David Myszka Machines and Mechanisms PPT Chapter 01-14

Machines and Mechanisms: Applied
Kinematic Analysis, 4/e
Chapter 1
Chap 1 Introduction
Machines and Mechanisms: Applied Kinematic Analysis, 4/e

David Myszka
2012, 2005, 2002, 1999 Pearson Higher Education,

Upper Saddle River, NJ 07458. All Rights Reserved.
1.1 INTRODUCTION
Determine appropriate movement

of the wipers
View range
Tandem or opposite
Wipe angle
Location of pivots
Timing of wipers
Wiping velocity
The force acting on the machine

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1.2 MACHINES AND MECHANISMS
Machine
Devices used to alter,

transmit, and direct forces
to accomplish a specific
objective
Mechanism
Mechanical portion of a
machine that has the
function of transferring
motion and forces from a
power source to an output

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1.3 KINEMATICS

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Dynamics

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Kinematics
Kinematics
Kinematic analysis
Determine
Position, displacement, rotation, speed, velocity, acceleration
Provide
Geometry dimensions of the mechanism
Operation range
Dynamic analysis
Deal with the way things move
Power capacity, stability, member load
Planar mechanism motion in 2D space

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1.4 MECHANISM TERMINOLOGY

Mechanism
Synthesis is the process of developing mechanism to satisfy a set of performance requirements

for the machine.
Analysis ensures that the mechanism will exhibit motion to accomplish the requirements .
Linkage
Frame
Links rigid body
Joint
Primary joint (full joint)

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Revolute joint (pin or hinge joint) pure

rotation
Sliding joint (piston or prism joint) linear
sliding

Higher-order joint (half joint)
Simple link
A rigid body contains only two joints

Crank
Rocker
Complex link
Allow rotation and sliding

Cam joint
Gear connection
A rigid body contains more than two

joints
Rocker arm
Bellcrank
Point of interest
Actuator
A power source link

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1.5 Kinematic Diagram

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Kinematic Diagram

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1.7 MOBILITY
1.7.1 Grueblers Equation

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Constrained mechanism
Locked mechanism
one degree of freedom

Zero or negative degrees of freedom
Unconstrained mechanism
More than one degree of freedom

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Actuators and Drivers
Electric motors (AC)

Electric motors (DC)
Engines
Servomotors
Air or hydraulic motors
Hydraulic or pneumatic cylinders
Screw actuators
Manual
1.7.2 Actuators and Drivers

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1.8 COMMONLY USED LINKS AND JOINTS

1.8.1 Eccentric Crank
1.8.2 Pin-in-a-Slot Joint
1.8.3 Screw Joint

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1.9 SPECLAL CASES OF THE MOBILITY EQUATION

1.9.1 Coincident Joints
1.9.2
One degree of freedom actually if pivoted links are the same size

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1.10 THE FOUR-BAR MECHANISM

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1.10.1 Degree-of-Freedom
s : short link
l : long link
p , q : intermediate link

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1.11 SLIDER-CRANK MECHANISM

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1.12 SPECIAL PURPOSE MECHANISMS

1.12.1 Straight-Line Mechanisms

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1.12.2 Parallelogram Mechanisms

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1.12.3 Quick-Return Mechanisms

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1.12.4 Scotch Yoke Mechanism

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Machines and Mechanisms: Applied Kinematic Analysis,

4/e
Chapter 4 Displacement Analysis
4.2 POSITION
4.2.1 Position of a Point
4.3 DISPLACEMENT
4.3.1 Linear Displacement
4.3.2 Angular Displacement

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4.4 DISPLACEMENT ANALYSIS
Locate the positions of all

links as driver link is
displaced
Configuration
Positions of all the links
One degree of freedom
Moving one link will

precisely position all
other links

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4.5 DISPLACEMENT:GRAPHICAL ANALYSIS

4.5.1 Displacement of a Single Driving Link
4.5.2 Displacement of the Remaining Slave Links

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4.5.2 Displacement of the Remaining Slave Links

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4.1 Vector Analysis of Displacement

Y1
r4
r2
r3
r3
r5
X1
r1
r4
X
(1) r 1 r 2 r 3 r 4 0
r1s1 r2 c 2 r3c3 5.3
r c r s r s 3.2 0
1 1 2 2 3 3
r1 3,1 30,r2 4.9,r3 3.3
2 equations for 2 unknows 2 ,3

(2) r 3 r 4 r 5 0
r3c3 r4 c 4 x1
r s r s 0
3 3 4 4 0.8
r1 10.1
2 equations for 2 unknows 4 and x1

