MDM10704

AdvancedMechanismsandMachines

Machines
Mechanical
Mechanicalsystemthatperformsaspecifictask,
system that performs a specific task
suchastheformingofmaterial,andthe
transferenceandtransformationofmotionand
force.
Itcomprisesofseveralrigidbodiesconnectedin
It comprises of several rigid bodies connected in
suchawaythatitproducesconstrainedrelative
motionbetweenthemandtransmitforcesand
couplesfromthesourceofinputpowertoresult
inmotion.SeeFigures1aand1b.

Machines

Fig.1Shapingmachineschematically
represented

Mechanisms
Systemofbodiesdesignedtoconvertmotionsof,and
y
g
,
forceson,oneorseveralbodiesintoconstrained
motionof,andforceson,otherbodies.
Whenwedealwithamechanism,thespecifictaskto
Wh
d l ith
h i
th
ifi t k t
whichitisassignedisnotimportant,beitashaping
machineoraninternalcombustionengine,etc.
g
Theemphasisisonmotionandforceofthesystemand
theymaybeapplicabletoanymachineinwhicha
specific mechanism may be employed
specificmechanismmaybeemployed.
Itisalsoakinematicchainwithoneofitscomponents
(link or joint) connected to the fixed frame.
(linkorjoint)connectedtothefixedframe.

Machines and mechanisms

Machinesandmechanisms
Mechanism:thefundamentalphysicalorchemical
f
p y
processesinvolvedinorresponsibleforanaction,
reactionorothernaturalphenomenon.
Machine:anassemblageofpartsthattransmit
Machine: an assemblage of parts that transmit
forces,motionandenergyinapredetermined
manner.
SimpleMachine:anyofvariouselementary
Si l M hi
f
i
l
t
mechanismshavingtheelementsofwhichall
machinesarecomposed. Includedinthiscategory
arethelever,wheelandaxle,pulley,inclinedplane,
wedgeandthescrew.

Machines and mechanisms

Machinesandmechanisms

Thewordmechanism hasmanymeanings.Inkinematics,amechanismisameans
of transmitting controlling or constraining relative movement (Hunt 78)
oftransmitting,controlling,orconstrainingrelativemovement(Hunt78).
Movementswhichareelectrically,magnetically,pneumaticallyoperatedare
excludedfromtheconceptofmechanism.Thecentralthemeformechanismsis
rigidbodiesconnectedtogetherbyjoints.
A machine isacombinationofrigidorresistantbodies,formedandconnecteddo
Amachine
is a combination of rigid or resistant bodies formed and connected do
thattheymovewithdefiniterelativemotionsandtransmitforcefromthesource
ofpowertotheresistancetobeovercome.Amachinehastwofunctions:
transmittingdefiniterelativemotionandtransmittingforce. Thesefunctions
requirestrengthandrigiditytotransmittheforces.
Thetermmechanism isappliedtothecombinationofgeometricalbodieswhich
constituteamachineorpartofamachine.Amechanism maythereforebedefined
asacombinationofrigidorresistantbodies,formedandconnectedsothatthey
movewithdefiniterelativemotionswithrespecttooneanother(Hametal. 58).
Althoughatrulyrigidbody
lh
h
l
d b d doesnotexist,manyengineeringcomponentsarerigid
d
d
becausetheirdeformationsanddistortionsarenegligibleincomparisonwiththeir
relativemovements.

Machines and mechanisms

Machinesandmechanisms
Thesimilaritybetweenmachinesand mechanisms isthat
theyarebothcombinationsofrigidbodies
therelativemotionamongtherigidbodiesaredefinite.

The
Thedifference
difference betweenmachineandmechanism
between machine and mechanism isthat
is that
machinestransformenergytodowork,whilemechanismsso
notnecessarilyperformthisfunction.Thetermmachinery
generally means machines and mechanisms Figure 21
generallymeansmachinesandmechanisms.Figure2
1shows
shows
apictureofthemainpartofadieselengine.Themechanism
ofitscylinderlinkcrankpartsisaslidercrankmechanism,as
shown in Figure 22
showninFigure2
2.

