Machine Components - pptx1

Machine Components &
Mechanisms
‫مكونات اآللة والياتها‬
Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
1
‫ ابراهيم محمد العدوان‬.‫د‬
‫هندسة الميكاترونكس‬
‫جامعة البلقاء التطبيقية‬
2
COURSE OUTLINE

COURSE DESCRIPTION: Mechanisms and machine-basic concepts; Velocity and acceleration
of mechanisms; Static and dynamic force analysis of machinery; Balancing of machinery;
Machine elements: joints and joining elements; Transmission elements: gears; belts; chains and
friction transmissions; axles and shafts; keys; sliding and rolling bearings; clutches; brakes.

TEXTBOOK: Myszka, David H., 2005, Machines and Mechanisms: Applied Kinematic Analysis,
3th ed., Prentice Hall.

COURSE OUTCOMES: Upon successful completion of this course, the student will be able to:

1. Prepare kinematic diagrams of mechanisms according to standard techniques.
2. Graphically, or analytically, determine the displacement of any point on a mechanism.
3. Construct the path of motion of any point in the mechanism.
4. Design a linkage to achieve a desired displacement.
5. Graphically, and analytically, determine the velocity of any point on a mechanism.
6. Graphically, and analytically, determine the acceleration of any point on a mechanism.
7. Construct motion diagrams for any point on a mechanism.
8. Complete a project, which involves the design, analysis, selection of necessary hardware
and technical drawings, for a practical mechanism.
9. Specify the cyclical motion for a cam follower during simple harmonic, parabolic, and
cycloidal rise and fall sequences.
10. Design a plate cam to give a roller follower a specified motion.
11. Identify and calculate common geometric features and properties of gears.
12. Determine the velocities of gears in a gear train.
13. Select belt and chain drives to achieve a desired velocity ratio.
14.Machines
Learnandabout the Applied
Mechanisms: basicKinematic
concepts of4/eTransmission elements: axles and
Analysis, shafts;
© 2012, keys;
2005, 2002, sliding
1999 Pearson Higher Education,
Upper Saddle River, NJ 07458. • All Rights Reserved.
and rolling bearings; clutches; brakes.
David Myszka 3
COURSE TOPICS:

1. Introduction to kinematics, linkages, kinematic diagrams, mobility.
2. Scalar and vector quantities. Vector addition, subtraction and equations.
3. Graphical and analytical position analysis.
4. Displacement diagrams.
5. Software dedicated to kinematic analysis.
6. Mechanism synthesis.
7. Graphical and analytical velocity analysis.
8. Graphical and analytical acceleration analysis.
9. Introduction to dynamic for analysis.
10. Cams: Types and displacement diagrams.
11. Simple harmonic, parabolic and cycloidal motion.
12. Cam profiles.
13. Gears: types and terminology relationships.
14. Gear trains, velocity ratio, train value.
15. Belt and chain systems.
16. Screw terminology and kinematics.
17. Transmission elements: axles and shafts; bearings; clutches; brakes.

GRADING POLICY:
1.Mid Exam 40%
2. Participation 10%
3. Machines
Final Exam
and Mechanisms: Applied Kinematic Analysis, 4/e 50% © 2012, 2005, 2002, 1999 Pearson Higher Education,
4
Machines and Mechanisms
Chapter 1
 The study of design and analysis of linkages, cams and
gears.
 Involves solutions to kinematics problems.

figure illustrates an adjustable height platform that is driven by hydraulic cylinders. Although the entire
device could be called a machine, the parts that take the power from the cylinders and drive the raising
and lowering of the platform comprise the mechanism
6
6
 Machine
Devices used to alter, transmit, and direct
forces to accomplish a specific objective
A chain saw is a familiar machine that directs forces to the chain
with the objective ofcutting wood.
 Mechanism
Mechanical portion of a machine that has the
function of transferring motion and forces from
a power source to an output For the chain saw, the
mechanism takes power from a small engine and delivers it to
the cutting edge of the chain
7
7
 Kinematics
 Deal with the way things move
 Kinematic analysis
 Determine
 Position, displacement, rotation, speed, velocity,
acceleration
 Provide
 Geometry dimensions of the mechanism
 Operation range
 Dynamic analysis
 Power capacity, stability, member load
 Planar mechanism – motion in 2D space

8
8
Mechanism terminology
 Linkage is a mechanism where rigid parts are connected
together to form a chain
 Frame
 Links– rigid body
 Joint
 Primary joint (full joint)
 Revolute joint (pin or hinge joint)– pure rotation
 Sliding joint (piston or prismitic joint)– linear sliding
9
9
Mechanism terminology cont
 Higher-order joint (half joint)

