Code No: R05411406

Set No. 1

IV B.Tech I Semester Regular Examinations, November 2008 ADVANCED KINEMATICS AND DYNAMICS OF MACHINERY (Mecatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks

1. (a) State Grublers mobility criterian and verify the same for the following mechanism. As shown in gure 1.

Figure 1: (b) Calculate the degrees of freedom for the linkages shown in gure 2, 3. [8+8]

Figure 2: 2. (a) Write about complex mechanisms and give example. (b) Write the applications of Goodmans method to the analysis of low and high complexity mechanisms. (c) Write about sign conventions of Goodmans approach. [5+5+6]

3. State the Roberts-chebyshev theorm, prove it by considering a four-bar mechanism. [16]

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4. The angular velocity of link 2 of the four bar linkage in w2 = 40 rad/sec about z-axis. Find the angular velocity and angular acceleration of links 3 and 4 and the velocity and acceleration of point B for the position shown in gure 4. AO2 = 4 in; BA = 15 in; BO4 = 10 in. [16]

5. In a four bar mechanism the length of the links are l1 =600 mm, l2 = 300 mm, l3 = 360 mm, l4 = 360 mm. The link l1 is xed and the link l2 has an angular velocity of 10 rad/sec and an angular acceleration of - 30 rad/s2 (retardation). Determine the angular displacements, velocities and accelaration of links at an interval of 300 of link l2 . Write the computer program in FORTRAN or C or C ++ . [16] 6. The driving moment applied on link 2 is as shown in gure 5. Determine the force on link 4 that is necessary to be applied for equilibrium of the linkage. Also determine the state of loading on the connecting rod. Given data: O2 .A = 10 cm, AB = 32 cm. [16]

Figure 5: 7. (a) State and prove Quinns energy distribution method. (b) Explain Bobiller and Hartmans construction. [8+8]

8. What is Freudensteins equation? Describe the use of Freudensteins method for synthesis of Four-bar crank-rocker mechanism. [16]

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Code No: R05411406

Set No. 2

IV B.Tech I Semester Regular Examinations, November 2008 ADVANCED KINEMATICS AND DYNAMICS OF MACHINERY (Mecatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks

1. (a) What are the various inversions of Grashos law? (b) Derive the minimum numbers of binary links in a constrained mechanism with simple hinges using Grublers criterion. [4+12] 2. In the mechanism shown in gure 1. 2 = 10 rad/sec (constant) clockwise, O2 A = 80 mm, AB = 50 mm and BC = 80 mm. Determine 6 and 6 by using Goodmans indirect acceleration approach. [16]

Figure 1:
1 3. Prove the rst force of Euler-Savery equation of plane motion. OS P + P1S + P 1S I when OS is the instantaneous centre of curvature of the path of ray S. S is an arbitrary point on ray S. P is the velocity pole of moving and xed polodes and ls is the inection point on the ray S. [16]

4. A four- link RGGR crank-rocker mechanism shown in below. The known are the position and plane of rotation of the input link, the plane of rotation of the output link, and dimensions of all four links. Find the positions of all moving links when the input crank is set to 2 = 450 as shown in gure 2. Solve the problem using Analytical approach. Given data: O2 .A = 1 cm, AB = 3.5 cm O4 .B = 4 cm. [16] 1 of 4

Code No: R05411406

Set No. 2

Figure 2: 5. Determine the driving torque available on crank 2, if a force 2000 N is applied on link 4 as shown in gure 3. Also, determine the bearing loads. Given data : O2 .A = 10 cm, AB = 30 cm. [16] 6. Make a complete inertia force analysis of the reciprocating engine mechanism shown in below gure 4. Using the following data. Length of the crank = 71/2 cm Length of the connecting rod = 28 cm Distance of C.G of link2 from crank pin = 12 cm Crank makes an angle with the line of stroke = 600 Crank speed = 2000 RPM cw Mass of the link 2 = 21/2 kg Mass of the link 3 = 4 kg Mass of the link 4 = 3 kg Mass moment of inertia of link 2 = 6kgcm2 Mass moment of inertia of link 3 = 500 kg-cm2 [16] 7. Synthesize a 4-bar mechanism or linkage to neat the following specication of position, velocity and acceleration. = 600 , = 900 , = 5 rad/sec, = 2 rad/sec = 2 rad/sec2 . [16] 8. What is function generation? Explain in detail with the help of neat diagrams how to design a four bar mechanism by overlays method. [16]