Machines and mechanisms

Machinesandmechanisms
Figure
Figure2
21
1Crosssection
Cross section
ofapowercylinderina
dieselengine

Figure22Skeleton
outline

WhatisDesign?
th
...theprocessofapplyingvarious
f
l i
i
techniquesandscientificprinciplesforthe
purposeofdefiningadevice,aprocess,ora
system in sufficient detail to permit its
systeminsufficientdetailtopermitits
realization.
<=Synthesis Focus!!

Planar Mechanism
PlanarMechanism
Mechanism
Mechanisminwhichallpointsofitslinks
in which all points of its links
describepathslocatedinparallelplanes.

Types of Motion
TypesofMotion
rectilinearmotion motioninacoordinatesystem
y
suchthaty andzcomponentsofr,v,anda areall
zeroforalltime
i e motion along a straight line with varying speed
i.e.motionalongastraightlinewithvaryingspeed
andacceleration
planecurvilinearmotion motioninacoordinate
systemsuchthatzcomponentsofr,v,anda
t
h th t
t f
d areall
ll
zeroforalltime
ggeneralcurvilinearor spacecurvilinearmotion
p

motionwherenocoordinatesystemcanbefound
thatmakesatleastoncomponentofr,v,anda zero
for all time
foralltime

Mechanism Terminology
MechanismTerminology
Linkage
Linkage amechanismwhereallpartsare
a mechanism where all parts are
connectedtogethertoformaclosedchain.
Frame typicallyapartthatexhibitsnomotion.
yp
y p
Links theindividualpartsofthemechanism,
consideredrigidbodiesandareconnectedwith
g
otherlinkstotransmitmotionandforces.
Joints amovableconnectionbetweenlinksand
allowsrelativemotionbetweenthelinks.

Mechanism Terminology
MechanismTerminology

Mechanism Terminology
MechanismTerminology
Primaryjoints/fulljoints
revolute/pin/hingejoint
Sliding/piston/prism

Higherorderjoint/halfjoint thecomplexmotionpermitted
(
(rotationandsliding).E.g.:camjoint.
i
d lidi )
j i
Simplelink arigidbodythatcontainsonlytwojoints.E.g.:
crank,rocker.
Complexlink arigidbodythatcontainsmorethantwo
joints.E.g.:rockerarm,bellcrank.
Pointofinterest apointonalinkwherethemotionsof
specialinterest.
Actuator thecomponentthatdrivesthemechanism.E.g.:
motors,engines,cylinders,solenoids.

Kinematics Diagram
KinematicsDiagram
Kinematic
Kinematicdiagrams
diagrams sketchesofmechanism.Every
sketches of mechanism. Every
partswillberepresentinginskeletonform(onlythe
dimensionsthatinfluencethemotionofthe
mechanismareshown.
5stepsinconstructingakinematicdiagram
Identifytheframe
Identifyallotherlinks
Identifythejoints
d
f h
Identifyanypointsofinterest
Drawthekinematicdiagram.
Draw the kinematic diagram

Kinematics Diagram
KinematicsDiagram

Kinematics Diagram
KinematicsDiagram

Example Problem 1
ExampleProblem1
Figure
Figureshowsashearthatisusedtocutand
shows a shear that is used to cut and
trimelectroniccircuitboardlaminates.Drawa
kinematic diagram
kinematicdiagram.

Solution
Identifytheframe:thelargebasethat
isboltedtothetableisdesignatedas
theframe.Numberedaslink1.
Identifyallotherlinks:
link2:handle;link3:cuttingblade;
link4:barthatconnectsthecutter
withhandle
Identifythejoints:
pinjoints
p
j
LetteredAtroughC.
g
slidingjoint letteredD
Identifyanypointsofinterest:motion
oftheendofthehandleisdesired.
DesignatedaspointofinterestX.
d
f
Drawthekinematicdiagram.

