MER 312: Dynamics and Kinematics

BY
Abraham Tchako, PhD
Fall 2008

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Union College MER 312: Dynamics and Kinematics
Mechanical Engineering (of Mechanisms) / AT
MER 312: Dynamics and Kinematics

L1
TODAY’S AGENDA
† Course organization
† Course Objectives
† Expectations
† Resources
† Introductory Material
† Demonstrations

Union College MER 312: Dynamics and Kinematics (L2)

Mechanical Engineering (of Mechanisms) / AT
Course Organization

¾ Schedule:
MWF 11:45 am – 12:50 pm NWSE 205 (Lecture)
Th. 1:55 pm – 4:45 pm NWSE 205 (Lab)
¾ Instructor: Abraham Tchako, Ph.D.
Room 235 Steinmetz Hall
Tel.: 388-6144
Email: tchakoa@union.edu
¾ Office Hour: MW 10:30 am – 11:30 am
Room 235 Steinmetz Hall
Or by appointment
¾ Textbook: Cleghorn, W. L., Mechanics of Machines, 2005.
Oxford University Press

¾ Web Page: http://antipasto.union.edu/~tchakoa/mer312/.

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
The principal objectives of this course are:

¾ To develop your understanding of the

fundamentals of kinematics and dynamics of
mechanisms and machine elements.
¾ Gain experience using computer software to
facilitate the design and analysis of simple and
complex mechanisms.
¾ Gain practical working knowledge, through
design project, of some basic machine
elements such as motors, gears, belts, cam,
and common linkages.
Union College MER 312: Dynamics and Kinematics
Mechanical Engineering (of Mechanisms) / AT
What is expected of you in this course?

You are expected to:

- Attend all classes and design project
sections
- Check course web page periodically and
regularly.
- Do all homework on time - Do all
progress reports of the design project
on time

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
What is expected of you in this course?

You are expected to:

- Do all hw’s, projects and present them
in the form prescribed if any.
- Be a good team member (design
project)
- Start the project when it is handed out.
- ALL your work must be your own or
your group’s!

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
 Course Resources & Webpage

¾ Resources
Textbook:
„ W. L. Cleghorn, Mechanics of Machines, Oxford University
Press, 2005 with CD-ROM.
• Interactive 3D and 2D Virtual models.
• Flux Player to view virtual models
• Working Model®
• Cam Design computer program
• Scaled diagrams of mechanisms for solving problems
• SolidWorks®/COSMOS Motion
Lecture Notes online
Course Web page
http://www.engineering.union.edu/~tchakoa/mer312/

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
 Course Evaluation

¾ Your Graded will be based on:

- Assignments,
- 3 Exams (2 exams and 1 final),
- Lab/Projects and,
- Quizzes
„ Arrange yourselves in project groups of 3
to 4 by 9/25
„ If not in a group by that date – You will be
assigned to one

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
Introduction
Mechanical Engineering
KINEMATICS -
Solid Mechanics Fluid Mechanics THE STUDY OF MOTION
WITHOUT REGARD TO FORCES

Hydrodynamics Aerodynamics

KINETICS -
Thermodynamics

THE STUDY OF FORCES

DUE TO MOTION

Statics Dynamics Stress Analysis

DESIGN -

THE CREATION OF SOMETHING

KINEMATICS KINETICS THAT DIDN'T EXIST BEFORE

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
 Units are the Bane of an Engineer’s
Existence

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
 Definitions

¾Mechanism: a device which transforms

motion to some desirable pattern and typically
develops very low forces and transmits little
power.
¾Machine: typically contains mechanisms
which are designed to provide significant forces
and transmit significant power

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
Demonstrations

Single-cylinder piston engine

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
 Definitions

Similarities:– They are

both combinations of rigid
bodies (Links)– the relative
motion among the rigid
bodies are definite.
Differences:– Machines
transform energy to do
work, while mechanisms
do not necessarily perform
this function.
Union College MER 312: Dynamics and Kinematics
Mechanical Engineering (of Mechanisms) / AT
 Commonly Employed Mechanisms

¾ Slider Crank Mechanisms:

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
 Commonly Employed Mechanisms

¾ Four-Bar Mechanisms:

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
 Commonly Employed Mechanisms

¾ Belt Drive and Gearing Mechanisms:

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
 Commonly Employed Mechanisms

¾ Cam Mechanisms:

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
 Kinematic Chains and Kinematic pairs

¾Kinematic Chain: is an assemblage

of links and kinematic pairs capable
of relative motion. The base link is not
specified.
¾Mechanism: a kinematic chain in
which at least one link is fixed (the
base/ground link) with the purpose of
transforming motion.
¾Kinematic Pairs or Joints: connect
the links of the mechanism together.
Union College MER 312: Dynamics and Kinematics
Mechanical Engineering (of Mechanisms) / AT
 Links

¾ Link is a rigid body that possesses at least

2 nodes.
¾ Node is an attachment point to other links
via joints.

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
 Kinematic Pairs or Joints

¾Kinematic pair/ joint is a connection

between two or more links at their nodes. It
allows motion to occur between the links.

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
 Basic Types of Kinematic Pairs or Joints

¾Turning pair/Pivot is a joint that allows

relative turning/rotary motion between two links.
¾Slider or sliding pair is a joint that allows
relative sliding/linear motion between two links.
¾Rolling pair allows relative rolling motion
between two links.
¾A connection may allow more than one type of
relative motions between its links.

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
 Sample of Kinematics Pairs

Revolute

1 DOF
Joints

Prismatic Screw

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
 Sample of Kinematics Pairs

Cylindrical
2 DOF
Pin-in-slot
Joints

Half joint Multi-link

Union College MER 312: Dynamics and Kinematics
Mechanical Engineering (of Mechanisms) / AT
 Sample of Kinematics Pairs

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
 Sample of Kinematics Pairs

Joints
restraint
and allow
motion
between
links

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
 Sample Problems for self study

Problem for self study

Identify

(1) Number Elements

(2) Number Joints
(3) Calculate mobility

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
Demonstrations

Single-cylinder piston engine

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
Demonstrations

Upload Mechanism

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT