MACHINE ELEMENTS

INTRO TO MECHANISMS

• Mechanisms – division of machine design which is

concerned with the kinematic design of linkages,
cams, gears and gear trains.

• Kinematic Design – design based on motion

requirements in contrast to the basis of strength
requirements.
 SLIDER – CRANK MECHANISM

• Link 1 – frame
• Link 2 – crank
• Link 3 – connecting rod
• Link 4 - slider
 CAM AND FOLLOWER

• Cam rotates at
constant angular
velocity
• Upward motion of
the follower is driven
by the cam
• Downward motion
of the follower due to
gravity or spring
 GEARS

• Gears transmit motion from one shaft to another

with constant angular velocity ratio.
 MECHANISMS

• Mechanism - Is a combination of rigid or resistant

bodies so formed and connected that they move
upon each other with definite relative motion

• Machine – is a mechanism or collection of

mechanisms which transmit force from the
source of power to the resistance to be overcome
 TYPES OF MOTION

• PLANE MOTION
Translation – the position of each straight line in a
body is parallel to all of its other position

Rotation - each point of a rigid body having a

plane motion remains at a constant distance from a
fixed axis that is perpendicular to the plane of
motion

Translation and Rotation – combination of the 2.

 TYPES OF MOTION

• Helical Motion – rigid body moves such that each

point of the body has motion of rotation about a
fixed axis and at the same time has translation
parallel to the axis
• Spherical Motion – movement of a rigid body such
that each point of the body has motion about a
fixed point while remaining at a constant distance
from it
• Spatial Motion - a body rotating about three non
parallel axes and translates in three independent
directions
 TRANSLATION

• Rectilinear Translation – all points of a body move

in a parallel straight line. When the body moves
back and forth in this manner, it is said to
reciprocate

• Curvilinear Translation – the paths of the points

are identical curves parallel to a fixed plane
 CYCLE, PERIOD & PHASE

• Cycle – is when a mechanism has passed through

all possible positions after starting from a relative
position and has returned to its original relative
position

• Period – time required to complete a cycle

• Phase – simultaneous relative positions of a

mechanism at a given instant during a cycle
 PAIRING ELEMENTS

• The geometrical forms by which 2 members of a

mechanism are joined together so that the
relative motion between these 2 members is
consistent, are known as pairing elements

• Lower pair – 2 kinematic links are connected such

that they have surface contact

• Higher pair – 2 kinematic links are connected

such that they have point or line contact
 KINEMATIC PAIRS (ACCORDING TO RELATIVE
MOTION)

• Sliding pair – one element can only slide relative

to the other (piston cylinder)
• Turning pair – one element can only turn or
revolve about a fixed axis of another link (lathe
machine)
• Rolling pair – one element rolls over another fixed
link (ball and roller bearings)
• Screw pair – one element can turn about the
other by screw threads (bolt and nut)
• Spherical pair – one element swivels about
another fixed element (ball and socket joint)
 LINK AND CHAIN

• Link – a rigid body having 2 or more pairing

elements by means of which it may be connected
to other bodies for purposes of transmitting force
or motion

• Kinematic chain – a number of links connected by

means of pairs

• Locked chain or structure – kinematic chain with

no motion possible
 LINK AND CHAINS

• Constrained chain – a link connected in such a

manner that no matter how many motion cycles
are passed through, relative motion between the
links will remain the same
• Unconstrained chain – motion pattern will vary
from time to time depending on the amount of
friction present in the joints
• Inversion – the link that is originally fixed is
allowed to move and another link becomes fixed.
Motion of links relative to each other does not
change.
 TRANSMISSION OF MOTION

• 3 ways of transmitting motion

1. Direct contact between 2 members
2. Through an intermediate link
3. Flexible connector
TRANSMISSION OF MOTION
 TRANSMISSION OF MOTION

• For a pair of curved surfaces in direct contact,

angular velocities are inversely proportional to
the segments to which the line of centers is cut
by the common normal

