Assignment_2019_sem_1, MEE40003- Machine Dynamics 2

(Fig P11-2 in the book –page 619, fifth edition)

Using the following data for the above diagram where lengths are in meters, angles are in
degrees, angular velocities are in rad/sec, angular accelerations are in rad/sec2, masses are
in kg, moment of inertias are in kg-m2, torques are in N-m and forces are in N.
Find
a) Torque (input torque) at O2 and forces at points A , B, O2 and O4
b) design counterweights to force balance the linkage (static balance)
c) after balancing find again torques at O2 and forces at A , B, O2 and O4
and compare the results with the original unbalanced situation found in a).

Data Table

Link2 Link3 Link4 Link1 θ2 ω2 α2

0.05 0.20 0.18 0.23 ? 30 -20

m2 m3 m4 I2 I3 I4
0.175 7.00 15.76 0.034 0.09 0.034
T3 T4 Fp3 Fp4
4.7 6.6 45 80

δ2 δ3 δ4 δ Fp3 δ Rp3 δ Rp4 δ Fp4

30 75 -40 150 -60 40 60

Rg2 Rg3 Rg4 Rp3 Rp4

0.02 0.08 0.05 0.15 0.12

Take θ2 as last two digit of your ID (if last two digits are less than 15, then add 15 with
it, if id contains character at the end, consider the 2 digits before the character for theta 2,
as example, for id, 324077X, theta 2 will be 77) and show your work step by step.

Use the normal convention for each of the unit and the position.

Hints:

a) First develop force and torque equations following equations 11.8a to 11.9 and
put all physical dimension values in left matrix of equation 11.9 and all dynamic values
(get acceleration values using equation from chap. 7, etc.) in right matrix of equation
11.9. Use program MATRIX or any matrix solving package/calculator to solve the final
matrix equation and finally check your calculated results (values for eq. 11.9) with
FOURBAR program.

b) Change masses only in links 2 and 4, use equations 12.8c and 12.8d. Please note
that in equations 12.8c and 12.8d, LRCS is used. That means for link 2, x axis will
be O2A and for link 4, x axis will be link O4B.

c) Use transfer rule to find new moment of inertia for links 2 and 4. And use
FOURBAR program only to get the new force and torque values.

d) Any observation in the package (FOURBAR), suggestion, consideration

Marks will be allocated as: a) 5 marks, b) 2 marks and c) 2 marks. D) 1 mark

Submission: individual submission, submit on or before 9 am, 3rd of June, 2019 (pigeon
box: no. 54 (Durul Huda); ATC 8th level).