fom eg 60 Satay Aad cuenactntaineny 0 || 8.9 LENGTH OF A CROSS BELT DRIVE : Fig 511ahows crs blehve with no uly having diferent rad. Fg 8 mgt fa ere bat ve be arya rg ser pee cea dsunce event two pulls tol nthe he bl = Anglsbtnded by common tngat(CD AF with belie of ents of pulleys (0,03. Frome pomety ofthe ie, OM OHM nen SEE= 0,0, O10, ‘inematies & Theory of Machines 5 iverysmall) =)7 Belt, Ropes and Chains ‘Sobstining the alo ofa fom eq Note : = Hamaybenotd tate hove expression isa finctonof(r wintry + Matae 42g any 2 = etn +79 +2e7 OED? Goren) Fr dyeaes Get? BED sin ory nie ODE (ntenns of palley diameter) 210 69) (619) +). eum of the rads he wo ply acest ‘hes lng ofthe beh required wil alo remain constant withthe sxe ene distant beech pope 5.10 POWER TRANSMITTED BY A BELT : Fir S12stowsthe bet rive where the diving pul ‘thersde Ths thelower side ofthe belt becomes te which hs ese tension nthe belt compared to Kinesis Teg Poly) y Wane evi putey i512 Power tramamited by bet Ty, “Tension inthe tight side (N) essa te slach side (N) Rais of eiving pulley ry Rois of dive ley Velocity of the bel (see) ‘Ts ving force the ciufeenc of te dives pulley Work done pe second, T=1\-T w DEM -Ty+y Navece P=: Ry where ete coef of tion beeen the et and pally. Ressvingall te fereeshorizontally and equating the me, 2 resp salt era ® aig i sequen) tbe er a 29, 7.8, Ryo ren etal Bs SES TS Rye T89Bet Rape and Cine Reinga the ores verily sa aig i nw = as acer aren rtm on rea 3 “rng ot apa) eg veya, oy Bauating equations) and (4), roel o are) ‘eegaigeunton (both betwen Ten, an fom 010 eapecively © 230g Tesbow epresions oa and we conte, Note on Angle of ontact/ Angle of lap ‘Wi woul fire amet asus inate 4conncaty mens of open te, ena feo clap atthe smal ply mse tka io consieraon Heace, Angle of tarp eration erent ide anc ite ia tems of oefiient 8 =180°~ 20) 7 ren Wen hewo ples dire damceaby mews of scroll owe ‘oaeterlapontoth the pul iam Hesce, en te ang of 0080+ 8 tin | Meum cttnnesea0 0 igobeneditar te pve Kinematies Theory of Machines | = 5 instoveequtin athe angie ivr sl we (S)-nae Te emt before and ceil tensions ft ont 61)Belt, Ropes and Chains (©) Thettio ofiving sion considering iil aon, Let, = Wtf ie belt (Thickness ofthe belt nye” Mania sess nducd inthe el Weknow ta, {ros secon aca Sees = ‘Welknow thatthe rato of driving tensions, ‘And, power tansied bybat, Pmt y= 5 i Subsite vate of 7 rm onion), = (4) oes 5.14 CONDITION FOR THE TRANSMISSION OF MAXIMUM POWER : 2a 15) in @ ™ er 7) Eee Sm) Key rmequon 5.18 tans at we neste ale omen to a Tra eos, foraxinn power tansissio eat etTether a Tyr LEBAZE _(ecnideingceniiga tension) 16 RATIO OF DRIVING TENSIONS FOR ‘V' BELT DRIVE : ‘SOLVED EXAMPLES: in manur enson 2100 N and the ati of esa 23, rv the ek peed 40 nsmited by the el. Kinematics & Theory of Machines Centra sion: ad“Teason in the bok (T&T): Webroot, Fromeguaioa-1£2, a-Stomm=05m = a7kw Lette esn po Cate tot 6 ~) ° fae P=s0kW 9 1609= 160 = 279 nian it et. gma? ‘Teas in the al 1 T= Weknow