 Allow rotation and sliding
 Cam joint
 Gear connection
10
10
Mechanism terminology cont
 Simple link
 A rigid body contains only
two joints
 Crank
 Rocker
 Complex link
 A rigid body contains more
than two joints
 Rocker arm
 Bellcrank
 Point of interest
 Actuator
 A power source link
11
11
 Mechanism – A group of links,
 connected together, with one link fixed.
 * Absolutely Fixed.
 * Relatively Fixed.
12
12
 Linkage – A mechanism, where all
 parts are connected to form a closed chain.
Example
Identify the number of links and the type of joints
contained in the grain door of the dump truck tailgate.
13
13
Kinematic diagrams
14
14
Kinematic diagrams cont
15
15
 Kinematic Model – A representation of a mechanism that only
shows the dimensions that influence the motion.
B
2
A 3 D 4
1
C
 Remove any superfluous detail.
 Simplify the drawing of the mechanism for further analysis.
16
16
 More kinematic models:
4
B
2 A C
17
17
 Mobility (Degrees of Freedom) –
 Kutzbach criterion for the movability of a mechanism
having plane motion.
 the number of inputs needed to precisely position all
links of a mechanism.
 The number of drivers needed to run a mechanism.
 F = 3(n-1) – 2jp - jh
 n = number of links. jp = number of primary joints. jh
= number of higher order joints.
 F = 1 constrained mechanism
 F < 1 locked mechanism
18
18
Mobility
 Constrained mechanism
 one degree of freedom
 Locked mechanism
 Zero or negative degrees of freedom
 Unconstrained mechanism
 More than one degree of freedom
19
19
Gruebler's criterion for plane mechanisms
with constrained motion.
 The method of obtaining different mechanisms

by fixing different links in a kinematic chain, is
known as inversion of the mechanism.
20
20
 Mobility (Special Case)
2 3
4
2 or 4
3
By definition, a pin joint connects two links.
When three links must be joined by 2 joints:

 One connects link 2 to 3
 The other connects link 3 to 4
Therefore all 3 links are joined.
21
21
Four-Bar Mechanism:DriverFrameCoupler
A linkage with 4 links connected by 4 pins.
Coupler
Follower
Driver
Frame
 Grashof ’s law for a four bar mechanism, the sum of the

shortest and longest link lengths should be less than the sum of
the remaining two link lengths if there is to be continuous
relative motion between the two links.
22
22
Grashof’s criterion
23
23
Types:
 crank – crank
?
 crank – rocker
?
 rocker - rocker
24
24
 Slider-Crank Mechanism:
 A linkage with 4 links connected by 4 joints.
 (3 pins & 1 slider)
in-line
Coupler
Crank
Sliding Link
Frame
25
25
offset
Coupler
Sliding Link
Crank
Frame
26
26
Problem: DOF ??
27
27
28
28
29
29
30
30
31
31
32
32
Chapter 3
Vector Representation
 Magnitude
 Direction
34
34
 Vector Addition (+>)
 The net effect (resultant) of several vectors.
 Place the vectors tip-to-tail, maintaining
directions. The resultant is the total distance
traveled.
A B R
A
R = A +> B
35
35
Graphical Method:
 Draw vectors, to scale, using a CAD system.
R = A +> B
A = 20 lb
B = 10 lb
600 200
R = A +> B +> C
A = 15 in 200 C = 7 in
300
40 0
B = 12 in
36
36
 Analytical Method:
Use triangles & trigonometry when working with two vectors.
A c
b
c  a 2  b 2  2ab cosC
B
C sin A sin B sin C
a  
a b c
R = A +> B
A = 20 lb
B = 10 lb
600 200
37
37
 Use vector components when working with three or more vectors.
FY FX
sin 35  cos 35 
F=30 F F
FY
350 F Y  F sin 35 F X  F cos35
FX
SX SY
sin 20  cos 20 
S=30 20
0
S S
SY
S X  S sin 20 S Y  S cos 20
SX
R = A +> B +> C
A = 15 in 200 C = 7 in
300
40 0
B = 12 in
38
38
Vector addition triangle method
39
39
Vector addition triangle method cont
180  R  20    45.5
40
40
Vector Subtraction ()
The difference between vector quantities.
J=A B
Same effect as adding a negative vector.
J = A +> (B)
A negative vector has the same magnitude, but opposite sense.
B
B
41
41
A B C
B
B
J = A +> (B) A
B subtracted vector
J=AB A is placed tip-to-tip
B
A
K = A  B +> C C
K 42
42
Graphical Method:
 Place the vector being subtracted tip-to-tip, maintaining
direction.
 The next vector will be placed on the tail of vector being
subtracted.
J=AB A = 20 lb
B = 10 lb
600 200
K = A  B +> C
A = 15 in 200 C = 7 in
300
40 0
B = 12 in
43
43
 Analytical Method:
Triangles.
J=AB
A = 20 lb
B = 10 lb
600 200
Component Method.
K = A  B +> C
A = 15 in 200 C = 7 in
300
40 0
B = 12 in
44
44
200 C = 7 in
K = A -> B +> C A = 15 in
300
40 0
B = 12 in
45
45
 Vector Equations
Equations can be written to describe vector polygons.
B
A
D
C
A = C +> D +> B
A  B = C +> D
C D
B
Write the vector equation for
the following polygon. A
F
E
46
46
Vector Equations
Vectors represent magnitude and direction.
We can solve for either:
 The magnitude & direction of one vector
 The magnitude of two vectors.
B = 10 lb
A = 20 lb 200 C = 7 lb
20 0
600
E=?
D = 5 lb 400 150
F=?
30 0
A+> B +> C = D  E +> F

