P.A.

COLLEGE OF ENGINEERING AND TECHNOLOGY PALLADAM ROAD, POLLACHI - 642 002 DEPARTMENT OF MECHANICAL ENGINEERING

ACADEMIC YEAR 2012 - 2013 ME 2202 - KINEMATICS OF MACHINERY

LECTURE NOTES - ALL 5 UNITS

Pr !"r # $% MR. &. P. S'r () K'*"r M.E., MISTE Mr. M. M+)", Pr"("# M.E., M$A.

Unit I BASICS OF MECHANISMS Introduction: Definitions : Link or Element, Pairing of Elements with degrees of freedom, Grublers criterion (without derivation), inematic chain, !echanism, !obilit" of !echanism, #nversions, !achine$ Kinematic Chains and Inversions : inematic chain with three lower %airs, &our bar chain, 'ingle slider crank chain and Double slider crank chain and their inversions$ Mechanisms: i) (uick return motion mechanisms ) Drag link mechanism, *hitworth mechanism and +rank and slotted lever mechanism ii) 'traight line motion mechanisms ) Peaceliers mechanism and ,oberts mechanism$ iii) #ntermittent motion mechanisms ) Geneva mechanism and ,atchet - Pawl mechanism$ iv) .oggle mechanism, Pantogra%h, /ookes 0oint and 1ckerman 'teering gear mechanism$ 1. ermino!o"# and $e%initions&$e"ree o% Freedom' Mo(i!it# Kinematics: .he stud" of motion (%osition, velocit", acceleration)$ 1 ma0or goal of understanding kinematics is to develo% the abilit" to design a s"stem that will satisf" s%ecified motion re2uirements$ .his will be the em%hasis of this class$ Kinetics: .he effect of forces on moving bodies$ Good kinematic design should %roduce good kinetics$ Mechanism: 1 s"stem design to transmit motion$ (low forces) Machine: 1 s"stem designed to transmit motion and energ"$ (forces involved) Basic Mechanisms: #ncludes geared s"stems, cam3follower s"stems and linkages (rigid links connected b" sliding or rotating 0oints)$ 1 mechanism has multi%le moving %arts (for e4am%le, a sim%le hinged door does not 2ualif" as a mechanism)$ E)am*!es o% mechanisms: .in sni%s, vise gri%s, car sus%ension, backhoe, %iston engine, folding chair, windshield wi%er drive s"stem, etc$

Ke# conce*ts: $e"rees o% %reedom: .he number of in%uts re2uired to com%letel" control a s"stem$ E)am*!es: 1 sim%le rotating link$ 1 two link s"stem$ 1 four3bar linkage$ 1 five3bar linkage$ #*es o% motion: !echanisms ma" %roduce motions that are %ure rotation, %ure translation, or a combination of the two$ *e reduce the degrees of freedom of a mechanism b" restraining the abilit" of the mechanism to move in translation (43" directions for a 5D mechanism) or in rotation (about the 63 a4is for a 53D mechanism)$

+in,: 1 rigid bod" with two or more nodes (0oints) that are used to connect to other rigid bodies$ (*! e4am%les: binar" link, ternar" link (7 0oints), 2uaternar" link (8 0oints)) -oint: 1 connection between two links that allows motion between the links$ .he motion allowed ma" be rotational (revolute 0oint), translational (sliding or %rismatic 0oint), or a combination of the two (roll3slide 0oint)$ Kinematic chain: 1n assembl" of links and 0oints used to coordinate an out%ut motion with an in%ut motion$ +in, or e!ement:

1 mechanism is made of a number of resistant bodies out of which some ma" have motions relative to the others$ 1 resistant bod" or a grou% of resistant bodies with rigid connections %reventing their relative movement is known as a link$

1 link ma" also be defined as a member or a combination of members of a mechanism, connecting other members and having motion relative to them, thus a link ma" consist of one or more resistant bodies$ 1 link is also known as inematic link or an element$ Links can be classified into 9) :inar", 5) .ernar", 7) (uarternar", etc$ Kinematic .air: 1 inematic Pair or sim%l" a %air is a 0oint of two links having relative motion between them$ E)am*!e:

#n the above given 'lider crank mechanism, link 5 rotates relative to link 9 and constitutes a revolute or turning %air$ 'imilarl", links 5, 7 and 7, 8 constitute turning %airs$ Link 8 ('lider) reci%rocates relative to link 9 and its a sliding %air$ #*es o% Kinematic .airs: inematic %airs can be classified according to i) ;ature of contact$ ii) ;ature of mechanical constraint$ iii) ;ature of relative motion$ i/ Kinematic *airs accordin" to nature o% contact : a) Lower Pair: 1 %air of links having surface or area contact between the members is known as a lower %air$ .he contact surfaces of the two links are similar$ E4am%les: ;ut turning on a screw, shaft rotating in a bearing, all %airs of a slider3 crank mechanism, universal 0oint$ b) /igher Pair: *hen a %air has a %oint or line contact between the links, it is known as a higher %air$ .he contact surfaces of the two links are dissimilar$ E4am%les: *heel rolling on a surface cam and follower %air, tooth gears, ball and roller bearings, etc$ ii/ Kinematic *airs accordin" to nature o% mechanica! constraint. a) +losed %air: *hen the elements of a %air are held together mechanicall", it is known as a closed %air$ .he contact between the two can onl" be broken onl" b" the destruction of at least one of the members$ 1ll the lower %airs and some of the higher %airs are closed %airs$