tha, ‘ehcyftibe, eat esion Te): Batmsrperecte eng, Now, Rogue bat tihnee (9): Marinate nde te, Sressinthebe, N= 20pm, 703 Bet 27231 Ly 220 80 55 tee ee S2B8E 0 Le aDnet00 ‘090 1080 m-022thgin Toem Fmos 14 aS Tem 189018 Tau" T Te 2105084 138994Mas of the belt (=) + ‘Bat aped for maximo power ransmision Welaow ts, ‘eat tating) 712021 ‘Ascot on smal pully. “Tighe tenon) Wleipotte, ci en, Now, eo:7 Bet, Ropes and sine “Torge on mater pale stat) tres of2 Nina? Te wi 1 gen? dens has maxim permis es simon repetvely. Bthe rat bel tension 2, nd than poe Am itd by he ee “org on big ptley ~ Soa Somm=25en reiimm=iiem $= Tema? i ge (aq) "22Nian? 5 i onacceere eae centstgl tension Te): sutra Mtb cchcet a Are eontac ope —— fhe be gt se ed sah Forman povertmenison, ba (TT) Weloow ta, mn cif tet, Power tnnitedy he be, Fromeqaon 122, @ i An ‘ea of the ble (V) « 2016 #2754 2 ¥=27108 mee ‘Teasinsiahe bet TT) Wetoow tat, =2016676au Kinematics & Theory of Machines riven pale dimer 3)? Welw tt le ts 70" and even) Pi ad the power trams | Leng open bet): Length of raved bel) Saracen oc ake pe co bg og © When the aevets Whe the devi are rotating in same direction. 4)=300mm j= (0, +8)= 30048 = 308 mm e3m=300mm — 4=(0,+8)mm206 Power tana et ‘ewer transite when cece Revised coast of iction, Now Powertnsminedby bel, Peas ro Power trast when inl eson ares by 10%): titan, yo Behe 180232 gy nrg sony 10% 176-1556 S36 107K yeiman (> Esa) 387 = 3202‘rom equtions (1) & 2), ws baleen, ty LEB. 100-00 Increasing xsion by 8%, Now, vung = 7H ( i hence 3822023 Rainotdvigtesins Bete Povertaneite yet, ] Cente tension): Massftbeel Cea eion ~ Belew ‘inematien & Theor of Machines 20) = 180-2 502 sep = 169.96 FE = 297 ns keg ege B20 -0 be? o pTq=2008 +976Bel, Ropes and Chains ‘We know that, ee moet by V-belt driv to transmit90KW at 1200 rpm. rom drier pt = 1100 kgm 1.1 golem? = 100% 1 kgm? Wekoow ht Meh lam ag ae) 44-900 am Nom sina = B24, 201-30 9 nt 6-80-24) = 180-26 140 oe 6 =2:53 rains Tensions in he ble (F, 873) Doge. aman hee (w= Baap, Maeofteta, Cea sion Nember oes) “Leneth of V-be Ly: Foropen V-be ie, q Bnen 2 AML, AOR ess ee ve m= A 1000 = 1003 10-9 400 1000 m= 0atgin ‘Tee m= 044 (8857 ” "oto neaaes LE jrayrne 28 20-2008 L= Eanes 12% 100+ gp Lesn9mm=397masenmstun 7 ROPE ORIVES = =~ ee i ano ag - ind, sock cases rope drives are used, Rope is used instead of bit, Power fs required to be ee spores ene etic hey md te so | Lae powercon be wanted sing required mumber ofr (2) Boose! tcby inte ope, lt islet inh vei permise 6) Repotive sir cect of fcton computa te ive bea wi (@ ‘Rebel st ive cea ston det gon, | ieropes ure mind vp fom er mae sch emp, manila andcoton. The hen a marine re Tube wiht No breton reqaed in cotton ropes they ae ery sof. These ropes ae sed fi ct wre whine the seg of es, Wiesopes ee tes pa «TIO OF DRI ENSIONS FOR ROPE DRIVE shows he open poaved ple Hee nee ofrpe veteran of eons wt Be Namber frequted ops (0): Ferrin power ely ofr, Powersannited yal op aspx manBelt, Ropes and Chains 5.20 INTRODUCTION TO CHAIN DRIVES 'Imbstandrope dives tiping may oc in + etiethTeacamegttmeat seers fecal ogee cnc phe mds dane ge injons inorder to provide te recess Dex er waging el he ving diverts Note:The sole 2 trough which 5.22 VELOCITY RATIO OF CHAIN DRIVES : Themloiyratoetechaindveigivenby Nok YET ~ Spedofroition of smaller sprocket inept,x nt Ropes tnd Cals 305 “aus D= Pic ice dlamster of sprocket meer and me PePichofthechaininmeters.