Week 1 Lecture Slides PDF

Objectives
Dr Oliver Kennedy - Office: 8.109

E-mail: oliver@uow.edu.au
A/Prof Weihua Li Office: 8.110

E-mail: weihuali@uow.edu.au
Week 1
Topics
Mechanism synthesis
Kinematics (motion) & Kinetics (force) of
simple mechanisms in Plane Motion
graphical and analytical velocity and
acceleration analysis
Superposition
Virtual work
Energy method
CAD mechanism design & analysis
Balancing rotating masses
Week 1
Analyse rigid bodies in plane motion

Classify plane mechanisms, determine
mobility and carry out basic mechanism
synthesis
Understand the kinematics of plane
mechanisms
Analyse the forces acting on plane
mechanisms
Solve a kinematic or kinetic problem using
analytical, graphical or software tools
Week 1
Subject mind map
Week 1
Text/Reference Books
Subject mind map
Text book
R L Norton - Design of Machinery, 5th
Edition
References:
Hibbler - Engineering Mechanics Dynamics (or similar)
Mabie & Reinholtz Mechanisms and
Dynamics of Machinery, 4th edition (call
no 621.8/51)
Week 1
Lecture/Tutorial Times
MECH226 reference matls
Lecture Time
Books in the library with call numbers

around 621.81 may be of interest
Thursday 10.30 12.30
Kinematic design of machines and

mechanisms H D Eckhardt
Dynamics of machinery - J Hirschorn
Ingenious mechanisms for designers and
inventors F D Jones
Mechanisms and mechanical devices
sourcebook ed. Chironis & Slater
Week 1
Week 1
Tutorial Times
Group 1: Thursday
Group 2: Thursday
Group 3: Friday
Group 4: Friday
20.3
14.30 16.30
14.30 16.30
08.30 10.30
13.30 15.30
19.G024
8.G10
1.G05
24.103
You can register and check your tutorial group via

SOLs
7
Week 1
Labs (details to be finalised)
Labs
Five Practical classes have been timetabled for this
subject
Lab 1 (6-G09)
weeks 3 & 4 (groups of 4, 20 per session)
Prac 1:
Prac 2:
Prac 3:
Prac 4:
Prac 5:
Lab 2 (6-G09)
week 7 (groups of 3, 30 per session)
Lab 3 (6-G09)
weeks 10 & 11 (groups of 3, 30 per session)
13.30-14.30
16.30-17.30
10.30-11.30
11.30-12.30
12.30-13.30
Still sorting out arrangements for these will set

up self enrolling on Sols email me if you have any
specific needs / timetable clashes
Labs 1 & 2 are 1 hour duration, Lab 3 runs for 2 hours.

Week 1
Thur
Thur
Fri
Fri
Fri
10
Week 1
MECH226 - Assessment
Labs
If you are repeating the subject you may be
permitted to carry over previous marks for
Labs 1 and 2 and be exempt those labs this
time.
1 mid session quiz (of tutorial type problems),

held in the lecture timeslot (week 8) 16%
6 tutorial handins weeks 2, 4, 6, 9, 11 & 13 6%
3 labs:
Please see and/or email me if you want to

consider this option.
For difficulties regarding enrolling in tutes or
labs please see me.
Inertia Determination
week 3 & 4
5%
Cam Profile
week 7
10%
Engine Dismantling
weeks 10 & 11 18%
Final Exam - 45%

Week 1
11
Week 1
12
MECH226 - general
NB PCs no longer exist - may get WS (possible

PS after supp) if close to a pass
TF criteria not applied in this subject this time
Penalties for late submission (5% of max mark
per calendar day late)
Safety (in labs) you will not be permitted to
work in labs with open footwear (thongs,
sandals )
Students with disabilities
Plagiarism
Supplementary Examinations...
Week 1
13
MECH226 - general
Email Etiquette
When sending formal email to the subject coordinator,
lecturers or tutors, please ensure that you include; a
useful descriptive heading, address the recipient in a
professional manner and include a detailed succinct
email outlining your question/issue/problem and finally
sign off with your full name and student number.
Emails from email accounts other than UoW will not
be replied to for privacy/security reasons. Also, please
allow adequate time for a reply to your email to be
returned (generally within 2-3 days).
Week 1
14
Weekly program
Weekly program
Tutorial Quizzes, Mid session and

final exams are closed book
Week 1
15
Week 1
16
Past Results - 2007
Past Results - 2008
MECH226 2007: Average Mark: 58.74%
Machine Dynamics Average Mark: 58.22%

