Design Sequence Kinematics

PEMP
MMD2514
Design Sequence.. Kinematics

Session delivered by:
Dr. Arun R. Rao
M.S. Ramaiah School of Advanced Studies, Bengaluru
PEMP
MMD2514
Session Objectives
At the end of the session, the students would have understood
about
Design Sequence for Power Transmission
Power and Torque Requirements
Gear Specification
Shaft
Force Analysis
Material Selection
Design for Stress
Design for Deflection
Bearing Selection
key and retaining ring Selection
Final Analysis
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Design Sequence for Power Transmission
MMD2514
Transmission of power from a source, such as an engine or motor,

through a machine to an output actuation is one of the most
common machine tasks.
An efficient means of transmitting power is through rotary motion
of a shaft that is supported by bearings. Gears, belt pulleys, or chain
sprockets may be incorporated to provide for torque and speed
changes between shafts.
Most shafts are cylindrical (solid or hollow), and include stepped
diameters with shoulders to accommodate the positioning and
support of bearings, gears, etc.
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Power Transmission
The design of a system to transmit power requires attention to
the design and selection of individual components (gears,
bearings, shaft, etc.). However, as is often the case in design,
these components are not independent.
For example, in order to design the shaft for stress and
deflection, it is necessary to know the applied forces. If the
forces are transmitted through gears, it is necessary to know the
gear specifications in order to determine the forces that will be
transmitted to the shaft. But stock gears come with certain bore
sizes, requiring knowledge of the necessary shaft diameter.
Design Sequence
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MMD2514
Design is an iterative process in which it is necessary to make some

tentative choices, and to build a skeleton of a design, and to
determine which parts of the design are critical. However, much
time can be saved by understanding the dependencies between the
parts of the problem, allowing the designer to know what parts will
be affected by any given change.
Power and torque requirements: Power considerations should
be addressed first, as this will determine the overall sizing needs
for the entire system. Any necessary speed or torque ratio from
input to output must be determined before addressing gear/pulley
sizing
Gear specification: Necessary gear ratios and torque
transmission issues can now be addressed with selection of
appropriate gears. Note that a full force analysis of the shafts is
not yet needed, as only the transmitted loads are required to
specify the gears.
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Shaft layout: The general layout of the shaft, including axial

location of gears and bearings must now be specified. Decisions
on how to transmit the torque from the gears to the shaft need to
be made (keys, splines, etc.), as well as how to hold gears and
bearings in place (retaining rings, press fits, nuts, etc.). However,
it is not necessary at this point to size these elements, since their
standard sizes allow estimation of stress concentration factors
Force analysis: Once the gear/pulley diameters are known, and
the axial locations of the gears and bearings are known, the freebody, shear force, and bending moment diagrams for the shafts
can be produced. Forces at the bearings can be determined
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Material selection: Design depends so heavily on the material

choice, it is usually easier to make a reasonable material
selection first, then check for satisfactory results
Design for stress: At this point, a stress design of the
component or shaft should look very similar to a typical
design problem. Shear force and bending moment diagrams are
known, critical locations can be predicted, approximate stress
concentrations can be used, and estimates for shaft diameters
can be determined.
Design for deflection: Deflection analysis is dependent on the
entire shaft geometry, it is saved until this point. With all shaft
geometry now estimated, the critical deflections at the bearing
and gear locations can be checked by analysis
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Bearing selection: Specific bearings from a catalog may now

be chosen to match the estimated shaft diameters. The
diameters can be adjusted slightly as necessary to match the
catalog specifications
Key and retaining ring selection: With shaft diameters
settling in to stable values, appropriate keys and retaining
rings can be specified in standard sizes. This should make
little change in the overall design if reasonable stress
concentration factors were assumed in previous steps
Final analysis: Once everything has been specified, iterated,
and adjusted as necessary for any specific part of the task, a
complete analysis from start to finish will provide a final
check and specific safety factors for the actual system
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Machine
It is a combination of resistant bodies
so arranged that by their means the
mechanical forces of nature can be
compelled to do work accompanied
by certain determinate motion
Structure
It is also a combination of resistant
bodies connected by joints, but its
purpose is not to do work or to
transform motion. A structure is
intended to be rigid
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Machine
A machine is a mechanism or group of mechanism used to
perform useful work. Its chief function is to adopt a source of
power to some specific work requirement
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Mechanisms
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A mechanism is a constrained kinematic chain. Motion of any one link in the