* 25 LENGTH OF CHAIN AND CENTRE DISTANCE : "Anopnchainlivesyser connecting the two sprockets isshown ini 519. Kioamatic & Theory ot Machines 3 Tetinimum cee isan issaand depending pont vcly alos atte of ons eh 1 ~Pichofthechanand x Cenredinwooe ‘Talengh ofthe cnn.) mtb egal te prot of te umber of csi inks (Kan the pico ean @Matenstcaly, L=Ke (626) ‘Te uber oes maybe band fo the lowing expen, 2 Forbesresul the minimum centr distance shouldbe 30t SO simes the ph. gett developmentn he power tne. ame ayia 30 20021mt tte PA ryt J th The cine salle in sngle- row er mult-row ale ein sachs simple duplex or tiplex stands as shown in fig 8.23, |= Risdsignio tian te vi eon case by stching nit produce niles rnning, When ‘eles pith fle caiarees he aks idecn he teh fhe sprocket whee st ih ‘nus This oornicaly comets the smal cng ne pith. Theres no relative sing Pewee [vere toot cnn andthe pocket whale "= Whenprop uian hi cin gives ube eviceand ras vr smoctly td iy The vo ons edna chninare shownin i 526. Ge) i) (sein we (esas 96 DH (e)setbh ype (enceatsingpe Fig. 26 Sent han font ‘SHORT QUESTIONS WITH ANSWERS (0), Whatar the materials aed for bla and oper? "= Un etercas oon ander eth eal wich ae ed fr tbls V-bets ae made preg fi The mtr orropesaveotan, be alae wieCons goons = “51 ttvoduotion to fition snd ett abentagesbelt ire «(iin Caplin Cen ‘roveeqation forceful tonne be 5 Sate eqution forte lent fe froth open and rose be ie nl iV-ec Dive heer fing st nh ck 2 Deusen eof dine natal dive witha ete bel. ameter pulley rns S00 pm. an tans 38K power Ar of ray of 0975 prea, bidoess oan sad8:16 Centritugatettch £16. Torque transmitting capacity of centitupel clutch # _ Sohed examples: 617 8 6:18 8221 Single block brake 5222 Sell locking and alt energizing of block brakes {5228 Double block brake 6224 Pivot block brake Solved examples = 6.20 10 6.23 623 Band brakes # Short Questions with Answers 8 Exercise £233 SelMocking and sel energzing of ferenlal band brake 24 Band and biock bate oo Loe ge 61 INTRODUCTION TO FRICTION : = epee, es a eee . on dete ficonpay animporst oleh innate nding eg wi Stet © freer: Winans Dealt enistnnpstie Peyton Cath and Brake tng geisre ns resent bere sch urs kno aD ictonesdissedaove — sis ny fiction oe Sali having telative motion on The dy esa i! rsa pres beeen contact then, fe fictonbetwen such sacred Dp having reve crhenettctr anata cioeteeer nero Me Acne of teil eftehci, “Te ions tds he PPC pe ex od Newitt foc desire iin epost Scena in P| = eet eis walsh inning 620i uti tn be cen es mee dacon opi! re Tse mains wl of cen