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Mechanical elements can include the use of linkages, cams, gears, rack-
and-pinion, chains, belt drives, etc.
Eg: rack-and-pinion can be used to convert rotational motion to linear
motion.
Others function:
Force amplification – given by levers.
Change of speed – given by gears.
Transfer of rotation about one axis to rotation about another – timing
belt.
The term kinematics is used for the study of motion without regard to
forces. When we consider just the motions without any consideration of
the forces or energy involved then we are carrying out a kinematic analysis
of the mechanism.
Mechanical systems
Types of Motion
(a) with two nodes (b) with three nodes (c) with four nodes
Kinematic Chains
A sequence of joints and links is
Fixed frame
known as kinematic chain.
For a kinematic chain to transmit
motion, one link must be fixed.
Movement of one link will then Slider
produce predictable relative
movements of the others. Connecting
It is possible to obtain from one rod
kinematic chain a number of different
mechanisms by having a different link
as the fixed one.
The design of many mechanisms are
Crankshaft
based on two basic forms of kinematic
chains, the four-bar chain and the
slider-crank chain. The reciprocating motion of a piston is
transformed into rotational motion of a
crankshaft on bearings mounted in a fixed
frame.
Kinematic Chains
The Four-bar Chain
Consists of 4 links connected to give 4 joints about which turning can
occur.
(constant rate,
Heart shape uniform speed)
(a) Parallel gear axes, (b) axes inclined to one another, (c) axial teeth,
(d) helical teeth, (e) double helical teeth
Gears
Two meshed gears.
Gear ratio,
ωA = number of teeth on B = dB
ωB number of teeth on A dA
G = ωA = ωA ωB
ωC ωB x ωC
Gears
Compound gears trains – two wheels are mounted on a common shaft.
G = ωA = ωA ωB ωC = ωA ωC
ωD ωB x ωC x ωD ωB x ωD
For the input and output shafts to be in line, we must also have for the
radii of the gears.
rA + rB = rD + rC
Gears
Rotational to translational motion – two intermeshed gears with one
having a base circle of infinite radius. Such gear can be used to transform
either linear motion to rotational motion or rotational motion to linear
motion.
Eg:The rack-and-pinion.
v = nL / t = fL
Distance moved parallel to the screw axis
Belt and Chain Drives
Pair of rolling cylinders with the motion of one cylinder being
transferred to the other by a belt.
Belt drives use the friction that develops between the pulleys
attached to the shaft and the belt around the arc of contact in order
to transmit a torque.
The transmitted torque is due to the differences in tension that occur
in the belt during operation. This difference results in a tight side
and a slack side for the belt.
Belt and Chain Drives
If the tension on the tight side is T1, and a slack side is T2, then with
pulley A as a driver,
Torque on A = (T1 – T2) rA
Pulley B as a driver,
Since the power transmitted is the produce of the torque and the
angular velocity, and since the angular velocity is v/rA for pulley A
and v/rB for pulley B, then for either pulley we have
If the distance between shafts is large, a belt drive is more suitable than
gears, but over small distances gears are to be preferred.
Different size pulleys can be used to give a gearing effect. However, the
gear ratio is limited to about 3 because of the need to maintain an
adequate arc of contact between the belt and pulleys.
Belt and Chain Drives
Figure below shows two types of reversing drives.
With both forms of drive, both side of the belt comes into contact with
the wheels and soV-belts or timing belts cannot be used.
Cross belt
Open belt
Belt and Chain Drives
Types of belts
Flat.
Has rectangular cross section.
Has an efficiency about 98% and produces little noise.
Round.
Has a circular cross section and is used with grooved pulleys.
Belt and Chain Drives
V
V – belts are used with grooved pulleys and are less efficient that flat belts but a
number of them can be used on a single wheel and so give multiple drive.
Timing.
Require toothed wheels, having teeth which fit into the grooves on the wheel.
Unlike the other belts, timing belt does not stretch or slip and consequently
transmits power at a constant angular velocity ratio.
The teeth make it possible for the belt to be run at slow or fast speeds.
Bearings
Whenever there is relative motion of one surface in contact with
another, either by rotating or sliding, the resulting frictional forces
generate heat which wastes energy and results in wear.
The term thrust bearing is used for bearings that are designed to
withstand forces along the axis of a shaft when the relative motion is
primarily rotation.
Bearings
Plain journal bearings
Used to support rotating shafts which are loaded in a radial direction (journal –
shaft).
Consists of an insert of some suitable material which is fitted between the shaft and
the support.
Rotation of the shaft results in its surface sliding over that of the bearing surface.
The bearing may be a dry rubbing bearing or lubrication.
Bearings
Ball and roller bearing
With this type of bearing, the main load is transferred from the rotating shaft to its
support by rolling contact rather than sliding contact.
A rolling element bearing consists of 4 main elements : an inner race, an outer race,
the rolling element either balls or rollers, and a cage to keep the rolling elements
apart.
The inner and outer races contain hardened tracks in which the rolling elements
roll.
Bearings
Ball and roller bearing
Types of ball bearings.
a) Deep-groove
b) Filling-slot
c) Angular contact
d) double-row
e) Self-aligning
e) Thrust, grooved race
Bearings
Ball and roller bearing
Types of roller bearings.
a) Straight roller
b) Taper roller
c) Needle roller