kinematic chain will give a definite and predictable motion relative to each of the
others. Usually one of the links of the kinematic chain is fixed in a mechanism
Planar Mechanisms
When all the links of a mechanism have plane motion, it is called as a planar
mechanism. All the links in a planar mechanism move in planes parallel to the
reference plane.
Water Pumping Mechanism
Hydraulic Door retracting Mechanism
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Mechanisms
Mechanisms are the mechanical
portion of machines that have
the function of transferring
motion and forces from a power
source (motor) to an output
A mechanism may, in general,
be considered a collection of
parts that are arranged and
connected so that they produce
the desired motion of the
machine
The primary purpose of most
mechanisms analyses is to
ensure that the device will
exhibit motion that will
accomplish the desired purpose
of the machine
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Why Kinematic Analysis

of Mechanism?
Determine appropriate movements
Determine an assembly configuration of

mechanism components
Subsequent analysis of the component

motions (kinematics) for proper allaround operation of the mechanism
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MECHANISMS AND STRUCTURES

The degree of freedom of an assembly of links completely predicts its character.
There are only three possibilities.
If the DOF is positive, it will be a mechanism, and the link will have relative
motion.
If the DOF is exactly zero, then it will be a structure, and n motion is possible.
If the DOF is negative, then it is a preloaded structure, which means that no
motion is possible and some stresses may also be present at the time of assembly
Figure shows examples of these three cases. One link is grounded in each case.
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Element or Link
Each part of a machine which has motion relative to some other
parts is termed an element or link
A link need not necessarily be rigid body, but it must be a resistant
body
E.g: incompressible fluids, belt, rope, chain etc
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Kinematic Pairs
Kinematic pairs may be classified as higher and lower pairs
Higher pair are the ones consisting of line or point contact
while in motion as in the case of a roller or ball bearing
Lower pair are the ones consisting of surface contact
between two links as in pin joint or a slider
Lower Pairs may be classified as turning pairs, sliding pairs,
spherical pairs, screw or helical pairs and rolling pairs
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Based on nature of contact between elements

Lower pair
The joint by which two members are connected has surface contact.
Higher pair
The contact between the pairing elements takes place at a point or along a line.
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Kinematic Pairs
Sliding Pair Two elements are so connected that one is
constrained to have a sliding motion relative to the other
Screw Pair When one element turns about the other element by
means of threads, it forms a screw or helical pair
E.g.. Bolt and nut
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Kinematic Pairs
Turing Pair when two element are so connected that one
is constrained to turn about a fixed axis of other it forms a
turning pair
E.g.. Crank Shaft turning in a bearing
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Spherical Pair- when one element is in the form of sphere turns

about the other fixed element it forms a spherical pair
E.g.. Ball and Socket joint
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Rolling Pair when two elements are so connected that one is

constrained to roll in other fixed element it forms a rolling pair
E.g.. Ball and roller bearing
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Lower Pairs
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Lower Pairs
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Higher Pair Joints
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Higher Pairs
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Planar Mechanism
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Spherical Mechanisms
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Spatial Mechanisms
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Constrained Motion
one element has got only one definite motion relative to the other
Completely constrained motion
Incompletely
constrained motion
Successfully constrained motion
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Kinematic Chain
A Kinematic chain is any group of links connected together for the

purpose of transmitting forces or motions
Locked Kinematic chain is an arrangement of links such that no link can
move relative to the other links in the chain
Constrained Kinematic Chain is an arrangement of links such that a
movement of one link causes a definite predictable movement of the other
links
Unconstrained Kinematic Chain is an arrangement of links such that a
movement of one link does not cause a predictable movement of the other
links
Inversions
By making a different link in a kinematic chain the fixed member, we
obtain a different mechanism. Thus any one of the links may be arbitrarily
selected as the fixed link, and each arrangement is an inversion of the
others
Inversion of a kinematic linkage or mechanism is observing the motion of
the members of the mechanism with fixing different links as reference
frame. Each time when a different link is chose as the frame link the
mechanism shows different characteristics of the motion.
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Types Kinematic Chain
Locked
Kinematic chain
Constrained
Kinematic chain
Un-constrained
Kinematic chain
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Quadratic Chain
Quadratic chain is a four links kinematic chain
Four bar chain and its inversion
A four bar mechanism is a mechanism having four rigid links
with one link fixed, the chain consists of four turning pairs
The fixed link is referred to as the frame
The rotating link is called the driver or crank
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Quadratic Chain
The other rotating link is called the follower or rocker
The floating link is called the connecting rod
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Four Bar Chain Mechanism
The four-bar mechanism is called as a kinematic chain. In this