b) <nclosed %air: *hen two links of a %air are in contact either due to force of gravit" or some s%ring action, the" constitute an unclosed %air$ #n this the links are not held together mechanicall"$ E4$: +am and follower %air$ iii/ Kinematic *airs accordin" to nature o% re!ative motion. a) 'liding %air: #f two links have a sliding motion relative to each other, the" form a sliding %air$ 1 rectangular rod in a rectangular hole in a %rism is an e4am%le of a sliding %air$ b) .urning Pair: *hen on link has a turning or revolving motion relative to the other, the" constitute a turning %air or revolving %air$ c) ,olling %air: *hen the links of a %air have a rolling motion relative to each other, the" form a rolling %air$ 1 rolling wheel on a flat surface, ball ad roller bearings, etc$ are some of the e4am%les for a ,olling %air$ d) 'crew %air (/elical Pair): if two mating links have a turning as well as sliding motion between them, the" form a screw %air$ .his is achieved b" cutting matching threads on the two links$ .he lead screw and the nut of a lathe is a screw Pair e) '%herical %air: *hen one link in the form of a s%here turns inside a fi4ed link, it is a s%herical %air$ .he ball and socket 0oint is a s%herical %air$ $e"rees o% Freedom: 1n unconstrained rigid bod" moving in s%ace can describe the following inde%endent motions$ 9$ .ranslational !otions along an" three mutuall" %er%endicular a4es 4, " and 6, 5$ ,otational motions along these a4es$ .hus a rigid bod" %ossesses si4 degrees of freedom$ .he connection of a link with another im%oses certain constraints on their relative motion$ .he number of restraints can never be 6ero (0oint is disconnected) or si4 (0oint becomes solid)$ Degrees of freedom of a %air is defined as the number of inde%endent relative motions, both translational and rotational, a %air can have$ Degrees of freedom = > ) no$ of restraints$ .o find the number of degrees of freedom for a %lane mechanism we have an e2uation known as 0ru(!er1s e2uation and is "iven (# F 3 4 5 n 6 1 / 6 7 81 6 87 & = !obilit" or number of degrees of freedom n = ;umber of links including frame$ 09 = ?oints with single (one) degree of freedom$ ?5 = ?oints with two degrees of freedom$ #f & @ A, results in a mechanism with B& degrees of freedom$ & = A, results in a staticall" determinate structure$ & C A, results in a staticall" indeterminate structure$ Kinematic Chain: 1 inematic chain is an assembl" of links in which the relative motions of the links is %ossible and the motion of each relative to the others is definite (fig$ a, b, and c$)

#n case, the motion of a link results in indefinite motions of other links, it is a non3 kinematic chain$ /owever, some authors %refer to call all chains having relative motions of the links as kinematic chains$ +in,a"e' Mechanism and structure: 1 linkage is obtained if one of the links of kinematic chain is fi4ed to the ground$ #f motion of each link results in definite motion of the others, the linkage is known as mechanism$ #f one of the links of a redundant chain is fi4ed, it is known as a structure$ .o obtain constrained or definite motions of some of the links of a linkage, it is necessar" to know how man" in%uts are needed$ #n some mechanisms, onl" one in%ut is necessar" that determines the motion of other links and are said to have one degree of freedom$ #n other mechanisms, two in%uts ma" be necessar" to get a constrained motion of the other links and are said to have two degrees of freedom and so on$ .he degree of freedom of a structure is 6ero or less$ 1 structure with negative degrees of freedom is known as a Su*erstructure. Motion and its t#*es:

+om%letel" +onstrained !otion

Partiall" +onstrained !otion

#ncom%letel" +onstrained !otion

The three main types of constrained motion in kinematic pair are,

9$Com*!ete!# constrained motion : #f the motion between a %air of links is limited to a definite direction, then it is com%letel" constrained motion$ E$g$: !otion of a shaft or rod with collars at each end in a hole as shown in fig$

7. Incom*!ete!# Constrained motion : #f the motion between a %air of links is not confined to a definite direction, then it is incom%letel" constrained motion$ E$g$: 1 s%herical ball or circular shaft in a circular hole ma" either rotate or slide in the hole as shown in fig$

4. Success%u!!# constrained motion or .artia!!# constrained motion: #f the motion in a definite direction is not brought about b" itself but b" some other means, then it is known as successfull" constrained motion$ E$g$: &oot ste% :earing$

Machine: #t is a combination of resistant bodies with successfull" constrained motion which is used to transmit or transform motion to do some useful work$ E$g$: Lathe, 'ha%er, 'team Engine, etc$ Kinematic chain with three lower pairs #t is im%ossible to have a kinematic chain consisting of three turning %airs onl"$ :ut it is %ossible to have a chain which consists of three sliding %airs or which consists of a turning, sliding and a screw %air$ .he figure shows a kinematic chain with three sliding %airs$ #t consists of a frame :, wedge + and a sliding rod 1$ 'o the three sliding %airs are, one between the wedge + and the frame :, second between wedge + and sliding rod 1 and the frame :$

This figure shows the mechanism of a fly press. .he element : forms a sliding with 1 and turning %air with screw rod + which in turn forms a screw %air with 1$ *hen link 1 is fi4ed, the re2uired fl" %ress mechanism is obtained$

7. Kut9(ach criterion' 0rasho%%:s !a; Kut9(ach criterion: Fundamenta! E2uation %or 7&$ Mechanisms: ! = 7(L ) 9) ) 5?9 ) ?5 Can ;e intuitive!# derive Kut9(ach1s modi%ication o% 0ru(!er1s e2uation< +onsider a rigid link constrained to move in a %lane$ /ow man" degrees of freedom does the link haveD (7: translation in 4 and " directions, rotation about 63a4is) #f "ou %in one end of the link to the %lane, how man" degrees of freedom does it now haveD 1dd a second link to the %icture so that "ou have one link %inned to the %lane and one free to move in the %lane$ /ow man" degrees of freedom e4ist between the two linksD (8 is the correct answer) Pin the second link to the free end of the first link$ /ow man" degrees of freedom do "ou now haveD /ow man" degrees of freedom do "ou have each time "ou introduce a moving linkD /ow man" degrees of freedom do "ou take awa" when "ou add a sim%le 0ointD /ow man" degrees of freedom would "ou take awa" b" adding a half 0ointD Do the different terms in e2uation make sense in light of this knowledgeD 0rasho%%:s !a;: 0rasho%% =&(ar !in,a"e: 1 linkage that contains one or more links ca%able of undergoing a full rotation$ 1 linkage is Grashoff if: ' E L C P E ( (where: ' = shortest link length, L = longest, P, ( = intermediate length links)$ :oth 0oints of the shortest link are ca%able of 7>A degrees of rotation in a Grashoff linkages$ .his gives us 8 %ossible linkages: crank3rocker (in%ut rotates 7>A), rocker3crank3rocker (cou%ler rotates 7>A), rocker3crank (follower)F double crank (all links rotate 7>A)$ ;ote that these mechanisms are sim%l" the %ossible inversions (section 5$99, &igure 539>) of a Grashoff mechanism$ Non 0rasho%% = (ar: ;o link can rotate 7>A if: ' E L @ P E ( +et1s e)amine ;h# the 0rasho%% condition ;or,s: +onsider a linkage with the shortest and longest sides 0oined together$ E4amine the linkage when the shortest side is %arallel to the longest side (5 %ositions %ossible, folded over on the long side and e4tended awa" from the long side)$ /ow long do P and ( have to be to allow the linkage to achieve these %ositionsD +onsider a linkage where the long and short sides are not 0oined$ +an "ou figure out the re2uired lengths for P and ( in this t"%e of mechanism 4. Kinematic Inversions o% =&(ar chain and s!ider cran, chains: Types of Kinematic Chain: 9) &our bar chain 5) 'ingle slider chain 7) Double 'lider chain Four (ar Chain: .he chain has four links and it looks like a c"cle frame and hence it is also called quadric cycle chain$ #t is shown in the figure$ #n this t"%e of chain all four %airs will be turning %airs$