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r1
r2
r4
r3
r 1 r 2 r 3 r 4 0
1.6 3c 2 r3c3 2.3
1.5 3s r s 0 0
2 3 3
r3 (3.92 1.22 )1/2

solve for 2 and 3

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Analysis of Mechanism Position

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Y
r1
r2
r3
r 1 r 2 r 3 0
50c1 40c 2 d1
50 s 40s 0
0
2
1 240,solve for 2 and d1
whenrotate15,1 255
50c1 40c 2 d 2
50 s 40s 0
0
2
solve for 2 and d 2
d d1 d 2

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4.6.1 Closed-Form Position Analysis Equations for an In-Line

Slider-Crank

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4.6.2 Closed-Form Position Analysis Equations for an Offset

Slider-Crank

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r2
r3
r1
r4
r 1 r 2 r 3 r 4 0
12c1 20c 2 15c3 25
12s 20s 15s 0 0
2
3
1 90,eqs.solve for 2 and 3

1 60,eqs.solve for 2 and 3
Calculate the difference of 2 inand

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Y
r1
r3
r2
r 1 r 2 r 3 0
0.5c1 1.75c 2 1
0.5s 1.75s y 0

2
for1 2 ,solve for1and ymax
for1 2 ,solve for1and ymin

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4.7 LIMITING POSITIONS:

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Y
r1
X
r2
r4
r3
r 1 r 2 r 3 r 4 0
for1 2 ,solve for1and 3 )max
for1 2 ,solve for1and 3 )min

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Y
r1
X
r4
r2
r3
r 1 r 2 r 3 r 4 0
for 2 3 ,solve for1 max and 2
for 2 3 ,solve for1 min

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4.9 TRANSMISSION ANGLE

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r3
r1
r2
r 1 r 2 r 3 r 4 0
0.5c1 lc 2 2.0
0.5s ls 0 0
1
2
given1solve forland 2

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r 1 r 2 r 3 0
r2
x
r1 30,r2 70,r 3
0
30
given1 solve for 2 and x
r3
r1

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Machines and Mechanisms: Applied Kinematic Analysis,

4/e
Chapter 6 Velocity Analysis
6.2 LINEAR AND ANGULAR VELOCITY
6.2.2 Linear Velocity of a General Point

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VA cos VB along ABlink

wAB VA sin /(link length)

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r1
X
r2
r4
r3
r 1 r 2 r 3 r 4 0
2 r 2 3r 3 4 r 4 0
eqs forunknowns3 and 4

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6.6 GRAPHICAL VELOCITY ANALYSIS:RELATIVE VELOCITY METHOD

6.6.1 Points on Links Limited to Pure Rotation or Rectilinear Translation
6.6.2 General Points on a Floating Link

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Y
X
r1
r4
r3
r2
r 1 r 2 r 3 0
0
1r 1 2 r 2 0
5

eqs for1and 2
r r 1 r 4
r 1r 1 2 r 4
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Y
r1
r2
X
r3
r 1 r 2 r 3 0
solve forand
1r 1 2 r 2 r2 0
vc 2
1 5rad min,r 2
vs 2
eqs forunknowns2 and v

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r1
r2
r3
r 1 r 2 r 3 0
1r 1 2 r 2 r2 0
0
r 2
50
eqs forunknowns1and 2
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r2
r1
Y
r3
X
r 1 r 2 r 3 0
1
r2 6, 2 340 r 3
3
eqs forunknownsr1and 1
1r 1 2 r 2 r 2 0
8c 2
r 2
8s 2
eqs forunknowns1and 2
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6.9 ALGEBRAIC SOLUTIONS

6.9.1 Slider-Crank Mechanism

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6.9.2 Four-Bar Mechanism

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6.10 INSTANTANEOUS CENTER OF ROTATION

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6.11 LOCATING INSTANT CENTERS

6.11.1 Primary Centers

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6.12 GRAPHICAL VELOCITY ANALYSIS:

INSTANT CENTER METHOD

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X
r1
r2
r4
r3
r 1 r 2 r 3 r 4 0
1r 1 2 r 2 3r 3 0
given3 solve for1and 2
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Y
r3
r2
r4
r 1 r 2 r 3 r 4 0
r1
r4
r6
2 r 2 3r 3 4 r 4 0
2 60rpm.solve for3 and
r 4 r 5 r 6 0
r5
4 r 4 5 r 5 0
v

eqs forunknowns5 and v

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Y
r2
r1
r3
r4
r 1 r 2 r 3 r 4 0
1r 1 2 r 2 3r 3 0
given 1 find 2 and 3