47
47
48
48
49
49
50
50
Chapter 4
Position and Displacement Analysis
Determine the position of all points and links, as

the driver link is positioned.
C C’
B
B’
A D
Determine the displacement of all links, as the

driver link(s) are moved.
52
52
Position of a Point:
· Vector from an origin to the point. C
y
B
A x D
RB = 34 mm 450
Angular Position of a Link:
C
y
· Angular vector between
two points on a link to a
reference axis. B q2
A x D
q2 = 134.30 ccw
53
53
Linear Displacement: C C’
· Vector between initial position &
final position.
B
B’
A D
DRC = RC’ -> RC
DRC = 26 mm 150
Rotational Displacement:
· Angular vector between initial & final
Dq4 = q4’ -> q4
position.
Dq4 = 17.30 cw
54
54
Graphical Position Analysis
C
· Move driver link.
l3
B B’ l4
l2
A D
· Understand motion permitted by the joints.
l3
C C’
B B’
l2 l4
A D 55
55
Example:
Determine the displacement of points A and B as the link shown is
displaced 300, clockwise. (Dq2 = 300, cw) B
18 in
A 2
8 in
600
450
56
56
Problem 4-11
Graphically determine the amount that the door opens as the lever, which is
originally set to 100, is rotated to 400.
8”
18”
100 15”
9”
57
57
58
58
Problem 4-42
Analytically determine the amount that the door closes as the lever, which is
originally set to 500, is rotated to 300.
59
59
60
60
Problem 4-22
Graphically determine the distance the cylinder contracts when
the foot pedal is rotated 250, ccw, from its current position.
225 mm 200 mm
300 mm
61
61
62
62
Problem 4-24
Graphically determine the amount of rotation of the support link
when the linear actuator is retracted to a length of 400 mm.
200 533
250
500
200 100
63
63
64
64
65
65
66
66
Limiting Positions
Configuration of a
650 8 in
mechanism that places
one of the follower links
in an extreme position. 1.5 in 2 in
360
mm
60 mm
180
mm
400
mm
67
67
Analytical Position Analysis
· Same concept as graphical analysis.
· Use triangles & trigonometry to solve.
A c c  a 2  b2  2ab cosC
b
B sin A sin B sin C
 
C a b c
a
Example:
Determine the displacement of the piston, as the crank rotates 95 0, cw.
8 in
650
2 in
68
68
Example:
Determine the displacement of the 180 mm link, as the crank rotates 90 0, cw.
360 mm
60 mm
180 mm
400 mm
69
69
70
70
71
71
Problem 4-(20+47)
A) Graphically determine the angular lift of the wheel assembly as the crank is rotated
600 clockwise.
B) Analytically determine the angular lift of the wheel assembly as the crank is rotated
600 counterclockwise.
32”
12”
5”
150
26” 30”
30”
72
72
73
73
74
74
75
75
Point on a Floating Link
X
lCX
C
lBX
B B’
A D
· Orient the primary linkage points.
X
lCX
C C’
lBX
B B’
A D
76
76
· Transfer the floating link lengths to the new linkage configuration.
X’ lCX
X
C C’
lBX
B B’
A D
· Draw the resulting link position.
X’
X
C C’
B B’
A D 77
77
Example:
Determine the displacement of the bottom of
the tire, if the upper control arm rotates 200 cw.
8 in
4 in
3 in
16 in
28 in
4 in
14 in 10 in
78
78
79
79
Complete Cycle
· Position the links in several “phases”.
8 in
650
1.5 in 2 in
· Measure the position to create a displacement diagram.

Motion of Output Link
00 900 1800 2700 3600

Motion of Input Link
80
80
Chapter 5
Mechanism Design
Mechanism Design
Determine the dimensions of a mechanism to achieve
the desired motion.
Mechanism Synthesis
In-Line Slider-Crank:
L3
L2
D(R4)max
· Determine appropriate L2 & L3
82
82
Inline Slider-Crank:
D(R4)max
L2
L3
• Symmetrical slider motion

Crank length: L2 = D(R4)max/2
• To produce smooth acceleration L3 >> L2

83
83
Rule of thumb: L3 > 4 L2
Design Example:
Design a slider-crank mechanism with a stroke of 1.25 inches. The
outward stroke must consume 0.2 seconds and return in 0.2 sec.
84
84
Quick Return Action:
• Offset slider crank, and four-bar mechanisms produce quick return action.
· Time Ratio, Q
Time of advance stroke

Q 1
Time of return stroke
· Imbalance Angle, b
1800    Q 1 
Q 0
  180  
1800   or
 Q 1
85
85
Offset Slider-Crank:
L2
L3
L1
D(R4)max
· Recall that an offset slider-crank has quick return

action.
· Must determine the required Q and b.
The task is to determine appropriate L1 ,L2 & L3 to

achieve the required D(R4)max and b. 86
86
Offset Slider-Crank:
L3 + L 2
L2 D(R4)max
L1 b L3
q3
L3 - L 2
Initially, arbitrarily set
· To produce smooth accelerations design L3 >> L2
Rule of thumb:
L3 > 4 L2
87
87
Four-bar Mechanism:
L3 g
L4
(Dq4)max
L2
L1
· In general, a four bar mechanism has quick return

action.
· Must determine the required Q and b.
· The task is to determine appropriate L1, L2, L3 & L4 to
achieve the required (Dq4)max and b.
· Throw angle (Dq4)max :Angle between the extreme
88
positions of the rocker link.
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
David Myszka
© 2012, 2005, 2002, 1999 Pearson Higher Education,
88
Four-bar Mechanism:
L3 + L 2
L 3 - L2
g'
g”
b (Dq4)max L4
L3
L2 Initially,
arbitrarily set
L1
Often, L1 has a target value. After construction, all other dimensions

can be scaled to achieve the desired L1
Transmission Angle (g):