ne lh Bhstovecameby ee bye eral ac cise body sto eis sown iin fre of Seen ing or nn talon 6.3 body A of weight W is resting i ‘tent tac git ae eam otc Resch Steele erp toe Hem esther tts 4 ot ecines Kingmties & THOT Tr ng cn whenever ai andre econ the lowing a fre 1 Weight ebay. W 22 Applied exalt cent body And plane {614 Coetiient of Fiction: aa oon emofng icon Fn benena tn ys ete by Mahesh rothat inc the body moves. uti ii igh es tn at incase of ing ction tna ection cost ‘on > erode pcs rs ison rains cost bi decease neat ‘ave spe becen bcos {6:17 Laws of Sold Friction or Dry Freon : Following andy ton roi ion sf con ey prion bromo) sear rponta nependenf hearth cet frthe ven noma 1d fee of itn depen onthe teat conn ui ac of ion sinependentfthe vey of ig, eee hsbc lop genie ofthe grinds ofo ih he ieee oftetepet oth bic jlepnden ofthe nil of te bang cen on foes for ifret via, ON A HORIZONTAL PLANE : Fie. 62showss body resting on. (Wray = PEE Pos = (W~P sing) 6.3 MOTION OF A BODY ON = Inacual prctice mation ofa panes seve inmany cases. veil moving oo ap, simple machines ke sew ck, worm and wee gee = Aopotattonof ple with heh Linking glo fre conta sufce, (A) Biot eeuieed move the dy neglecting tion: ‘The baysn ltt unre aon oft fre Wy ad, shown in Fe 6) ‘Toe freie canoren res. ApyingLan tren Fe 6 6(,, Pitcnial Qi] piste cts ate e inomaie 4 Toy facies AV) = ThevatueofP, can be also obtained by draw sas ahovn in es aus | ‘these three concurrent forces, eae Ne 66 (6 sed spying soe nde for the inclined plane for moving body up the plane: (1 twit (2) exconieg iin 68) That ofP abil y Lami hor tn sn ewe sane.30 Fiction, Cuter ane Brake (0) sort without itn (=a) aa (=a) ea (2) or comeing ton {633 Motion ofa body down the inclined plane = (A) Eto required to move the body down the lan without frton: = Asshommingy 6 0cositcng de eqlem ofthe feces toy — rele fkon he eet a oe 0) Canideriog Friction: "emotion down he plane wil te came so te motion phe nee Stating te val of = (9040) in enuton & 12) pew. = it@-e) __ snd—a) a0 vasa} ” cong sna) Pew cert (D) When he tor (Ps apie in the horizontal dretin o move the body denn the page. fe Fi Here = 90° tort wikont con: 0-90 and Scsting he valu of =90nequation 6, fo" TaG0-a) ea Paw te ©) tort considring ton srs Rw make arg 9 with Ry vert is ht detent 9 epeia(Etg} The fore diagram sshown ig 611() Applying Lams here a witlt=2 corte a) 0-H” aaa FH) PW. tana) LINED PLANE : Se Pay * TRIO Oa,sin) : sind Wee, 1 ta (0+4) nd, snc (44) css (a +8) Oca aoO-ang "sina tm 8 ana) (19 cos ined) (61) = 90% in equation (6.16) ela + e090 ntact 0 angle @ withthe lad W" body down the plane (n= PrP.) aking va Kinematies & Theory of Machines sae (63% 620) 6.5 FRICTION IN THRUST BEARING = Onthertingshatsofthe machines. pulleys, gears, coupling ete. are mounted for tension of power, the totng shat quent subjected ut Inordertn earths st xeon he sha various pes tirsteaing ae provided Spotl fate propel tof hip, trie shale fen subjected © aia ‘ut Using vores exo ts