KinematicsInversion
utilizingalternatelinkstoserveasthefixedlink.

AdaptedfromRobertL.Norton,DesignofMachineery,3rd Edition,McGrawHill

Mobility
An
Animportantpropertyinmechanismanalysis
important property in mechanism analysis
isthenumberofdegreesoffreedomofthe
mechanism.
DOF/mobility numberofindependentinputs
requiredtopreciselypositionalllinksofthe
mechanismwithrespecttotheground.OR
thenumberofactuatorsneededtooperate
themechanism.

GrueblerssEquation
Gruebler
Equation
F DOF = 3(n -1 ) 2jp jh
F=
where:
n = totall number
b off links
li k in
i the
h mechanism
h i
jp = total number of primary joints (pin or
sliding joints)
jh = total number of higher-order
g
jjoints (cam
(
or
gear joints)

Mobility
Constrainedmechanisms mechanismswith1(one)
D O F (most mechanism used in machine)
D.O.F.(mostmechanismusedinmachine)
Lockedmechanisms zeroornegativeD.O.F.
(unable to move and form a structure) e g truss
(unabletomoveandformastructure)e.g.truss.
Unconstrainedmechanisms morethanoneD.O.F.

Example Problem 2
ExampleProblem2
Figurebelowshowsatoggleclamp.Drawakinematic
Figure
below shows a toggle clamp. Draw a kinematic
diagram,usingtheclampingsurfaceandthehandle
aspointsofinterest.AlsocomparetheD.O.Fforthe
clamp.

Solution

Identifytheframe:thecomponentthatisboltedtothetableisdesignated
astheframe.Numberedaslink1.
Identify all other links
Identifyallotherlinks:
link2:handle;link3:armthatservesastheclampingsurface;
link4:barthatconnectstheclampingarmandhandle
Identify the joints:
Identifythejoints:
pinjoints LetteredAtroughD.
Identifyanypointsofinterest:motionoftheclampingsurfaceisdesired.
DesignatedaspointofinterestX.
Drawthekinematicdiagram.

Solution (cont.)
Solution(cont.)
Calculate
Calculatemobility
mobility
F= DOF = 3(n -1 ) 2jp jh
n=4;jp = 4 pins
i ; jh = 0
F = 3(4 1) 2(4) 0 = 1
The clamp mechanism is constrained.
constrained Moving
only one link, the handle.

Example Problem 3
ExampleProblem3
Figureshowsabeveragecancrusherusedtoreduce
the size of cans for easier storage prior to recycling
thesizeofcansforeasierstoragepriortorecycling.
Drawakinematicdiagram,usingtheendofthe
handleasapointofinterest.AlsocomputetheD.O.F
p
p
forthedevice.

Solution
Identifytheframe:thebackportion
asabase.Numberedaslink1.
Identifyallotherlinks:
Id tif ll th li k
link2:handle;link3:blockthat
servesasthecrushingsurface;
link4:barthatconnectsthe
crushingblockandhandle
Identifythejoints:
pinjoints LetteredAtroughC.
slidingjoint letteredD
Identifyanypointsofinterest:
Identify any points of interest :
motionoftheendofthehandle
endisdesired.Designatedaspoint
ofinterestX.
Drawthekinematicdiagram.

Solution (cont.)
Solution(cont.)
Calculate
Calculatemobility
mobility
F= DOF = 3(n -1) 2jp jh
n=4;jp = 3 pins
i + 1 slider
lid ; jh = 0
F = 3(4 1) 2(4) 0 = 1
The can crusher mechanism is constrained
constrained.
Moving only one link, the handle.