planar mechanism, four links are constrained by four cylindrical
joints. When one link is fixed or grounded, the motion of a second
link determines the motion of the third and fourth links
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Inversions of 4-bar Chain mechanism
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Inversions of 4-bar chain mechanism
CRANK-ROCKER MECHANISM
DRAG LINK MECHANISM
DOUBLE CRANK MECHANISM

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MMD2514
Applications of 4-bar chain Mechanism
Sheet Metal Shear (Mechanical Workshop)
Backhoe Excavator
Door Mechanism
Brake of a Wheelchair
Folding sofa
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Linkages of more than 4 bars
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More than 4 Link Mechanisms
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Slider Crank Mechanism

Crank
arm
Crank pin
Connecting rod
Cylinder x
Crankshaft
Gudgeon
pin
Piston
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Single slider crank Mechanism
The function of the reciprocating engine is to convert the

reciprocating motion into rotary motion. It is a simplest from of
single slider crank chain mechanism. In reciprocating engine there
is one sliding pair and three turning pairs. In figure there are three
turning pairs and the sliding pair is formed between the cross head
and the guides. Link 1 is fixed (frame). Link 2 will act as a crank,
which rotates. Link 3 is a connecting rod and link 4 is a crosshead.
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lnversions of slider crank chain
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Multi-cylinder Engine- an inversion of slider crank

mechanism
Inlet & outlet
valves
Fuel
and air
Pistons
Crank shaft
Spark plug
Compressed
fuel and air
Connecting rods
Crank arms
Crankshaft piston
assembly
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Pendulum pump or bull engineIII inversion of slider crank mechanism (slider fixed)
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Oscillating Cylinder Engine

Inversion is obtained by fixing the link CD as shown in fig
As the crank rotates about C the slotted link AB slides over
the die block which is pivoted to the fixed link at D
The mechanism of oscillating cylinder engine is based
upon it
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Oscillating Cylinder Engine
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Whitworth Quick Return Mechanism
The inversion is obtained by fixing the link BC. It is used in a number of applications
such as slotting and shaping machines
The crank CD rotates at uniform speed. The die block D slides along the slotted link
AB and causes this to revolute about B with variable speed
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Crank and slotted lever quick return motion mechanism
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Double Slider Crank Chain and its

Inversions
The kinematic chain consists of two turning and two

sliding pair
Two slide block A and B slide along slots in a frame S and
the pins A and B on the slide blocks are connected by the
link AB as shown
Such a Kinematic chain has three inversions
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Elliptical Trammel
It is an instrument for drawing ellipses. The slotted frame S is fixed. Any

point, such as P on the link AB except the midpoint of AB will trace an ellipse
as the slide blocks A and B slide along their respective slots
AC = p and BC = q,
then, x = q.cos and y = p.sin.
Rearranging,
The equation of an ellipse with centre at O is given by

sin2 + cos2 = x2 / a2 + y2/ b2 = 1
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Oldhams Coupling
Second inversion is obtained by fixing the link AB as
shown
For a given angular displacement of any one of the slide
block, the frame and other block will turn through the same
angular displacement
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Scotch Yoke Mechanism
Third inversion is
obtained by fixing any
one of the two blocks
A or B as shown in fig.
The link AB can rotate
about A as centre and
thus cause the frame to
reciprocate
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Scotch Yoke Mechanism
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Straight line motion mechanisms
Condition for perfect steering
Locus of pt.C will be a straight

line, to AE if, AB AC
is constant.
Proof: AEC ABD
AD AB
=
AC AE
AB AC
AE =
AD
butAD = const.
AE = const., ifAB AC = const.
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Peaucellier mechanism
Roberts mechanism
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Pantograph
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Tongs Mechanism
Drafter Mechanism
Watts Mechanism
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Toggle mechanism
Considering
the
equilibrium condition of
slider 6,
F
2
P
F = 2 P tan
tan =
For small angles of , F is