Angle between coupler and follower links.
Coupler is a two-force member.
Rule of thumb: 400 < g < 1400 to reduce the transmission force
89
David Myszka 89
Problem 5-2:
A quick return mechanism is to be designed where the outward
stroke consumes 0.35 sec and the inward stroke consumes 0.2
sec. Determine: The time ratio, The imbalance angle, The speed
at which the mechanism must operate.
90
90
91
91
92
92
Design Example:
Design a four-bar mechanism with a throw (stroke)
of 550. The outward stroke must consume 1.15
seconds and the return in 1 sec. The target frame
length is 6.7611 in.
L3 + L 2
L3 - L2
g'
g”
b (Dq4)max L4
L3
L2 Initially,
arbitrarily set
L1
93
93
94
94
Chapter 6
Velocity
Determine “how fast” parts of a machine are moving.
Important when concerned with the timing of a mechanism.
Linear Velocity (v): vB B
Magnitude: Straight line,

instantaneous speed of a point.
Direction of velocity : The A

instantaneous direction of
vA
movement.
- Points can have different

linear velocities at the same
link
96
96
Angular Velocity (w):
vB
Magnitude: B
Instantaneous speed of
the rotation of a link.
Direction: vA
2
A
The instantaneous
angular direction (cw or
w2
ccw) of movement.
To calculate angular velocity:

d

dt
97
97
Linear and Angular Velocity:
v = rw
vB B
The directions of v
and w are always
2
rB consistent.
vA A
rA w must be in radians.
w2
Reiterating:
·Points have linear velocity !
·Links have rotational velocity !
98
98
Example:
If the speed of point B is 50 ft/s, determine the velocity of
point A, B and link 2, if the link is moving clockwise.
18 in
A 2
8 in
600
450
99
99
Velocity Analysis
Relative Velocity Method
Two points on a rigid body can only
have a relative velocity:
Perpendicular to the line that connects them.
B
B
A “the motion of B,
as seen from A”
100
100
Relative Velocity:
vA vB
The velocity of a point, as seen
from another point.
Velocity of B relative to A (vB/A)
vB/A = vB -> vA
Or vB= vA+> vB/A
B
Example:
The speed of point B is 50 18 in
A
ft/s, down and to the right.
Determine velocity of A 8 in
600
relative to B. 450
101
101
Graphical Velocity Analysis
The relative velocity equation permits the creation of a vector triangle.
vB = vA +> vB/A
Mechanism and vector triangle can be drawn on CAD to determine unknown velocities
vA vB/A
vB vB/A
B vA
vB = vA +> vB/A
A vB
102
102
103
103
104
104
105
105
106
106
107
107
Example . In a four bar chain ABCD, The crank AB
rotates at 120 r.p.m. clockwise, while the link CD
oscillates about D. Find the angular velocity of link CD
when angle BAD = 60°.
108
108
109
109
X
• Velocity of points G and H can be readily determined. H
(Direction of the motion of G and H are known, and the
G
direction of the relative motion of H/G is also known)
• Velocity of point X is more difficult, because the w

direction of motion is not obvious.
• Need to use simultaneous, vector equations to determine

the motion characteristics.
vx = vi +> vx/i
vx = vj +> vx/j
110
110
Velocity of a point on a floating link
111
111
Velocity of a point on a floating link cont
112
112
Velocity of a point on a floating link cont
113
113
Example . A quick return mechanism
of the crank and slotted lever type
shaping machine is
Shown. The dimensions are:
O1B = 300 mm.
The crank O1B makes an angle of 45°
with the vertical and rotates at 40 rpm
CCW
Find :
1. velocity of the ram R, or the velocity
of the cutting tool, and 2. angular
velocity of link O2D.
114
114
115
115
Example. The mechanism has the links: AB= DE=150
mm ;BC=CD = 450 mm ;EF = 375 mm.
The crank AB rotates about A at a uniform speed of 120
rpm CW. The lever DC oscillates about the fixed point
D. Determine: 1. velocity of the block F, 2. angular
velocity of DC, and 3. rubbing (friction) speed at the pin
C which is 50 mm in diameter.
116
116
117
117
118
118
Relative Velocity of Points on Separate Links
· Relative velocity of points on separate links may be known.
B
A 4
2 C
· Define B2 as point on link 2 and B4 as point on link 4
· Cylinder extends, the velocity of B2 relative to B4 is along the cylinder
119
119
Analytical Velocity Analysis
The relative velocity vA vB/A