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Chapter 7 Acceleration Analysis
7.2 LINEAR ACCELERATION

7.2.1 Linear Acceleration of Rectilinear Points

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X
r1
r2
r4
r3
r 1 r 2 r 3 r 4 0
1r 1 2 r 2 3r 3 0
given 1 find 2 and 3
1 1r 1 2 2 2 r 2 3 3 3r 3 0
solve for2 and 3
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r5
rp
rp r 1 r 2 r 3 r 5 0
rp 1r 1 2 r 2 3 r 3 r 5
rp

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Y
X
r1
r2
r3
r 1 r 2 r 3 0
0
1r 1 2 r 2 0
v

solve for2 and v
1 1 1r 1 2 2 2 r 2 0
a

solve for2 and a

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7.8 ALGEBRAIC SOLUTIONS

7.8.1 Slider-Crank Mechanism

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7.8.2 Four-Bar Mechanism

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r3
r2
X
r1

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7.10 ACCELERATION IMAGE ( Useless! )

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7.11 CORIOLIS ACCELERATION

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r2 r3
X
r1
r 1 r 2 r 3 0
solve for1and 2
1r 1 r 2 2 r 2 0
vc
1 400,r 2 2 ,solve for2 and v
vs 2
ac
1 1r 1 2 2 2 r 2 2 0
as 2
solve for2 and a
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7.12 EQUIVALENT LINKAGES

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Chapter 9 Cams
9.1 INTRODUCTION

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Plate cam
Cylindrical cam
Linear cam

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9.2 TYPES OF CAMS
Follower motion

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Follower position

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9.3 TYPES OF FOLLOWERS

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9.11 THE 4-STATION GENEVA MECHANISM

Constant rotation producing index motion

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Chapter 13 STATIC FORCE ANALYSIS
13.3 MOMENTS AND TORQUES

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13.5 FREE-BODY DIAGRAMS

13.5.1 Drawing a Free-Body Diagram
13.5.2 Characterizing Contact Forces

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13.6 STATIC EQUILIBRIUM

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13.7 ANALYSIS OF A TWO-FORCE MEMBER

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Chapter 14 DYNAMIC FORCE ANALYSIS

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David Myszka Machines and Mechanisms PPT Chapter 01-14

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Machines and Mechanisms: Applied

Kinematic Analysis, 4/e

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

2012, 2005, 2002, 1999 Pearson Higher Education,

Determine appropriate movement

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

2012, 2005, 2002, 1999 Pearson Higher Education,

1.2 MACHINES AND MECHANISMS

Devices used to alter,

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

2012, 2005, 2002, 1999 Pearson Higher Education,

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

2012, 2005, 2002, 1999 Pearson Higher Education,

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

2012, 2005, 2002, 1999 Pearson Higher Education,

Deal with the way things move

Power capacity, stability, member load

Planar mechanism motion in 2D space

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

2012, 2005, 2002, 1999 Pearson Higher Education,

1.4 MECHANISM TERMINOLOGY

Synthesis is the process of developing mechanism to satisfy a set of performance requirements

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

Revolute joint (pin or hinge joint) pure

2012, 2005, 2002, 1999 Pearson Higher Education,

Higher-order joint (half joint)

A rigid body contains only two joints

Allow rotation and sliding

A rigid body contains more than two

A power source link

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

2012, 2005, 2002, 1999 Pearson Higher Education,

1.5 Kinematic Diagram

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

2012, 2005, 2002, 1999 Pearson Higher Education,

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

2012, 2005, 2002, 1999 Pearson Higher Education,

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

2012, 2005, 2002, 1999 Pearson Higher Education,

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

2012, 2005, 2002, 1999 Pearson Higher Education,

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

2012, 2005, 2002, 1999 Pearson Higher Education,

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

2012, 2005, 2002, 1999 Pearson Higher Education,

one degree of freedom

More than one degree of freedom

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

2012, 2005, 2002, 1999 Pearson Higher Education,

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

2012, 2005, 2002, 1999 Pearson Higher Education,

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

2012, 2005, 2002, 1999 Pearson Higher Education,

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

2012, 2005, 2002, 1999 Pearson Higher Education,

Actuators and Drivers

Electric motors (AC)

1.7.2 Actuators and Drivers

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

2012, 2005, 2002, 1999 Pearson Higher Education,

Machines and Mechanisms: Applied Kinematic Analysis, 4/e

2012, 2005, 2002, 1999 Pearson Higher Education,

1.8 COMMONLY USED LINKS AND JOINTS