30
35
Number of Students
Number of Students
40
30
25
20
15
10
5
25
20
15
10
5
0
F
F
10.5%
PC
3.9%
PC
P
48.7%
C
26.3%
D
6.6%
HD
2.6%
HD
enrolled
ungraded
Week 1
76
1
17
F
12.0%
PC
9.6%
PC
P
31.3%
P
C
20.5%
C
D
16.9%
D
HD
7.2%
HD
enrolled
ungraded
83
2
Week 1
18
Past Results
Week 1
35%
2010
2009
30%
Introduction, Kinematics
Fundamentals
25%
20%
15%
10%
5%
0%
TF
PC
P
C
Overall - 2731
Week 1
HD
19
Week 1
20
Overall Purpose
Kinematics and Kinetics
To develop our ability to design variable

mechanism solutions to real, unstructured
engineering problems by using a design
Kinematics: the study of motion

without regard to forces
Synthesis of mechanisms to accomplish

desired motions or tasks
Analysis of mechanisms to determine
their rigid-body dynamic behavior
The above relates to kinematics and
kinetics
Kinetics: the study of forces in

mechanisms in motion
process
Week 1
Newtons second law: F = ma
plus the transmitted forces
21
Mechanisms and machines
Week 1
22
Mechanisms and machines
Mechanism: A means of transmitting,
Machine: A machine contains mechanisms

that are designed to provide significant
forces and transmit significant power
controlling, or constraining relative

movement (cams, gears, belts, chains,
etc.)
Week 1
displacement, velocity, and acceleration
(car, bike, tank, etc.)
23
Week 1
24
3 bar mechanisms
Mechanism types
There is an infinite variety of mechanisms,
but only a limited number of mechanism
types we need to be concerned with
3 bar mechanisms (such as cam & follower
systems and gear pairs)
4 bar mechanisms of several varieties
Additional driving linkages are often
required resulting in 6 bar and higher
orders however these can usually be
understood and analysed as assemblies of 3
and 4 bar mechanisms
Week 1
25
Week 1
26
Kinematics Fundamentals
4 bar mechanisms
Degree of freedom (DOF)

Types of motions: rotational and
translation. planar (2-D) kinematic
systems
Links, joints, kinematic chains

Mobility (degree of freedom) in
planar mechanisms
Week 1
27
Week 1
28
Degree of freedom: the number of independent

parameters needed to uniquely define systems position
in space at any instant of time. A rigid body in space has
6 DOF. A rigid body in a plane has 3 DOF
Week 1
29
30
Types of Links
Links
A link is a rigid body that possesses at least two
nodes that are points for attachment to other
links
Binary link: one with two nodes
Ternary link: one with three nodes
Quaternary link: one with four nodes
Week 1
Week 1
31
Crank: a link that makes a complete

revolution and is pivoted to the ground
Rocker: a link that has oscillatory (back and
forth) rotation and is pivoted to ground
Coupler (connecting rod): a link that has
complex motion and is not pivoted to ground
Ground: any link or links that are fixed
(nonmoving) with respect to the reference
frame
Week 1
32
Joints
Joints
A joint is a connection between two or more

links (at their nodes). Joints also called
Kinematic pairs
Joint types:
Lower Pair (surface contact in joint)

Higher Pair (rolling, point or line contact in
the joint)
Joints may be form closed (closed by its
geometry)
Or force closed (required external force
to keep it together or closed)
Week 1
33
Week 1
Joints
Kinematic Chain
Is an assembly of links connected by

means of pairs (joints)
Week 1
34
35
Locked chain (no motion is possible

structure)
A constrained chain (relative motion
between the links is the same at the
same phase of any cycle)
An unconstrained chain (no repeated
motion cycle is guaranteed)
Week 1
36
Mobility (or Degrees of Freedom)
The mobility of a mechanism is the

number of degrees of freedom it
possesses or the minimum number of
independent parameters (or
inputs/drives) required to completely
specify the location of every link within
the mechanism.
Grueblers Equation (2.1c in text, p.40)
may be used to determine the mobility
Mobility (Grueblers Eqn)
M 3L 1 2 J1 J 2
Where:
M = mobility
L = number of links (incl. the ground)
J1 = number of 1 degree of freedom joints
J2 = number of 2 degrees of freedom joints
(or half joints)
NB: where k links connect at a single joint, it
must be counted as k-1 joints
37
Week 1
Mobility Examples
Week 1
Mobility Examples
L=3, J1=2, J2 =1
M=3*(3-1)-2*2-1=1
L=4, J1=4
L=3, J1=3
L=2, J1=2
M=3*(4-1)-2*4=1
M=3*(3-1)-2*3=0
M=3*(2-1)-2*2=-1
Week 1
38
39
L=4, J1=4
M=3*(4-1)-2*4=1
Week 1
40
Mobility Examples
Summary: Mobility (Grueblers Eqn)