method dictates the vB
creation of a vector B
triangle.
A
Triangles can be solved
using the Law of Sines
and Law of Cosines
900- q3
vA
vB = vA +> vB/A vB/A
vB
900- q4
120
120
Closed-form analysis for an in-line
slider crank
121
121
Equations for four-bar linkage
122
122
123
123
124
124
Problem 6-41 Get piston velocity, if crank rotates at
950 rpm CW.
125
125
126
126
Problem 6-35 Graphically, if crank rotates at
1775 rpm CW. Get volume flow rate if piston
has a diameter of 1 inch.
127
127
128
128
Problem 6-49 Analytically, if crank rotates at
2000 rpm CW. Get volume flow rate if piston
has a diameter of 1 inch.
129
129
130
130
131
Problem 6-38 Graphically, Get VF, if crank rotates
at 65 rpm CW.
132
132
133
133
Problem 6-50 Analytically, Get VF, if crank rotates
at 80 rpm CW.
134
134
135
135
136
136
137
137
138
138
139
139
Chapter 7
Acceleration of a Point:
Acceleration is caused by a change in velocity.
Velocity can change:
Magnitude: B
· tangential acceleration vB
atB
tdv
a 
dt an B
Direction: 2
r
· normal acceleration
2
v
an 
r
141
141
Linear and Angular Acceleration: d 
 
dt t
vB
B at = ra
atB
an= w2r
anB
2 Since: v = r w
r
2 2
 v  v
w2 a2 an    r 
r r
142
142
Example 7.4
143
143
Example 7.4 cont
144
144
Example 7.4 cont
145
145
Example 7.4 cont
146
146
Relative acceleration
In tangential and normal directions form
147
147
Example 7.5
148
148
Example 7.5 cont
149
149
Example 7.5 cont
150
150
Example 7.5 cont
151
151
Example 7.6
152
152
Example 7.6 cont
153
153
Acceleration Analysis
Relative Accel Method
Two points on a rigid body can only have a relative
tangential acceleration:
Perpendicular to the line that connects them.
B
Therefore, the relative normal acceleration is:

along the line that connects them.
154
154
Relative Accel. Equations
ai = aj +> ai/j
Breaking each component into normal and tangential

components gives:
ain +> ait = ajn +> ajt +> ai/jn +> ai/jt
· Points on translating links have no normal

acceleration.
· Points on links that rotate at constant speed have

no tangential acceleration.
155
155
Relative Accel. Graphically
vB = vA +> vB/A
B
vB/A
A
vA
vB
aBn +> aBt = aAn +> aAt +> aB/An +> aB/At
a Bt aB/At
aB n
aB/An Assume A rotates at

aAn constant speed  aAt=0.
a At
156
156
Example 7.7
157
157
Example 7.7
158
158
Example 7.7 cont
159
159
Example 7.7 cont
160
160
Example 7.7 cont
161
161
Example 7.8
162
162
Example 7.8 cont
163
163
Example 7.8 cont
164
164
Example 7.8 cont
165
165
Analytical Accel Analysis
The relative acceleration method dictates the creation of a vector polygons.
Vector calculations can be used to analytically solve these problems.
B vB = vA +> vB/A
vB/A
A
vA
vB
aBn +> aBt = aAn +> aAt +> aB/An +> aB/At
a Bt aB/At
aB n
aB/An
a An
166
166
Slider-Crank Mechanism
167
167
Slider-Crank Mechanism
168
168
Four-Bar Mechanism
169
169
Four-Bar Mechanism
170
170
Example 7.9: component method
171
171
Example 7.9
172
172
Example 7.9
53.9
173
173
Example 7.9 cont
174
174
Example 7.9 cont
175
175
Example 7.9 cont
176
176
Example 7.9 cont
177
177
• Acceleration of points G and H can be readily determined.
Direction of the motion of G and H are known, and the direction of
the relative motion of H/G is known
• Acceleration of point X is more difficult, because the direction of

motion is not obvious.
• Need to use simultaneous, vector equations to determine the motion

characteristics.
X
H
ax = ain +> ait +> ax/in +> ax/it G

a
ax = ajn +> ajt +> ax/jn +> ax/jt
178
Machines and Mechanisms: Applied Kinematic Analysis, 4/e w 1999 Pearson Higher Education,
© 2012, 2005, 2002,
178
Example 7.10
179
179
Example 7.10 cont
180
180
181
181
Example 7.10 cont
182
182
Example 7.10 cont
183
183
184
184
Chapter 9
Cams
Follower Motion
Crank Angle (deg)
186
186
Types of Cams:
Drum Cam
Plate Cam
Linear Cam
187
187
Types of Followers:
Motion:
Translating
Pivoted
Position:
In-line
Offset
Shape:
Knife edge
Roller
Flat-face
Spherical
188
188
Prescribed follower motion
189
189
Follower displacement diagram
 A plot of follower displacement versus time or cam
rotation angle
190
190
Example 9.1
191
191
Example 9.1 cont
192
192
193
193
194
194
Follwer Motion Schemes:
·Constant Velocity:
(straight line)
Follower
Displacement t=0
DR H
T Time
Rise: Ht H
Rrise  vmax  amax  
T T
Ht H amax  
Fall: R fall H vmax 
T T
195
195
196
196
Example:
A cam drive is used for a mechanism on an automated
assembly machine. The cam must:
1. Rise 0.75 in with constant velocity motion in 3
sec.
2. Dwell for 1.5 sec.
3. Fall in 2 sec with constant velocity.
· Determine the speed of the cam.

· Plot a displacement diagram.
· Calculate the maximum acceleration.
197
197
·Constant Acceleration:
(parabolic curve)
Follower
Displacement
DR
H
T Time
198
198
For 0 < t < 0.5T:
2H DR
2 vmax 
t  T H
R  2 H  
T  4H T Time
amax  2
T
For 0.5T < t < T:
2
 t  DR
R  H  2 H 1  
 T H
T Time
199
199
200
200
201
201
Example:
A cam drive is used for a mechanism on an automated

assembly machine. The cam must:
1. Rise 0.75 in with constant acceleration motion in 3 sec.