Example Problem 4
ExampleProblem4
Figureshowsdevicethatcanbe
usedtoshearmaterial.
d
h
i l
a) Drawakinematicdiagram,
usingtheendofthehandle
i th
d f th h dl
andthecuttingedgeas
points of interest
pointsofinterest.
b) ComputetheD.O.Fforthe
shear press.
shearpress.

Solution
Identifytheframe:thebaseis
boltedtoaworkingsurface.
Numbered as link 1
Numberedaslink1.
Identifyallotherlinks:
link2:Gear/handle;
li k 3 tti l
link3:cuttinglever
Identifythejoints:
twopinjoints LetteredA&B.
gear/handle letteredC
Identifyanypointsofinterest:
motionoftheendofthehandle
endisdesired,designatedaspoint
ofinterestX.Anotheroneisthe
motionofthecuttingsurface,
designated as Y
designatedasY
Drawthekinematicdiagram.

Solution (cont.)
Solution(cont.)
Calculate
Calculatemobility
mobility
F= DOF = 3(n -1) 2jp jh
n=3;jp = 2 pins
i ; jh = 1 (gear
(
connection)
i )
F = 3(3 1) 2(2) 1 = 1
The shear press mechanism is constrained
constrained.
Moving only one link, the handle.

Actuator and Drives

ActuatorandDrives

Electricmotors(AC)
El
Electricmotors(DC)
i
(DC)
Engines
Servomotors
AirorHydraulicmotors
HydraulicorPneumaticcylinders
Screwactuators
Manual

Commonly used links and joints

Commonlyusedlinksandjoints
EccentricCrank

PininaslotJoint

Commonly used links and joints

Commonlyusedlinksandjoints
ScrewJoint

Typically
Typicallymodeledwithaslidingjoint.Itmustbe
modeled with a sliding joint. It must be
understoodthatoutofplanerotationoccurs.
However,onlytherelativetranslationbetweenscrew
andnutisconsideredinplanarkinematicanalysis.
d ti
id d i l
ki
ti
l i

Example Problem 5
ExampleProblem5
Forlifttableusedtoadjusttheworking
For
lift table used to adjust the working
heightofdifferentobjectsshown,
a) drawakinematicdiagram
draw a kinematic diagram
b) ComputetheD.O.F

Solution
Identifytheframe:thebottom
baseplaterestsonafixedsurface.
Numbered as link 1
Numberedaslink1.
Identifyallotherlinks:
link2:Nut;link3:supportarm
that ties the nut to the table
thattiesthenuttothetable
link4:supportarmthattiesthe
fixedbearingtotheslotintable.
link 5: table; link 6: extra link used to
link5:table;link6:extralinkusedto
modelthepininslotjointwith
separatepinandsliderjoints.
Identifythejoints:
Identify the joints:
5pinjoints LetteredAthroughE.
Drawthekinematicdiagram.

Solution (cont.)
Solution(cont.)
Calculate
Calculatemobility
mobility
F= DOF = 3(n -1) 2jp jh
n=6;jp = 5 pins
i + 2 sliders
lid
; jh = 0
F = 3(6 1) 2(7) 0 = 1
-constrained
constrained motion.
motion Moving only one link,
link the
handle that rotates the screw.

Special Cases of The Mobility Equation

SpecialCasesofTheMobilityEquation
CoincidentJoints
Coincident Joints

a)3rotatinglinksb)2rotatingand1
slidinglink(model)

Example Problem 6
ExampleProblem6
Amechanicalpressusedtoexertlargeforces
toinsertasmallpartintoalargerone.
i
ll
i
l
a) Drawkinematicdiagram
b) ComputeD.O.F.

Solution
Identifytheframe:thebottom
d
f h f
h b
Drawthekinematicdiagram.
h k
d
base.Numberedaslink1.
Identifyallotherlinks:
link2:handle;link3:armthat
connectthehandletootherarms;
link4:armthatconnectsthebase
to the other arms
totheotherarms;
link5:presshead;link6:armthat
connectstheheadtotheother
arms.
arms
Identifythejoints:
4pinjoints LetteredA&D.
2pinjointstoconnect3links E&F
Identifyanypointsofinterest:
motionoftheendofthehandle
endisdesired,designatedaspoint
d d
d d
d
ofinterestX.