 Inversions: :" fi4ing each link at a time we get as man" mechanisms as the number of links, then each mechanism is called B#nversion of the original inematic +hain$ Inversions o% %our (ar chain mechanism: .here are three inversions: 9) :eam Engine or +rank and lever mechanism$ 5) +ou%ling rod of locomotive or double crank mechanism$ 7) *atts straight line mechanism or double lever mechanism$ Beam En"ine: *hen the crank 1: rotates about 1, the link +E %ivoted at D makes vertical reci%rocating motion at end E$ .his is used to convert rotar" motion to reci%rocating motion and vice versa$ #t is also known as +rank and lever mechanism$ .his mechanism is shown in the figure below$

7. Cou*!in" rod o% !ocomotive: #n this mechanism the length of link 1D = length of link +$ 1lso length of link 1: = length of link +D$ *hen 1: rotates about 1, the crank D+ rotates about D$ this mechanism is used for cou%ling locomotive wheels$ 'ince links 1: and +D work as cranks, this mechanism is also known as double crank mechanism$ .his is shown in the figure below$

 7$ >att1s strai"ht !ine mechanism or $ou(!e !ever mechanism: #n this mechanism, the links 1: - DE act as levers at the ends 1 - E of these levers are fi4ed$ .he 1: - DE are %arallel in the mean %osition of the mechanism and cou%ling rod :D is %er%endicular to the levers 1: - DE$ Gn an" small dis%lacement of the mechanism the tracing %oint B+ traces the sha%e of number BH, a %ortion of which will be a%%ro4imatel" straight$ /ence this is also an e4am%le for the a%%ro4imate straight line mechanism$ .his mechanism is shown below$

7. S!ider cran, Chain: #t is a four bar chain having one sliding %air and three turning %airs$ #t is shown in the figure below the %ur%ose of this mechanism is to convert rotar" motion to reci%rocating motion and vice versa$ #nversions of a 'lider crank chain: here are %our inversions in a sin"!e s!ider chain mechanism. he# are: 9) ,eci%rocating engine mechanism (9st inversion) 5) Gscillating c"linder engine mechanism (5nd inversion) 7) +rank and slotted lever mechanism (5nd inversion) 8) *hitworth 2uick return motion mechanism (7rd inversion) I) ,otar" engine mechanism (7rd inversion) >) :ull engine mechanism (8th inversion) J) /and Pum% (8th inversion) 1. ?eci*rocatin" en"ine mechanism : #n the first inversion, the link 9 i$e$, the c"linder and the frame is ke%t fi4ed$ .he fig below shows a reci%rocating engine$

1 slotted link 9 is fi4ed$ *hen the crank 5 rotates about G, the sliding %iston 8 reci%rocates in the slotted link 9$ .his mechanism is used in steam engine, %um%s, com%ressors, #$+$ engines, etc$ 7. Cran, and s!otted !ever mechanism: #t is an a%%lication of second inversion$ .he crank and slotted lever mechanism is shown in figure below$

#n this mechanism link 7 is fi4ed$ .he slider (link 9) reci%rocates in oscillating slotted lever (link 8) and crank (link 5) rotates$ Link I connects link 8 to the ram (link >)$ .he ram with the cutting tool reci%rocates %er%endicular to the fi4ed link 7$ .he ram with the tool reverses its direction of motion when link 5 is %er%endicular to link 8$ .hus the cutting stroke is e4ecuted during the rotation of the crank through angle K and the return stroke is e4ecuted when the crank rotates through angle L or 7>A ) K$ .herefore, when the crank rotates uniforml", we get, .ime to cutting = K = K .ime of return L 7>A ) K .his mechanism is used in sha%ing machines, slotting machines and in rotar" engines$ 4. >hit;orth 2uic, return motion mechanism:

Third inversion is obtained by fixing the crank i.e. link 2. Whitworth quick return mechanism is an application of third inversion. This mechanism is shown in the figure below. The crank OC is fixed and OQ rotates about O. The slider slides in the slotted link and generates a circle of radius CP. Link 5 connects the extension OQ provided on the opposite side of the link 1 to the ram (link 6). The rotary motion of P is taken to the ram R which reciprocates. The quick return motion mechanism is used in shapers and slotting machines. The angle covered during cutting stroke from P1 to P2 in counter clockwise direction is K or 7>A 35M$ During the return stroke, the angle

covered is 5M or L$

.herefore,

.ime to cutting = 7>A 35M = 9HA ) M .ime of return 5MM = K = K $ L 7>A ) K

=. ?otar# en"ine mechanism or 0nome En"ine: ,otar" engine mechanism or gnome engine is another a%%lication of third inversion$ #t is a rotar" c"linder N ) t"%e internal combustion engine used as an aero ) engine$ :ut now Gnome engine has been re%laced b" Gas turbines$ .he Gnome engine has generall" seven c"linders in one %lane$ .he crank G1 is fi4ed and all the connecting rods from the %istons are connected to 1$ #n this mechanism when the %istons reci%rocate in the c"linders, the whole assembl" of c"linders, %istons and connecting rods rotate about the a4is G, where the entire mechanical %ower develo%ed, is obtained in the form of rotation of the crank shaft$ .his mechanism is shown in the figure below$

$ou(!e S!ider Cran, Chain: 1 four bar chain having two turning and two sliding %airs such that two %airs of the same kind are ad0acent is known as double slider crank chain$ Inversions o% $ou(!e s!ider Cran, chain: #t consists of two sliding %airs and two turning %airs$ .he" are three im%ortant inversions of double slider crank chain$ 9) Elli%tical trammel$ 5) 'cotch "oke mechanism$ 7) Gldhams +ou%ling$ 1. E!!i*tica! ramme!: .his is an instrument for drawing elli%ses$ /ere the slotted link is fi4ed$ .he sliding block P and ( in vertical and hori6ontal slots res%ectivel"$ .he end , generates an elli%se with the dis%lacement of sliders P and ($

.he co3ordinates of the %oint , are 4 and "$ &rom the fig$ cos M = 4$ P, and 'in M = "$ (, Squaring and adding (i) and (ii) we get x2 + y2 = cos2 M + sin2 M (PR)2 (QR)2

x2 + y2 = 1 (PR)2 (QR)2 The equation is that of an ellipse, Hence the instrument traces an ellipse. Path traced by mid-point of PQ is a circle. In this case, PR = PQ and so x2+y2 =1 (PR)2 (QR)2 It is an equation of circle with PR = QR = radius of a circle. 7. Scotch #o,e mechanism: .his mechanism, the slider P is fi4ed$ *hen P( rotates above P, the slider ( reci%rocates in the vertical slot$ .he mechanism is used to convert rotar" to reci%rocating mechanism$