Bears, he rs of al lad one siti ken Up ad the ments ae sated, Fig.612showath oper of tus bearng inthe fom of cart.Sa —= ‘rletlon, Guten ane Brake “Thermo practi al an ler as bearings rue hen powers eig erste wth bay as Main Assumptions "goth ir fi pd pn et i hi (2) Union esr theory considered morerelevan rte design of ech and rakes ‘OR FOOT STEP BEARING = shaft spore in ft pivet ering, When te eslding tion wl take place along the~~? cent Brake ‘sing te vale fp om equation (522)nogution 623) 2 me Kinemaio & Theory of Machines 8.7 FLAT COLLAR BEARING (SINGLE FLAT COLLAR BEARING) = Fig 615shvate sf sppron it colrbxing orca iat heing, When evr ta ace (624) ‘W =Total od on (62) Ry, beri of I =Cocficen of icionbawen aig andsta suice Load stig on he rng w= pO ede v= tante (= pee 02 tact Ya faveir= Wack, w cons Taeonteene Oe Now, te Pinay: Pa tem al tn a 4 Tefen (pro reamc ea (0) Consisng om Pressure Tey ° pcos Tarp cok ‘Subsuieg vate of omen (629 inequtin (627, Now, o «o oyFeng hove eatin witht, Were. Poverlotin fiction P= 288 yay P= Goo Ferd (> p=cny (os) Kinematics & Tsay 2 G40 TRUNCATED CONICAL PIVOT BEARING OR TRAPEZOIDAL BEAR Fip 618 dows treed oil pot bowie, Poverltinfties,P= ZENE awFromequations(1)& 2), ads of200 mm and 129 mm rapectvy. Celie colar trust bearag bs ote an inner edits 3 aH sa the ait oad uth eating HAN. The sha rotates A€29rpm Find he number ‘power bn ia triton the pevmsuble contact presare 03S MNIm?, Assume uniformSolutioneencnatiie seeq0UCTION TOCLUTEN: Mg rciriieendeteine dimenitalbnioat eile eo Meth rme moves recoup permanent withthe machine transit ep whe ei Neehoant be mnchines. The primemovesisrequiedtoslopthemachines nr cashed by ing cach moun eter cog shat and gear boxingt ha pernparepresieenyeyeerer icirwnreaiters micecsherlan (@)_Toprotethe peime mover from overload, 612 FRICTION MATERIALS : ‘ vo Nembero ite ale wed to mance hs ining luna, coon iis, polymers ‘el les fe lessandasbesos. = Aatesotas bess aida wae ands gneallnctin use nowadays £512: Factors atfocting selection of tetion clutch material: ‘Chichi ings seve rtingiothathighbeat generation kes pss So ring mst sou have wing prepare witstardthe operating cotons ste on end copper ae sein tistyes felts. hes rade igh et estan ana able: Te even of isn is bw 23 ant Teaco of aon setae hgh between 3nd. Teese bes reed nek and cig cr inemtion & Theory of tachines @)_Orpaie Materia: = istiemestconmon pect Hekeoneconten win ese orga materia the cc 6.19 TYPES OF CLUTCHES : mate canbe sed invarty of ebices wi iret spesieaions. morale (a1v: Doe. 2018) own flowing 619. “The wisps ofthe used aes sbownin coutenes Th amit oes fromthe ve sha othe ve ‘atte imeacking owas sown ine 620. ‘eos oftwoalver One ofthem perma fine {versal od the ober aifis movable ad is tached tot] ena = Heatemunittiepoverin bute his wet when ees egap or dengan od ‘Advantage (0), Teyana re powee @ Theydonossp (0) etsnt neni dng engnsement oon) Disadvantages (@) Theses can oot ngngedt hope (2)Vivtons and is ne ener dng engages th ch =