• For constant angular velocity ratio, the common

normal must intersect the line of centers in a
fixed point.
MOBILILTY/DEGREES OF FREEDOM

• Mobility of a mechanism – is the number of

degrees of freedom it possesses

• It is the minimum number of independent

parameters required to specify the location of
every link within a mechanism
MOBILILTY/DEGREES OF FREEDOM
MOBILILTY/DEGREES OF FREEDOM

• M = 3 [ n - 1 ] – 2f1 – f2  Grubber’s equation

• Where
• M = mobility
• n = total number of links including the ground
• f1 = number of 1 degree of freedom joint
• f2 = number of 2 degree of freedom joint
 FOUR BAR LINKAGE

• Simplest and most useful mechanism

• Link 1 = frame or ground
• Link 2 = driver
• Link 3 = coupler link
• Link 4 = output link
• Transmission angle –
angle between coupler
link 3 and output link 4.
• Dead points – line of action of driving force is
directed along link 4
 FOUR BAR LINKAGE

• Transmission angle

• If the link dimensions are given, transmission

angle is only a function of the input angle

• Transmission angle has 2 values since arccosine

is a double valued function. For every single value
of the input angle, the 4 bar linkage can be
assembled in 2 ways
FOUR BAR LINKAGE
FOUR BAR LINKAGE
 SPUR GEARS

• When 2 gears mesh together, the angular velocity ratio

must be constant.
• Conjugate teeth – is assuming the form of the the tooth
of one gear and forms the tooth of
the mating gear that will give a
constant angular velocity ratio
 SPUR GEARS

• Cut one wire

• Place a cardboard on one wheel
• Place a pencil on point Q
• Turn wheel 2 ccw

OR

• Cut the wire at Q

• Unwrap the wire from wheel 1
• Curve generated is the involute
 SPUR GEARS

• Involute on wheel 1 can be

used to drive the involute on
wheel 2

• Line of action is normal to

the involutes at point Q

• Angular velocity ratio will still

be the same even if center
• distance is varied
 SPUR GEARS

• As long as the diameters of the wheels are not

changed, velocity ratio will be the same

• Base circle – circles used in generating the

involute profile

• Involute pressure angle - The angle that is

included by a line perpendicular to the line of
action through the center of the base circle and a
line from )1 to Q.
 SPUR GEARS

• Pitch point – point of intersection

of the line of action and the line
of centers

• Angular velocity ratio will be

inversely proportional to the
segments into which the pitch
point divides the line of centers
 SPUR GEARS

•  Pitch circle – are circles that pass thru the pitch

point with centers at 01 and 02

• Angular velocity ratio is inversely proportional to

the radii of the pitch circles

• The number of teeth of a gear is directly

proportional to the pitch diameter

• = =
 SPUR GEARS

• Pressure angle
at any point on
the involute of known radius can be determined
 SPUR GEARS

•
SPUR GEARS
 SPUR GEARS

• Pinion – smaller of 2 gears in mesh

• Pinion is generally the driver
• If the pitch radius of a gear becomes infinite, a
rack results
• The side of a rack tooth is a straight line
 SPUR GEARS

• Base pitch (Pb) – the distance from a point on one tooth

to the corresponding point on the next tooth measured
on the base circle

• Circular pitch (p) - the distance from a point on one

tooth to the corresponding point on the next tooth
measured on the pitch circle

• Addendum (a) – radial distance from the pitch circle to

the top land

• Dedendum (b) -
 SPUR GEARS

• Backlash – the amount by which the width of a

tooth space exceeds the thickness of the
engaging tooth on the pitch circle

• Line of action – is the common normal to the 2

involute surfaces and is tangent to the 2 base
circles

• Beginning of contact occurs where the line of

action intersects the addendum circle of the
driven gear (point C)
 SPUR GEARS

• End of contact occurs where the line of action

intersects the addendum circle of the driver gear
( C’)

• Arcs of action – arcs CC’ and DD’