much smaller than P.
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Intermittent Motion Mechanisms
Geneva Mechanism
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Ratchet and pawl mechanism
Application of Ratchet Pawl

mechanism
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Ratchet and pawl mechanism
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Other Intermittent Motion Mechanism
Escapement
Mutilated Gear
Elliptical Gears
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Session Summary
Design sequence
Fundamentals of kinematics ,Types of motion, Links, Joints
Kinematic-chains,
Mechanisms, Structure,
Intermittent
motion Inversions, Four bar linkage and Inversions Slider
Crank Mechanism and Inversions, Straight-line Motion
Mechanisms
Multiple linkage Mechanism

Design Sequence Kinematics

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Design Sequence Kinematics

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PEMP

Design Sequence.. Kinematics

Dr. Arun R. Rao

M.S. Ramaiah School of Advanced Studies, Bengaluru

Design Sequence for Power Transmission

Transmission of power from a source, such as an engine or motor,

M.S. Ramaiah School of Advanced Studies, Bengaluru

M.S. Ramaiah School of Advanced Studies, Bengaluru

Design is an iterative process in which it is necessary to make some

Shaft layout: The general layout of the shaft, including axial

M.S. Ramaiah School of Advanced Studies, Bengaluru

Material selection: Design depends so heavily on the material

M.S. Ramaiah School of Advanced Studies, Bengaluru

Bearing selection: Specific bearings from a catalog may now

M.S. Ramaiah School of Advanced Studies, Bengaluru

M.S. Ramaiah School of Advanced Studies, Bengaluru

M.S. Ramaiah School of Advanced Studies, Bengaluru

A mechanism is a constrained kinematic chain. Motion of any one link in the

Water Pumping Mechanism

Hydraulic Door retracting Mechanism

M.S. Ramaiah School of Advanced Studies, Bengaluru

Why Kinematic Analysis

Determine appropriate movements

Determine an assembly configuration of

Subsequent analysis of the component

M.S. Ramaiah School of Advanced Studies, Bengaluru

MECHANISMS AND STRUCTURES

M.S. Ramaiah School of Advanced Studies, Bengaluru

M.S. Ramaiah School of Advanced Studies, Bengaluru

M.S. Ramaiah School of Advanced Studies, Bengaluru

Based on nature of contact between elements

M.S. Ramaiah School of Advanced Studies, Bengaluru

M.S. Ramaiah School of Advanced Studies, Bengaluru

M.S. Ramaiah School of Advanced Studies, Bengaluru

Spherical Pair- when one element is in the form of sphere turns

M.S. Ramaiah School of Advanced Studies, Bengaluru

Rolling Pair when two elements are so connected that one is

M.S. Ramaiah School of Advanced Studies, Bengaluru

M.S. Ramaiah School of Advanced Studies, Bengaluru

M.S. Ramaiah School of Advanced Studies, Bengaluru

M.S. Ramaiah School of Advanced Studies, Bengaluru

Higher Pair Joints

M.S. Ramaiah School of Advanced Studies, Bengaluru

M.S. Ramaiah School of Advanced Studies, Bengaluru

M.S. Ramaiah School of Advanced Studies, Bengaluru

M.S. Ramaiah School of Advanced Studies, Bengaluru

M.S. Ramaiah School of Advanced Studies, Bengaluru

Successfully constrained motion

M.S. Ramaiah School of Advanced Studies, Bengaluru

A Kinematic chain is any group of links connected together for the

Types Kinematic Chain

M.S. Ramaiah School of Advanced Studies, Bengaluru

M.S. Ramaiah School of Advanced Studies, Bengaluru

M.S. Ramaiah School of Advanced Studies, Bengaluru

Four Bar Chain Mechanism

The four-bar mechanism is called as a kinematic chain. In this

Inversions of 4-bar Chain mechanism

M.S. Ramaiah School of Advanced Studies, Bengaluru

Inversions of 4-bar chain mechanism

DRAG LINK MECHANISM

DOUBLE CRANK MECHANISM

Applications of 4-bar chain Mechanism

Sheet Metal Shear (Mechanical Workshop)

Linkages of more than 4 bars