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Code No: R05411406

Set No. 3

IV B.Tech I Semester Regular Examinations, November 2008 ADVANCED KINEMATICS AND DYNAMICS OF MACHINERY (Mecatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks

1. (a) Verify Grubliers criterion for the following mechanisms as shown gures 1, 2

Figure 1:

Figure 2: (b) Calculate the degrees of freedom for the linkages shown gure 3, 4. [8+8]

2. Determine the angular acceleration 2 of the crank 2, taking the eect of the weights into consideration. A shown in gure 5. 02 A = 6 in W2 = 30 1b AB = 12 in W3 = 5.5 1b AG3 = 6 in W4 = 6 1b O4 B = 9 in O4 G = 4 in l02 = 0.6 1b-in-sec2 lg3 = 0.20 1b-in-sec2 l04 = 0.35 1b-insec2 1 of 5

[16]

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Code No: R05411406 3. (a) State Roberts theorem and explain its application.

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(b) Obtain the cognate mechanism for a drag link mechanism (A drag link mechanism has two cranks) [6+10] 4. A four- link RGGR crank-rocker mechanism shown in below. The knowns are the position and plane of rotation of the input link, the plane of rotation of the output link, and dimensions of all four links. Find the positions of all moving links when the input crank is set to 2 = - 450 as shown in gure 6. Solve the problem using Analytical approach. Given data: O2 .A = 1 cm, AB = 3.5 cm O4 .B = 4 cm. [16]

Figure 6: 5. Synthesize a function linkage for the following instantaneous condition. = 300 0 = 200 rad/ sec = 70 rad/ sec = 1000 0 = 20 rad/ sec2 = 40 rad/ sec2 [16]

6. Dene Energy contribution coecient. Describe the Quinns Energy distribution method for the direct determination of input velocity of the mechanism at any instant. [16]

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7. Explain Equivalent-mass-and force method in Dynamic motion analysis, for the determination of input acceleration of the mechanism at any instant. [16] 8. Write short notes on any THREE of the following: (a) Properties of rotopole (b) Optimization of transmission angles (c) Dynamic motion simulation (d) Application of computer graphics for animation and simulation of motion bodies. [16]

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Code No: R05411406

Set No. 4

IV B.Tech I Semester Regular Examinations, November 2008 ADVANCED KINEMATICS AND DYNAMICS OF MACHINERY (Mecatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks

1. (a) State Grashos criterion for plane and space mechanisms and illustrate with examples. (b) Determine the degrees of freedom of the following mechanism. As shown in gure 1. [8+8]

Figure 1: 2. (a) State the Goodmans theorm and explain it in brief. (b) What are the methods of drawing instantaneous centers? Explain any one method indetail. [8+8] 3. Draw the cognate linkage of any four-bar mechanism, using Roberts-Chebyshev theorem and explain its procedure. [16] 4. In a Four-link RGGR (Revolute Globular Globuler Revolute) linkage the following data is given, 1 of 2

Code No: R05411406 RO4 O2 = 12 + 3k cm i + 3.46 cm RA O2 = 2i j + 2.71 + 10.89k cm RBA = 10i j RBO4 = 6.17 + 7.89k cm i rad/sec 2 = O2 A = 40k 2 = 0, O2O4 is the xed link Find B A , B O4 and V B

Set No. 4

[16

5. Write the computer animation program for a double rocker mechanism motion. [16] 6. Find the frame reactions and torque M12 necessary to maintain equilibrium of the four bar planar linkage shown in gure 2. [16]

Figure 2: 7. Prove the Quinns Energy distribution method in Dynamic motion analysis. [16] 8. State the two position synthesis of a four-bar mechanism. Give the step by step procedure to obtain the synthesized four-bar crank-rocker and slider crank mechanisms by using two position synthesis. [16]

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