4. O!dham1s cou*!in": .he third inversion of obtained b" fi4ing the link connecting the 5 blocks P - ($ #f one block is turning through an angle, the frame and the other block will also turn through the same angle$ #t is shown in the figure below$

1n a%%lication of the third inversion of the double slider crank mechanism is Gldhams cou%ling shown in the figure$ .his cou%ling is used for connecting two %arallel shafts when the distance between the shafts is small$ .he two shafts to be connected have flanges at their ends, secured b" forging$ 'lots are cut in the flanges$ .hese flanges form 9 and 7$ 1n intermediate disc having tongues at right angles and o%%osite sides is fitted in between the flanges$ .he intermediate %iece forms the link 8 which slides or reci%rocates in flanges 9 - 7$ .he link two is fi4ed as shown$ *hen flange 9 turns, the intermediate disc 8 must turn through the same angle and whatever angle 8 turns, the flange 7 must turn through the same angle$ /ence 9, 8 - 7 must have the same angular velocit" at ever" instant$ #f the distance between the a4is of the shaft is 4, it will be the diameter if the circle traced b" the centre of the intermediate %iece$ .he ma4imum sliding s%eed of each tongue along its slot is given b" v=xO where, O = angular velocity of each shaft in rad/sec v = linear velocity in m/sec =. Mechanica! Advanta"e' ransmission an"!e: .he mechanical advantage (!1) is defined as the ratio of out%ut tor2ue to the in%ut tor2ue$ (or) ratio of load to out%ut$

.ransmission angle$ .he e4treme values of the transmission angle occur when the crank lies along the line of frame$

@. $escri*tion o% common mechanisms&Sin"!e' $ou(!e and o%%set s!ider mechanisms & Auic, return mechanisms: Auic, ?eturn Motion Mechanisms: !an" a times mechanisms are designed to %erform re%etitive o%erations$ During these o%erations for a certain %eriod the mechanisms will be under load known as working stroke and the remaining %eriod is known as the return stroke, the mechanism returns to re%eat the o%eration without load$ .he ratio of time of working stroke to that of the return stroke is known a time ratio$ (uick return mechanisms are used in machine tools to give a slow cutting stroke and a 2uick return stroke$ .he various 2uick return mechanisms commonl" used are i) *hitworth ii) Drag link$ iii) +rank and slotted lever mechanism 1. >hit;orth 2uic, return mechanism: *hitworth 2uick return mechanism is an a%%lication of third inversion of the single slider crank chain$ .his mechanism is shown in the figure below$ .he crank G+ is fi4ed and G( rotates about G$ .he slider slides in the slotted link and generates a circle of radius +P$ Link I connects the e4tension G( %rovided on the o%%osite side of the link 9 to the ram (link >)$ .he rotar" motion of P is taken to the ram , which reci%rocates$ .he 2uick return motion mechanism is used in sha%ers and slotting machines$

.he angle covered during cutting stroke from P9 to P5 in counter clockwise direction is K or 7>A 35M$ During the return stroke, the angle covered is 5M or L$ 7. $ra" !in, mechanism :

.his is four bar mechanism with double crank in which the shortest link is fi4ed$ #f the crank 1: rotates at a uniform s%eed, the crank +D rotate at a non3uniform s%eed$ .his rotation of link +D is transformed to 2uick return reci%rocator" motion of the

ram E b" the link +E as shown in figure$ *hen the crank 1: rotates through an angle K in +ounter clockwise direction during working stroke, the link +D rotates through 9HA$ *e can observe that P K @P L$ /ence time of working stroke is K PL times more or the return stroke is K PL times 2uicker$ 'hortest link is alwa"s stationar" link$ 'um of the shortest and the longest links of the four links 9, 5, 7 and 8 are less than the sum of the other two$ #t is the necessar" condition for the drag link 2uick return mechanism$ 4. Cran, and s!otted !ever mechanism: #t is an a%%lication of second inversion$ .he crank and slotted lever mechanism is shown in figure below$

In this mechanism link 3 is fixed. The slider (link 1) reciprocates in oscillating slotted lever (link 4) and crank (link 2) rotates. Link 5 connects link 4 to the ram (link 6). The ram with the cutting tool reciprocates perpendicular to the fixed link 3. The ram with the tool reverses its direction of motion when link 2 is perpendicular to link 4. Thus the cutting stroke is executed during the rotation of the crank through angle K and the return stroke is executed when the crank rotates through angle L or 360 K. Therefore, when the crank rotates uniformly, we get, .ime to cutting = K = K .ime of return L 7>A ) K .his mechanism is used in sha%ing machines, slotting machines and in rotar" engines$ B. ?atchets and esca*ements & Inde)in" Mechanisms & ?oc,in" Mechanisms: Intermittent motion mechanism: 1. Ratchet and Pawl mechanism: This mechanism is used in producing intermittent rotary motion member. A ratchet and Pawl mechanism consists of a ratchet wheel 2 and a pawl 3 as shown in the figure. When the lever 4 carrying pawl is raised, the ratchet wheel rotates in the counter clock wise direction (driven by pawl). As the pawl lever is lowered the pawl slides over the ratchet teeth. One more pawl 5 is used to prevent the ratchet from reversing. Ratchets are used in feed mechanisms, lifting jacks, clocks, watches and counting devices.