• Length of action – distance from beginning to the

end of contact measured on the line of action

• Contact ratio – ratio of arc of action to the circular

pitch
 SPUR GEARS

• Contact ratio can also me the ratio of the length of

action to the base pitch. Physical interpretation of this
is that, it is the average number of teeth in contact

• Pressure angle of the 2 gears in mesh – angle formed

by the line of action and a line perpendicular to the
line of centers

• When 2 gears are in contact at the pitch point, the

pressure angle of the gears in mesh and the involute
pressure angles of the 2 involutes in contact at the
pitch point will be equal.
 SPUR GEARS

•  Equation for the length of action (Z)

Z = AB = E1B + E2A – E1E

= + - CsinΦ

Pb = 2π
N
 SPUR GEARS

•A  = beginning of contact

B = end of contact
E1, E2 = point of tangency of line of action and
base circles
= outside radius
= base radius
Φ = pressure angle
C = center distance
N = number of teeth
 SPUR GEARS

•  Contact ratio = Z / Pb

• Equation for the line of action for a rack and

pinion

Z = - RsinΦ + a / sinΦ

where: R – pitch radius

a - addendum
 ACCELERATION ANALYSIS

• Acceleration analysis involves determining the manner

in which certain points on the links of a mechanism are
either “speeding up” or “slowing down.”

• Linear acceleration, A, of a point is the change of

linear velocity of that point per unit of time.

• a change in either the magnitude or direction of

velocity
produces an acceleration. The magnitude of the
acceleration vector is designated as A.
 ACCELERATION ANALYSIS

• For linear acceleration

• Acceleration is a vector quantity

• The direction of linear acceleration is in the

direction of linear movement when the link
accelerates.
 ACCELERATION ANALYSIS

• For constant linear acceleration

 ACCELERATION ANALYSIS
• Linear acceleration of a general point

1. The magnitude of the velocity can change. This

produces an acceleration acting along the path of
motion, as presented in the previous section. This
acceleration is termed tangential acceleration, At.

2. The direction of the velocity vector can change over

time. This occurs as the link, with which the point is
associated, undergoes rotational motion. It produces a
centrifugal acceleration that acts perpendicular to the
direction of the path of motion. This acceleration is
termed normal acceleration, An.
 ACCELERATION ANALYSIS

•
 ACCELERATION ANALYSIS

• Angular acceleration, α, of a link is the angular

velocity of that link per unit of time.

• For constant angular acceleration

 ACCELERATION ANALYSIS

• Combining the 2 equations

 ACCELERATION ANALYSIS

• Tangential acceleration of a point

• Normal acceleration of a point

 ACCELERATION ANALYSIS

• total acceleration, A, is the vector resultant of the

tangential and normal components.
Mathematically, it is expressed as
 ACCELERATION ANALYSIS

• Relative acceleration - As with velocity, the

following notation is used to distinguish between
absolute and relative accelerations:

• AB = absolute acceleration (total) of point B

• AA = absolute acceleration (total) of point A
• AB/A = relative acceleration (total) of point B with
respect to A
= acceleration (total) of point B “as
observed” from point A
 ACCELERATION ANALYSIS

• Components of relative acceleration

 ACCELERATION ANALYSIS

• Coriolis acceleration – is present in cases where

sliding contact occurs between two rotating links.

• Coriolis component is encountered when:

• 1. The two points are coincident, but on different

links;
• 2. The point on one link traces a path on the
other link; and
• 3. The link that contains the path rotates.
 ACCELERATION ANALYSIS

• Relative motion equations can be used to relate

the velocities and accelerations as follows:

• Where:
 ACCELERATION ANALYSIS

• The direction of the Coriolis component is

perpendicular to the relative velocity vector,
vB4/B2. The sense is obtained by rotating the
relative velocity vector such that the head of the
vector is oriented in the direction of the angular
velocity of the path.

• when the angular velocity of the path, ω4, rotates

counterclockwise, the Coriolis direction is
obtained by rotating the relative velocity vector
90° counterclockwise.
ACCELERATION ANALYSIS
ACCELERATION ANALYSIS