3. Fall in 2 sec with constant acceleration motion.

202
202
· Harmonic:
(sinusoidal curve)
Follower
Displacement
DR
H
T Time
203
203
Rise:
 t H
R  0.5H 1  cos  vmax 
 T  2T
 2H
amax 
2T 2
Fall:
 t
R  0.5 H 1  cos 
 T 
204
204
205
205
206
206
Example:
A cam drive is used for a mechanism on an
automated assembly machine. The cam must:
1. Rise 13 mm with harmonic motion in 3 sec.

3. Fall in 2 sec with harmonic.

207
207
Example 9.2
208
208
Example 9.2 cont
209
209
Example 9.2 cont
210
210
Example 9.2 cont
211
211
Example 9.2 cont
212
212
213
213
Pressure Angle
· Contact forces act perpendicular to the surfaces
in contact. 00
300
d
F
· Pressure angle, d, is measured between the line of

follower motion and the contact force.
214
214
 The force is always transmitted perpendicular to the surface in
contact
 The contact between the cam and follower can be much greater
depending on the location of the contact point.
 Pressure angle is the angle between the path of the follower
motion and the line perpendicular to the cam profile.
 The pressure angle can be decreased by
1. Increasing the size of the base circle
2. Decreasing the magnitude of the follower displacement
3. Increasing the angle of cam rotation prescribed for the
follower rise or fall.
4. Decreasing the amount of follower offset motion, or
5. Modifying the follower motion scheme
215
215
Chapter 10
Gears
Transmits
· Rotary motion
· Torques
· Why use teeth? Why not friction rollers?

· Teeth need to be specially shaped to allow smooth
engagement.
· Involute curves are ideal.
217
217
Types of Gears:
Spur Gear Rack and Pinion Gear

Herringbone Gear Bevel
Gear
Internal Gear Helical Gear
Miter Gear Worm

Gear
218
218
Spur Gear Terminology
Face Width (F) Pitch Diameter (d) Tooth Thickness
Tip Radius
Face Fillet Radius
Addendum (a) Flank Addendum Circle

Circular Pitch (p)
Dedendum (b) Pitch Circle
Dedendum Circle
· Circular Pitch p = pd/N

· Base circle db=d cos f
N
Pd 
· Diametral pitch d Pd p  
These features are standardized for interchangeability:
· Addendum a=1/Pd
· Dedendum b=1.25/Pd 219
David Myszka
· Face Width F=12/P
219
· Number of Teeth (N)
Must be an integer value
· Diametral Pitch (Pd)
size of a the gear tooth
N
Pd 
d
220
220
· Pressure Angle (f)
Base Circle
Pitch Circle Pressure Line
Pressure Angle, f
Pitch Line
Pitch Circle
Base Circle
Line of Centers
Standard values: f = 14½0, 200, 250
221
221
Mating Spur Gears :
Driver Gear
(pinion)
Base
Circle Line of Centers
Pitch
Circle
Pressure Angle, f
Addendum
Circle
Center Distance, c Pitch Line
3 2 1 Base
Circle
Pitch
Contact Line Circle
Addendum
Circle
Driven Gear
222
222
Mating gears must have same
pressure angle and diamtral pitch.
223
223
Example:
A 200, full-depth, involute spur gear with
18 teeth has a diametral pitch of 12.
Determine:
Outside (addendum) diameter.

Root (dedendum) diameter.
Standard face width.
Base circle diameter.
Circular pitch.
224
224
· Center Distance (c)
Pitch circle
Line of Centers
Pitch circle
cexternal
cexternal gears=r1 + r2
cinternal gears=r2 – r1
Example:
Two mating external 4-pitch, spur gears have 14 and 42
teeth. Determine the center distance.
225
225
Gear Kinematics:
· Velocity Ratio (VR)
Gear Ratio
1
VR 
1 2
2
+ same direction
- opposite direction
3:1 or “three to one” means VR = 3
Commonly written: 1 d 2 N 2
VR   
 2 d1 N1
226
226
Example:
A 5-in gear, rotating at 1725 rpm, cw, meshes with a gear having
a pitch diameter of 20 in. Determine the velocity of the driven
gear.
An 8-pitch, 18 tooth gear rotates at 1200 rpm, ccw. It meshes

with a gear with a pitch diameter of 6 in. Determine the velocity
of the driven gear.
A 10-pitch, 16 tooth gear mates with a gear having a pitch

diameter of 6 in. The driven gear rotates at 300 rpm, cw.
Determine the velocity of the driver gear.
227
227
· Pitch Line Velocity (vt)
w2
2 w1
1
watch units:
vt = r1w1 = r2w2
vt = p d n/12
d (in)
n (rpm)
vt (fpm)
The pitch line speed determines:
lubrication needed.
quality required.
(accuracy & surface finish)
228
228
·Gear Selection
Need to decide:
 Pressure Angle
 Suitable diametral pitch
 Number of teeth on each gear
229
229
Gear Trains:
Several gear pairs are placed in series.
Why?
· Train Value (TV)