 7. 0eneva mechanism: Geneva mechanism is an intermittent motion mechanism$ #t consists of a driving wheel D carr"ing a %in P which engages in a slot of follower & as shown in figure$ During one 2uarter revolution of the driving %late, the Pin and follower remain in contact and hence the follower is turned b" one 2uarter of a turn$ During the remaining time of one revolution of the driver, the follower remains in rest locked in %osition b" the circular arc$

4. .anto"ra*h: Pantogra%h is used to co%" the curves in reduced or enlarged scales$ /ence this mechanism finds its use in co%"ing devices such as engraving or %rofiling machines$

.his is a sim%le figure of a Pantogra%h$ .he links are %in 0ointed at 1, :, + and D$ 1: is %arallel to D+ and 1D is %arallel to :+$ Link :1 is e4tended to fi4ed %in G$ ( is a %oint on the link 1D$ #f the motion of ( is to be enlarged then the link :+ is e4tended to P such that G, ( and P are in a straight line$ .hen it can be shown that the %oints P and ( alwa"s move %arallel and similar to each other over an" %ath straight or curved$ .heir motions will be %ro%ortional to their distance from the fi4ed %oint$ Let 1:+D be the initial %osition$ 'u%%ose if %oint ( moves to (9 , then all the links and the 0oints will move to the new %ositions (such as 1 moves to 19 , : moves

to (9, + moves to (9 , D moves to D9 and P to P9 ) and the new configuration of the mechanism is shown b" dotted lines$ .he movement of ( (( (9) will be enlarged to PP9 in a definite ratio$ =. o""!e Mechanism:

#n slider crank mechanism as the crank a%%roaches one of its dead centre %osition, the slider a%%roaches 6ero$ .he ratio of the crank movement to the slider movement a%%roaching infinit" is %ro%ortional to the mechanical advantage$ .his is the %rinci%le used in toggle mechanism$ 1 toggle mechanism is used when large forces act through a short distance is re2uired$ .he figure below shows a toggle mechanism$ Links +D and +E are of same length$ ,esolving the forces at + verticall" F Sin C 3. Cos C 7 .herefore, & = P $ (because 'in KP+os K = .an K) 5 tan K .hus for the given value of P, as the links +D and +E a%%roaches collinear %osition (KG), the force & rises ra%idl"$ @. Hoo,e1s 8oint:

/ookes 0oint used to connect two %arallel intersecting shafts as shown in figure$ .his can also be used for shaft with angular misalignment where fle4ible cou%ling does not serve the %ur%ose$ /ence /ookes 0oint is a means of connecting two rotating shafts whose a4es lie in the same %lane and their directions making a small angle with each other$ #t is commonl" known as <niversal 0oint$ #n Euro%e it is called as +ardan 0oint$ @. Ac,ermann steerin" "ear mechanism:

.his mechanism is made of onl" turning %airs and is made of onl" turning %airs wear and tear of the %arts is less and chea%er in manufacturing$ .he cross link L connects two short a4les 1+ and :D of the front wheels through the short links 1 and :L which forms bell crank levers +1 and D:L res%ectivel" as shown in fig, the longer links 1: and L are %arallel and the shorter links 1 and :L are inclined at an angle K$ *hen the vehicles steer to the right as shown in the figure, the short link :L is turned so as to increase K, where as the link L causes the other short link 1 to turn so as to reduce K$ .he fundamental e2uation for correct steering is, CotD6CosE 3b/l In the above arrangement it is clear that the angle Q through which AK turns is less than the angle M through which the BL turns and therefore the left front axle turns through a smaller angle than the right front axle. For different angle of turn M, the corresponding value of Q and (Cot Q Cos M) are noted. This is done by actually drawing the mechanism to a scale or by calculations. Therefore for different value of

the corresponding value of and are tabulated. Approximate value of b/l for correct steering should be between 0.4 and 0.5. In an Ackermann steering gear mechanism, the instantaneous centre I does not lie on the axis of the rear axle but on a line parallel to the rear axle axis at an approximate distance of 0.3l above it.

hree correct steerin" *ositions ;i!! (e: 9) *hen moving straight$ 5) *hen moving one correct angle to the right corres%onding to the link ratio 1 P1: and angle K$ 7) 'imilar %osition when moving to the left$ In a!! other *ositions *ure ro!!in" is not o(taina(!e. Some Of The Mechanisms Which Are Used In ay To ay !ife" BE++ C?ANK: 0ENEFA S O.:

BE++ C?ANK: .he bell crank was originall" used in large house to o%erate the servants bell, hence the name$ .he bell crank is used to convert the direction of reci%rocating movement$ :" var"ing the angle of the crank %iece it can be used to change the angle of movement from 9 degree to 9HA degrees$ 0ENEFA S O.: .he Geneva sto% is named after the Geneva cross, a similar sha%e to the main %art of the mechanism$ .he Geneva sto% is used to %rovide intermittent motion, the orange wheel turns continuousl", the dark blue %in then turns the blue cross 2uarter of a turn for each revolution of the drive wheel$ .he crescent sha%ed cut out in dark orange section lets the %oints of the cross %ast, then locks the wheel in %lace when it is stationar"$ .he Geneva sto% mechanism is used commonl" in film cameras$ E++I. ICA+ ?AMME+ .IS ON A??AN0EMEN

ELLIPTICAL TRAMMEL: This fascinating mechanism converts rotary motion to reciprocating motion in two axis. Notice that the handle traces out an ellipse rather than a circle. A similar mechanism is used in ellipse drawing tools. PISTON ARRANGEMENT: This mechanism is used to convert between rotary

motion and reciprocating motion, it works either way. Notice how the speed of the piston changes. The piston starts from one end, and increases its speed. It reaches maximum speed in the middle of its travel then gradually slows down until it reaches the end of its travel. ?ACK AN$ .INION ?A CHE

?ACK AN$ .INION: .he rack and %inion is used to convert between rotar" and linear motion$ .he rack is the flat, toothed %art, the %inion is the gear$ ,ack and %inion can convert from rotar" to linear of from linear to rotar"$ .he diameter of the gear determines the s%eed that the rack moves as the %inion turns$ ,ack and %inions are commonl" used in the steering s"stem of cars to convert the rotar" motion of the steering wheel to the side to side motion in the wheels$ ,ack and %inion gears give a %ositive motion es%eciall" com%ared to the friction drive of a wheel in tarmac$ #n the rack and %inion railwa" a central rack between the two rails engages with a %inion on the engine allowing the train to be %ulled u% ver" stee% slo%es$ ?A CHE : .he ratchet can be used to move a toothed wheel one tooth at a time$ .he %art used to move the ratchet is known as the %awl$ .he ratchet can be used as a wa" of gearing down motion$ :" its nature motion created b" a ratchet is intermittent$ :" using two %awls simultaneousl" this intermittent effect can be almost, but not 2uite, removed$ ,atchets are also used to ensure that motion onl" occurs in onl" one direction, useful for winding gear which must not be allowed to dro%$ ,atchets are also used in the freewheel mechanism of a bic"cle$ >O?M 0EA? >A CH ESCA.EMEN .