Solution (cont.)
Solution(cont.)
Calculate
Calculatemobility
mobility
F= DOF = 3(n -1) 2jp jh
n=6;jp = 6 pins
i + 1 slider
lid ; jh = 0
F = 3(6 1) 2(7) 0 = 1
- Constrained motion.
motion Moving only one link,
link the
handle.

Special Cases of The Mobility Equation

SpecialCasesofTheMobilityEquation

ExceptionstotheGrueblerEquation

D.O.F=0,thissuggeststhatthemechanismislocked.However,ifall
pivotedlinkswerethesamesize,andthedistancebetweenthejointson
theframeandcouplerwereidentical,thismechanismwouldbecapableof
motion with 1 D O F So this mechanism violates the Gruebler equation
motion,with1D.O.F.SothismechanismviolatestheGrueblerequation.

The fourbar
Thefour
barmechanism
mechanism
Thesimplestandmostcommonlinkage
The simplest and most common linkage

n=4;jp = 4 pins ; jh = 0
D.O.F.=3(4 1) 2(4) 0=1

The fourbar
Thefour
barmechanism
mechanism
GrashofsCriterion
Lengthofthe4links
s=lengthoftheshortestlink
ll =lengthofthelongestlink
length of the longest link
p=lengthofoneoftheintermediatelengthlinks
q=lengthofoneotherintermediatelengthlinks
Grashofstheoremstatesthata4barmechanismhasatleast
Grashofs theorem states that a 4 bar mechanism has at least
onerevolvinglinkif:s+l p+q
Conversely,thethreenonfixedlinkswillmerelyrockif:s+l>
p+q
p+q
All4barmechanismfallintooneofthecategorieslistinnext
table.

Classificationofthe4barLinkage

Classification of Planar 4bar

ClassificationofPlanar4
barMechanism
Mechanism

Example Problem 7
ExampleProblem7
A
Anosewheelassemblyforasmallaircraftis
nose wheel assembly for a small aircraft is
showninfigurebelow.Classifythemotionof
this mechanism based on the configuration of
thismechanismbasedontheconfigurationof
thelinks.

Solution

Distinguishthelinksbasedonlength
frame aircraftbody
pointofinterest tipofthewheel.
S=12in.;l=32in.;
p=30in.;q=26in.
Compare to criteria
Comparetocriteria
shortestlink asideoradjacenttothe
frame.Mechanismcanbeeitheracrank
rocker,changepoint,oratriplerocker.
ChecktheCrankRockerCriteria
s+l<p+q
(12+32)<(30+26)
44<56=>yes
Thenosewheelassemblyisacrankrocker
mechanism.
mechanism

Slidercrank
Slider
crankmechanism
mechanism

Anothercommonmechanism
n=4;jp = 3 pins + 1 sliding ; jh = 0
F = 3(4 1) 2(4) 0 = 1 (constrained motion)
Pi t d link
Pivoted
li k connected
t d to
t the
th frame
f
is
i called
ll d the
th
crank(not capable to complete a full revolution). The
link that translates is called the slider.

Techniques of mechanism analysis

Techniquesofmechanismanalysis
Traditional
Traditionaldraftingtechniques
drafting techniques graphicalanalysis
graphical analysis
usingtraditionaldrawingtechniques.
CADsystems
y
ggraphicalanalysisusingAutoCAD,
p
y
g
,
Unigraphics,Microstation,ProEetc.
y
q
Analyticaltechniques
Computermethods spreadsheets,commercially
availabledynamicanalysisprograms,userwritten
computerprograms.

Problems

Problem

Problem