 in
TV 
 out
TV = (VR)1 (VR)2 (VR)3 …
230
230
Example 1 2
The gear train shown is
used with an input 3 4
speed of 1200 rpm, cw.
5 6
Given the following
properties:
4 6
win 2
3 5
1
wout
N1=24, N2= 48 & Pd = 16
N3=24, N4= 48 & Pd=12
N5=15, N6= 35 & Pd = 10
Determine the output velocity and center distance of the gear train.
231
231
Example 1
win 1
6
The gear train
shown is used
with an input 2 3 wout
speed of 1200 3
6
rpm, cw. Given 2
the following
properties:
5 5
4 4
N1=24 N2= 36 & Pd = 12
D3=2.0 in. & Pd=10 N4= 40
N5=16 & Pd=8 D6= 6.0 in
Determine the output velocity and center distance of the gear train.
232
232
Chapter 11
Belt Drives:
2 vb
D2
1
w2 w1 D1
Kinematics: C
1 D2
VR  
 2 D1
234
234
Belt Speed
· Linear speed of belt
vb = rw
 D(in) n(rpm)
vb ( fpm) 
12
· Ideal speed range for belt drives is:

1000 fpm < vt < 6500 fpm
Example:
A motor is rotating at 1750 rpm, cw. A 4-1/2 in sheave
is attached to the motor shaft, and drives an 8 in
sheave on a lathe. Determine the velocity of the driven
shaft on the lathe and the belt speed.
235
235
V-Belt Selection
3V 5V 8V
Based on hp and rpm
236
236
Belt Length
To avoid belt fatigue and vibrations, the center distance
should be:
D2 < C < 3(D1 + D2)
Belts are available in standard lengths

 ( D2  D1 ) 2
L  2C  ( D2  D1 ) 
2 4C
or B  B 2  32( D2  D1 ) 2
C
16
where: B  4L  2 ( D2  D1 )
237
237
Chain Drives:
Kinematics:
1 D2 N 2
VR   
2 D1 N1
238
238
Chain Speed
· Linear speed of chain

vc = r w
 D(in) n( rpm)
vc ( fpm) 
12
· Ideal speed for a chain drives is:

vc < 2500 fpm
· Chain speed dictates suggested lubrication:

Manual (vc < 650 fpm)
Bath (650 < vc < 1500 fpm)
Stream (vc > 1500 fpm)
239
239
pitch (p)
Roller Chain Pitch
40 60 80
Chain No. = 80 (p)
Selection based on hp and rpm
240
240
· Pitch Diameter (D)
p
D
 1800 
sin 
 N 
Example:
A 2 hp gearmotor is rotating at 200 rpm, cw, and driving
a mixing agitator, which approximately 60 rpm. Select
an appropriate chain and commercially available
sprockets. Also, determine the actual velocity of the
driven sheave and the chain speed.
241
241
Chain Length
To avoid excessive sag and fatigue stresses, the center
distance should be:
30p < C < 50p
Once a desired C is selected, the chain length expressed
in number of links is calculated as:
C 1 ( N 2  N1 ) 2
L  2  ( N 2  N1 ) 
p 2 4 2C
The chain must have an integer number of links. The
actual center distance for a given chain length is:
p  N 2  N1 
2
N 2  N1  8( N 2  N1 ) 2 
C  L   L    
4 2  2  4 2 
 
242
242
Chapter 12
Screw Mechanisms
Converts rotational motion to linear motion.
244
244
The absolute motion of the screw and nut depends
on the constraints:
· Screw rotates, nut moves
· Screw rotates, screw moves
245
245
· Nut rotates, screw moves
· Nut rotates, nut moves
Self Locking
246
246
Screw Geometry: Root Crest
Pitch Major Dia.
2 1 0
Minor Dia.
Body
Threads per inch
Thread Designation (Unified):

½ - 13 UNC
Major diameter Threads per inch
Thread Designation
(Metric):
M8 – 1.25
Major diameter Pitch 247
247
Screw Kinematics:
Dq, w, a
DR, v, a
Relative displacement:
DR = p Dq
Relative velocity:
v=pw
Relative acceleration:
a=pa
248
248
Example:
A 1-8 threaded rod
drives a platform. 24 in -typ
Determine the
additional lift that
would occur if the 12 in - typ
threaded rod were
rotated 10
revolutions.
18 in
249
249
Example:
A 3/4- 10 UNC threaded rod drives a platform.
Determine the amount the platform would lower
if the threaded rod were rotated 12 revolutions.
6 in
10 in
3 in
10 in - typ
6 in 4 in
250
250
Example:
A threaded screw drives a slide table. The 1/2 – 13
UNC threaded rod rotates at 1200 rpm. Determine
the velocity of the slide table.
Motor
251
251
Example:
A 3/4-10 threaded rod drives a tilt platform used for flipping crates. The motor
is currently running at 900 rpm, which is lifting the table. The power is cut,
and it will take 4 revolutions to completely stop. Determine the angular
velocity and acceleration of the platform.
18”
36”
12”
24”
252
252
Chapter 13-14
Section
1
Static Machine Forces
 Determines the forces in a machine while
links are stationary, or at constant velocity.
 Often used when the acceleration of the