>O?M 0EA?: 1 worm is used to reduce s%eed$ &or each com%lete turn of the worm shaft the gear shaft advances onl" one tooth of the gear$ #n this case, with a twelve tooth gear, the s%eed is reduced b" a factor of twelve$ 1lso, the a4is of rotation is turned b" RA degrees$ <nlike ordinar" gears, the motion is not reversible, a worm can drive a gear to reduce s%eed but a gear cannot drive a worm to increase it$ 1s the s%eed is reduced the %ower to the drive increases corres%ondingl"$ *orm gears are a com%act, efficient means of substantiall" decreasing s%eed and increasing

%ower$ #deal for use with small electric motors$

WATCH ESCAPEMENT: The watch escapement is the centre of the time piece. It is the escapement which divides the time into equal segments. The balance wheel, the gold wheel, oscillates backwards and forwards on a hairspring (not shown) as the balance wheel moves the lever is moved allowing the escape wheel (green) to rotate by one tooth. The power comes through the escape wheel which gives a small 'kick' to the palettes (purple) at each tick. 0EA?S CAM FO++O>E?.

0EA?S: Gears are used to change s%eed in rotational movement$ #n the e4am%le above the blue gear has eleven teeth and the orange gear has twent" five$ .o turn the orange gear one full turn the blue gear must turn 5IP99 or 5$5J5Jr turns$ ;otice that as the blue gear turns clockwise the orange gear turns anti3clockwise$ #n the above e4am%le the number of teeth on the orange gear is not divisible b" the number of teeth on the blue gear$ .his is deliberate$ #f the orange gear had thirt" three teeth then ever" three turns of the blue gear the same teeth would mesh together which could cause e4cessive wear$ :" using none divisible numbers the same teeth mesh onl" ever" seventeen turns of the blue gear$ CAMS: +ams are used to convert rotar" motion into reci%rocating motion$ .he motion created can be sim%le and regular or com%le4 and irregular$ 1s the cam turns, driven b" the circular motion, the cam follower traces the surface of the cam transmitting its motion to the re2uired mechanism$ +am follower design is im%ortant in the wa" the %rofile of the cam is followed$ 1 fine %ointed follower will more accuratel" trace the outline of the cam$ .his more accurate movement is at the e4%ense of the strength of the cam follower$ S EAM EN0INE.

'team engines were the backbone of the industrial revolution$ #n this common design high %ressure steam is %um%ed alternatel" into one side of the %iston, then the other

forcing it back and forth$ .he reci%rocating motion of the %iston is converted to useful rotar" motion using a crank$ As the large wheel (the fly wheel) turns a small crank or cam is used to move the small red control valve back and forth controlling where the steam flows. In this animation the oval crank has been made transparent so that you can see how the control valve crank is attached. G. Strai"ht !ine "enerators' $esi"n o% Cran,&roc,er Mechanisms: Strai"ht +ine Motion Mechanisms: .he easiest wa" to generate a straight line motion is b" using a sliding %air but in %recision machines sliding %airs are not %referred because of wear and tear$ /ence in such cases different methods are used to generate straight line motion mechanisms: 1. E)act strai"ht !ine motion mechanism. a$ Peaucellier mechanism, b$ /art mechanism, c$ 'cott ,ussell mechanism 7. A**ro)imate strai"ht !ine motion mechanisms a$ *att mechanism, b$ Grassho%%ers mechanism, c$ ,oberts mechanism, d$ .chebicheffs mechanism a. .eauci!!ier mechanism : The pin Q is constrained to move long the circumference of a circle by means of the link OQ. The link OQ and the fixed link are equal in length. The pins P and Q are on opposite corners of a four bar chain which has all four links QC, CP, PB and BQ of equal length to the fixed pin A. i.e., link AB = link AC. The product AQ x AP remain constant as the link OQ rotates may be proved as follows: Join BC to bisect PQ at F; then, from the right angled triangles AFB, BFP, we have 1:=1&E&: and :P=:&E&P$ 'ubtracting, 1:3:P= 1&3&P=(1&)&P)(1&E&P) = 1( 4 1P $ Since AB and BP are links of a constant length, the product AQ x AP is constant. Therefore the point P traces out a straight path normal to AR. (. ?o(ert1s mechanism: This is also a four bar chain. The link PQ and RS are of e2ual length and the tracing %int BG is rigidl" attached to the link (, on a line which bisects (, at right angles$ .he best %osition for G ma" be found b" making use of the instantaneous centre of (,$ .he %ath of G is clearl" a%%ro4imatel" hori6ontal in the ,oberts mechanism$

a. .eauci!!ier mechanism

(. Hart mechanism

Unit II KINEMA ICS Fe!ocit# and Acce!eration ana!#sis o% mechanisms 50ra*hica! Methods/:

Nelocit" and acceleration anal"sis b" vector %ol"gons: ,elative velocit" and accelerations of %articles in a common link, relative velocit" and accelerations of coincident %articles on se%arate link, +oriolis com%onent of acceleration$ Nelocit" and acceleration anal"sis b" com%le4 numbers: 1nal"sis of single slider crank mechanism and four bar mechanism b" loo% closure e2uations and com%le4 numbers$ H. $is*!acement' ve!ocit# and acce!eration ana!#sis in sim*!e mechanisms: Im*ortant Conce*ts in Fe!ocit# Ana!#sis 9$ .he absolute velocit" of an" %oint on a mechanism is the velocit" of that %oint with reference to ground$ 5$ ,elative velocit" describes how one %oint on a mechanism moves relative to another %oint on the mechanism$ 7$ .he velocit" of a %oint on a moving link relative to the %ivot of the link is given b" the e2uation: N = r, where = angular velocit" of the link and r = distance from %ivot$ Acce!eration Com*onents #ormal Acceleration: An = 5r$ Points toward the center of rotation Tan$ential Acceleration: At = r$ #n a direction %er%endicular to the link Coriolis Acceleration: Ac = 5(drPdt)$ #n a direction %er%endicular to the link Slidin$ Acceleration: As = d5rPdt5$ #n the direction of sliding$ 1 rotating link will %roduce normal and tangential acceleration com%onents at an" %oint a distance, r, from the rotational %ivot of the link$ .he total acceleration of that %oint is the vector sum of the com%onents$ 1 slider attached to ground e4%eriences onl" sliding acceleration$ 1 slider attached to a rotating link (such that the slider is moving in or out along the link as the link rotates) e4%eriences all 8 com%onents of acceleration$ Perha%s the most confusing of these is the coriolis acceleration, though the conce%t of coriolis acceleration is fairl" sim%le$ #magine "ourself standing at the center of a merr"3go3round as it s%ins at a constant s%eed ()$ Sou begin to walk toward the outer edge of the merr"3go3round at a constant s%eed (drPdt)$ Even though "ou are walking at a constant s%eed and the merr"3go3round is s%inning at a constant s%eed, "our total velocit" is increasing because "ou are moving awa" from the center of rotation (i$e$ the edge of the merr"3go3round is moving faster than the center)$ .his is the coriolis acceleration$ #n what direction did "our s%eed increaseD .his is the direction of the coriolis acceleration$ .he total acceleration of a %oint is the vector sum of all a%%licable acceleration com%onents: A = An E At E Ac E As .hese vectors and the above e2uation can be broken into 4 and " com%onents b" a%%l"ing sines and cosines to the vector diagrams to determine the 4 and " com%onents of each vector$ #n this wa", the 4 and " com%onents of the total acceleration can be found$

I. 0ra*hica! Method' Fe!ocit# and Acce!eration *o!#"ons : 0ra*hica! ve!ocit# ana!#sis: #t is a ver" short ste% (using basic trigonometr" with sines and cosines) to convert the gra%hical results into numerical results$ .he basic ste%s are these: 9$ 'et u% a velocit" reference %lane with a %oint of 6ero velocit" designated$ 5$ <se the e2uation, N = r, to calculate an" known linkage velocities$ 7$ Plot "our known linkage velocities on the velocit" %lot$ 1 linkage that is rotating about ground gives an absolute velocit"$ .his is a vector that originates at the 6ero velocit" %oint and runs %er%endicular to the link to show the direction of motion$ .he vector, F1, gives the velocit" of %oint 1$ 8$ Plot all other velocit" vector directions$ 1 %oint on a grounded link (such as %oint :) will %roduce an absolute velocit" vector %assing through the 6ero velocit" %oint and %er%endicular to the link$ 1 %oint on a floating link (such as : relative to %oint 1) will %roduce a relative velocit" vector$ .his vector will be %er%endicular to the link 1: and %ass through the reference %oint (1) on the velocit" diagram$ I$ Gne should be able to form a closed triangle (for a 83bar) that shows the vector e2uation: F: = F1 E F:P1 where F: = absolute velocit" of %oint :, F1 = absolute velocit" of %oint 1, and F:P1 is the velocit" of %oint : relative to %oint 1$ 1J. Fe!ocit# Ana!#sis o% Four Bar Mechanisms: Problems solving in &our :ar !echanisms and additional links$ 11. Fe!ocit# Ana!#sis o% S!ider Cran, Mechanisms: Problems solving in 'lider +rank !echanisms and additional links$ 17. Acce!eration Ana!#sis o% Four Bar Mechanisms: Problems solving in &our :ar !echanisms and additional links$ 14. Acce!eration Ana!#sis o% S!ider Cran, Mechanisms: Problems solving in 'lider +rank !echanisms and additional links$ 1=. Kinematic ana!#sis (# Com*!e) A!"e(ra methods: 1nal"sis of single slider crank mechanism and four bar mechanism b" loo% closure e2uations and com%le4 numbers$

1@. Fector A**roach: ,elative velocit" and accelerations of %articles in a common link, relative velocit" and accelerations of coincident %articles on se%arate link 1B. Com*uter a**!ications in the ,inematic ana!#sis o% sim*!e mechanisms: +om%uter %rogramming for sim%le mechanisms 1G. Coincident *oints' Corio!is Acce!eration: Coriolis Acceleration: Ac = 5(drPdt)$ #n a direction %er%endicular to the link$ 1 slider attached to ground e4%eriences onl" sliding acceleration$

1 slider attached to a rotating link (such that the slider is moving in or out along the link as the link rotates) e4%eriences all 8 com%onents of acceleration$ Perha%s the most confusing of these is the coriolis acceleration, though the conce%t of coriolis acceleration is fairl" sim%le$ #magine "ourself standing at the center of a merr"3go3round as it s%ins at a constant s%eed ()$ Sou begin to walk toward the outer edge of the merr"3go3round at a constant s%eed (drPdt)$ Even though "ou are walking at a constant s%eed and the merr"3go3round is s%inning at a constant s%eed, "our total velocit" is increasing because "ou are moving awa" from the center of rotation (i$e$ the edge of the merr"3go3round is moving faster than the center)$ .his is the coriolis acceleration$ #n what direction did "our s%eed increaseD .his is the direction of the coriolis acceleration$ E)am*!e:1

Unit III KINEMA ICS OF CAM Cams: ."%e of cams, ."%e of followers, Dis%lacement, Nelocit" and acceleration time curves for cam %rofiles, Disc cam with reci%rocating follower having knife edge, roller follower, &ollower motions including '/!, <niform velocit", <niform acceleration and retardation and +"cloidal motion$

+ams are used to convert rotar" motion into reci%rocating motion$ .he motion created can be sim%le and regular or com%le4 and irregular$ 1s the cam turns, driven b" the circular motion, the cam follower traces the surface of the cam transmitting its motion to the re2uired mechanism$ +am follower design is im%ortant in the wa" the %rofile of the cam is followed$ 1 fine %ointed follower will more accuratel" trace the outline of the cam$ .his more accurate movement is at the e4%ense of the strength of the cam follower$ 1H. C!assi%ications & $is*!acement dia"rams Cam ermino!o"#:

.h#sica! com*onents: +am, follower, s%ring #*es o% cam s#stems: Gscilllating (rotating), translating #*es o% 8oint c!osure: &orce closed, form closed #*es o% %o!!o;ers: &lat3faced, roller, mushroom #*es o% cams: radial, a4ial, %late (a s%ecial class of radial cams)$ #*es o% motion constraints: Critical extreme position ) the %ositions of the follower that are of %rimar" concern are the e4treme %ositions, with considerable freedom as to design the cam to move the follower between these %ositions$ .his is the motion constraint t"%e that we will focus u%on$ Critical path motion ) .he %ath b" which the follower satisfies a given motion is of interest in addition to the e4treme %ositions$ .his is a more difficult (and less common) design %roblem$ #*es o% motion: rise, fall, dwell 0eometric and Kinematic *arameters: follower dis%lacement, velocit", acceleration, and 0erkF base circleF %rime circleF follower radiusF eccentricit"F %ressure angleF radius of curvature$ 1I. .ara(o!ic' Sim*!e harmonic and C#c!oida! motions: $escri(in" the motion: 1 cam is designed b" considering the desired motion of the follower$ .his motion is s%ecified through the use of 'N1? diagrams (diagrams that describe the desired dis%lacement3velocit"3 acceleration and 0erk of the follower motion)

7J. +a#out o% *!ate cam *ro%i!es: Drawing the dis%lacement diagrams for the different kinds of the motions and the %late cam %rofiles for these different motions and different followers$ '/!, <niform velocit", <niform acceleration and retardation and +"cloidal motions nife3edge, ,oller, &lat3faced and !ushroom followers$ 71. $erivatives o% Fo!!o;er motion: Nelocit" and acceleration of the followers for various t"%es of motions$ +alculation of Nelocit" and acceleration of the followers for various t"%es of motions$ 77. Hi"h s*eed cams: /igh s%eed cams 74. Circu!ar arc and an"ent cams: +ircular arc .angent cam 7=. Standard cam motion: 'im%le /armonic !otion <niform velocit" motion <niform acceleration and retardation motion +"cloidal motion