machine components is small (<0.25g).
Moments
 Twisting action produced by a force.
 Computed relative to a point.
d
 MA=F d F
– F = Force
– A = Reference point A
– d = perpendicular distance between force and
reference point.
 Vector
MA = 250 in lbs, cw
Problem 1-2
A force is applied to a box wrench as shown.
Determine the moment, relative to the center
of the nut, when f = 300, and b = 700.
b
8 in. 25 lb
f
Problem 1-4
A force is applied to the control lever as
shown. Determine the moment, relative to the
pivot block, when b = 300.
b
60 lb
12 in
18 in
Free-Body Diagrams
 Isolate the component(s) that must be
studied.
 Draw the component as if it were floating
freely.
 Replace all supports with the appropriate
force and/or couples (moments).
Free-Body Diagrams
E
D F
FBD
Entire engine hoist
B A D E
F
250 lbs
C
Bx
By Ay
Free-Body Diagrams
FBD
Link DEF
D
Dx E
F
Dy
CE
250 lbs
FBD
D
Base y
FBD CE
D Dx Cylinder CE
CE
C
CE
Bx
By Ay
Reaction Forces
 As a general rule, if the nature of the
contact prevents motion in a certain
direction, there must be a supporting force
in that direction.
F
Two-Force Members
 A component that is acted upon by only two
forces is known as a two-force member.
 A two force member will always be in
either tension or compression.
Problem 1-13
Draw free body diagrams of all the
components for the lift. The weight of the
crate and platform are 1200 lb and 400 lbs.
The weight of all other links is considered
insignificant
80”
18”
6”
18”
24” 24” 24”

10”
Static Equilibrium
 A machine component is in static equilibrium
when the combination of all forces is zero.
 In addition, the net effect of all moments,
about any arbitrary point, must also result in
zero.
SFx = 0 SFy = 0 SMi = 0

Problem 1-12
Determine the force onto the nut when 10 lbs
is applied to the handles of the pliers.
1.25 in 3.75 in 10
lbs
Problem
Problem: The 13 mm link is rotating counterclockwise at a rate of 300 rpm. The
mass of the sliding link is 0.2 kg, and the acceleration was found to be 10.495 m/s2.
No additional forces are acting on the sliding link. Determine the force required in
the 48 mm link to pull the sliding link.
Problem 1-13
Determine the cylinder force to maintain the
position of the lift. The weight of the crate and
platform are 1200 lb and 400 lbs. The weight of
all other links is considered insignificant
80”
45”
18”
6”
18”
24” 24” 24”

10”
Problem 1-25
Determine the force from the hydraulic cylinder
to keep the platform in the position shown.
24” 500 lb
20.6”
16”
37.90
28”
75.60
30”
28”
37.90
12.9”
10”
36” 36”
Problem 1-16
Determine the force required by the hydraulic
cylinder to maintain position of the bucket.
5m
2.4
m
1200 N
2.0 m 0.9 m
1.2
m
End of Course Material

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Machine Components &

‫مكونات اآللة والياتها‬

 Involves solutions to kinematics problems.

 Position, displacement, rotation, speed, velocity,

 Geometry dimensions of the mechanism

 Planar mechanism – motion in 2D space

 Higher-order joint (half joint)

 The method of obtaining different mechanisms

By definition, a pin joint connects two links.

When three links must be joined by 2 joints:

 The other connects link 3 to 4

Therefore all 3 links are joined.

 Grashof ’s law for a four bar mechanism, the sum of the

A negative vector has the same magnitude, but opposite sense.

 The magnitude of two vectors.

A+> B +> C = D  E +> F

Determine the position of all points and links, as

Determine the displacement of all links, as the

· Understand motion permitted by the joints.

· Orient the primary linkage points.

· Measure the position to create a displacement diagram.

00 900 1800 2700 3600

· Determine appropriate L2 & L3

• Symmetrical slider motion

• To produce smooth acceleration L3 >> L2

Time of advance stroke

· Recall that an offset slider-crank has quick return

· Must determine the required Q and b.

The task is to determine appropriate L1 ,L2 & L3 to

· To produce smooth accelerations design L3 >> L2

· In general, a four bar mechanism has quick return

Often, L1 has a target value. After construction, all other dimensions

Transmission Angle (g):

Important when concerned with the timing of a mechanism.

Linear Velocity (v): vB B

Magnitude: Straight line,

Direction of velocity : The A

- Points can have different

To calculate angular velocity:

• Velocity of point X is more difficult, because the w

• Need to use simultaneous, vector equations to determine

· Define B2 as point on link 2 and B4 as point on link 4

· Cylinder extends, the velocity of B2 relative to B4 is along the cylinder

The relative velocity vA vB/A

In tangential and normal directions form

Therefore, the relative normal acceleration is:

Breaking each component into normal and tangential

· Points on translating links have no normal

· Points on links that rotate at constant speed have

aB/An Assume A rotates at

• Acceleration of point X is more difficult, because the direction of

• Need to use simultaneous, vector equations to determine the motion

ax = ain +> ait +> ax/in +> ax/it G

Crank Angle (deg)

· Determine the speed of the cam.

For 0.5T < t < T:

A cam drive is used for a mechanism on an automated

1. Rise 0.75 in with constant acceleration motion in 3 sec.

· Determine the speed of the cam.

· Plot a displacement diagram.

· Calculate the maximum acceleration.

1. Rise 13 mm with harmonic motion in 3 sec.

· Plot a displacement diagram.