7@. .ressure an"!e and undercuttin": Pressure angle <ndercutting

Unit IF 0EA?S Gears are used to change s%eed in rotational movement$

#n the e4am%le above the blue gear has eleven teeth and the orange gear has twent" five$ .o turn the orange gear one full turn the blue gear must turn 5IP99 or 5$5J5Jr turns$ ;otice that as the blue gear turns clockwise the orange gear turns anti3 clockwise$ #n the above e4am%le the number of teeth on the orange gear is not divisible b" the number of teeth on the blue gear$ .his is deliberate$ #f the orange gear had thirt" three teeth then ever" three turns of the blue gear the same teeth would mesh together which could cause e4cessive wear$ :" using none divisible numbers the same teeth mesh onl" ever" seventeen turns of the blue gear$ 7B. S*ur "ear ermino!o"# and de%initions: S*ur 0ears: E4ternal #nternal Definitions 7G. Fundamenta! +a; o% toothed "earin" and Invo!ute "earin": Law of gearing #nvolutometr" and +haracteristics of involute action Path of +ontact and 1rc of +ontact +ontact ,atio +om%arison of involute and c"cloidal teeth 7H. Inter chan"ea(!e "ears' "ear tooth action' ermino!o"#: #nter changeable gears Gear tooth action .erminolog" 7I. Inter%erence and undercuttin": #nterference in involute gears !ethods of avoiding interference :ack lash 4J. Non standard "ear teeth: He!ica!' Beve!' >orm' ?ac, and .inion "ears 5Basics on!#/ /elical

:evel *orm ,ack and Pinion gears ?ACK AN$ .INION >O?M 0EA?

?ACK AN$ .INION: .he rack and %inion is used to convert between rotar" and linear motion$ .he rack is the flat, toothed %art, the %inion is the gear$ ,ack and %inion can convert from rotar" to linear of from linear to rotar"$ .he diameter of the gear determines the s%eed that the rack moves as the %inion turns$ ,ack and %inions are commonl" used in the steering s"stem of cars to convert the rotar" motion of the steering wheel to the side to side motion in the wheels$ ,ack and %inion gears give a %ositive motion es%eciall" com%ared to the friction drive of a wheel in tarmac$ #n the rack and %inion railwa" a central rack between the two rails engages with a %inion on the engine allowing the train to be %ulled u% ver" stee% slo%es$ >O?M 0EA?: 1 worm is used to reduce s%eed$ &or each com%lete turn of the worm shaft the gear shaft advances onl" one tooth of the gear$ #n this case, with a twelve tooth gear, the s%eed is reduced b" a factor of twelve$ 1lso, the a4is of rotation is turned b" RA degrees$ <nlike ordinar" gears, the motion is not reversible, a worm can drive a gear to reduce s%eed but a gear cannot drive a worm to increase it$ 1s the s%eed is reduced the %ower to the drive increases corres%ondingl"$ *orm gears are a com%act, efficient means of substantiall" decreasing s%eed and increasing %ower$ #deal for use with small electric motors$ 41. 0ear trains: Gear .rain :asics .he velocit" ratio, mN, of a gear train relates the out%ut velocit" to the in%ut velocit"$ &or e4am%le, a gear train ratio of I:9 means that the out%ut gear velocit" is I times the in%ut gear velocit"$ 47. .ara!!e! a)is "ear trains: Simple %ear Trains ) 1 sim%le gear train is a collection of meshing gears where each gear is on its own a4is$ .he train ratio for a sim%le gear train is the ratio of the number of teeth on the in%ut gear to the number of teeth on the out%ut gear$ 1 sim%le gear train will t"%icall" have 5 or 7 gears and a gear ratio of 9A:9 or less$ #f the train has 7 gears, the intermediate gear has no numerical effect on the train ratio e4ce%t to change the direction of the out%ut gear$

Compo&nd %ear Trains ) 1 com%ound gear train is a train where at least one shaft carries more than one gear$ .he train ratio is given b" the ratio m N = (%roduct of number of teeth on driver gears)P(%roduct of number of teeth on driven gears)$ 1 common a%%roach to the design of com%ound gear trains is to first determine the number of gear reduction ste%s needed (each ste% is t"%icall" smaller than 9A:9 for si6e %ur%oses)$ Gnce this is done, determine the desired ratio for each ste%, select a %inion si6e, and then calculate the gear si6e$ 'e(erted %ear Trains ) 1 reverted gear train is a s%ecial case of a com%ound gear train$ 1 reverted gear train has the in%ut and out%ut shafts in )line with one another$ 1ssuming no idler gears are used, a reverted gear train can be reali6ed onl" if the number of teeth on the in%ut side of the train adds u% to the same as the number of teeth on the out%ut side of the train$

44. E*ic#c!ic "ear trains: #f the a4is of the shafts over which the gears are mounted are moving relative to a fi4ed a4is , the gear train is called the e%ic"clic gear train$ Problems in e%ic"clic gear trains$

4=. $i%%erentia!s: <sed in the rear a4le of an automobile$ .o enable the rear wheels to revolve at different s%eeds when negotiating a curve$ .o enable the rear wheels to revolve at the same s%eeds when going straight$ .ro(!em:

Unit F F?IC ION 4@. Sur%ace contacts: :asic laws of friction Pivot and collar, introduction and t"%es$ Problem on flat %ivot, Problems on conical %ivot$ 4B. S!idin" and ?o!!in" %riction: 'liding contact bearings ,olling contact bearings Problems in bearings 4G. Friction drives: &riction drives Positive drives and 'li% drives '%eed ratio 4H. Friction in scre; threads: &riction in screw and nut &riction in screw 0ack Problems in screw 0ack 4I. Friction c!utches: 'ingle %late clutches and !ulti3%late clutches <niform wear theor" and <niform %ressure theor" Problems in clutches =J. Be!t and ro*e drives: :elt drives, G%en belt drives and +rossed belt drives Length of the belt and 1ngle of la% Power transmitted b" a belt drive Problems in belt drives =1. Friction as*ects in Bra,es: :rakes, ."%es !echanical brakes, band brakes :raking tor2ue calculations 'elf locking brakes Problems in brakes =7. Friction in vehic!e *ro*u!sion and (ra,in": Nehicle d"namics Nehicle %ro%ulsions :raking as%ects in vehicles