M > 1 may be an unconstrained mechanism
(has M deg of freedom, needs M inputs)
M = 1 a constrained mechanism
M = 0 a statically determinate structure
M < 0 a statically indeterminate (or preloaded)
structure
{Caution needs to be exercised, as there are numerous
exceptions (paradoxes section 2.8 of text) to Grueblers
Eqn resulting from special geometry (e.g. parallel links ..),
need to use your engineering intuition}
L=8, J1=10
L=6, J1=7, J2=1
M=3*(8-1)-2*10=1
M=3*(6-1)-2*7-1=0
Week 1
41
Paradoxes
Week 1
42
Synthesis of mechanisms
Most of the theoretical work in this
subject (mech226) focuses on the
analysis of a given mechanism.
Important in determining whether the
motion is satisfactory, magnitude of
forces, design of components etc.
However, SYNTHESIS is the
important step that comes before this.
Week 1
43
Week 1
44
Can be a mix of inspiration (aided by

referring to some source materials .. ) and
theory.
Some mechanisms may be designed to carry
out computational tasks (Function
Generation, e.g. the integrator in section
2.16 of M&R) and rely heavily on theory to
develop the dimensions of the links.
Other approaches use prescribed locations
of the output link to develop the rest of
the mechanism (Path and Motion Generation)
We will only consider some simple cases of

graphical (and analytical) design of 4 bar
mechanisms for the 2 and 3-precisionposition cases (path & motion generation ..)
Dealt with in considerably more detail in
Chapters 3 & 5 of the text (and sections 11.5
to 11.7 incl. of M & R)
Week 1
45
Synthesis 2 Position
Week 1
46
It is often
desirable that
this range of
motion be
driven by a
completely
rotating crank
(say on an
electric motor)
One simple case concerns the control

of the range of angular motion
experienced by the output link.
Examples:
Week 1
Closing door
problem
47
required range of motion

for output link
Link 4
Week 1
48
Link 3
Link 2
Link 3
Link 2

for output link
Link 4

for output link
Link 4
This can be arranged by placing the crank pivot somewhere

along the line passing through the extreme positions of the
output link.
The crank size is determined from the radius of the circle
passing through the same extreme positions.
Week 1
The user is free to locate the pivot point of link 2 anywhere

along the dotted line, the choice dictates the length of link 3.
Link 3 may also be called the coupler.
49
R2
NB: links 2 and 3, together, are sometimes called a dyad,

and can be set up in a similar fashion to this in other
mechanisms to cause a mechanism to oscillate between
required limits.
Week 1
Length of link 3
101.32
83.2
83.2
R1
50
65.03

for output link
required range of
motion for output link
Link 4
Link 4
R18.15
For a pre-determined
fixed pivot position
Length of link 2
IF it is necessary to control the position of the pivot of

the driving dyad, a similar but slightly more complex
method can be used to find the required lengths of links 2
& 3. It is again based on the min & max distances to the
extreme locations of the output link.
Link 2 = (R2 R1)/2 .. Link 3 = (R1 + R2)/2
Week 1
51
Sample solution for the previous problem NB this

arrangement means different times for the forward and
reverse motions of the output link (for a constant speed
of the crank link 2) may be desirable in some cases.
Week 1
52
Synthesis Limiting Conditions
Toggle Points & Transmission Angles
(section 3.3 of text)
In designing a mechanism there are a couple of simple

limiting conditions that should be considered:
Toggle positions (limit, or stationary point) where 2
connected links become collinear. The preceding
mechanism has 2, however in that case it doesnt prevent
link 2 from completing its rotation. In many cases a
toggle position locks the mechanism (and can be used to
advantage).
Transmission angle the smaller angle between the
coupler and the driven link (usually links 3 and 4
respectively). To avoid excessive force and friction being
generated at the pin, this angle should be kept between
45 and 135 degrees.
Week 1
Transmission
Angles
83.2
83.2
Toggle Points
required range of
motion for output link
Link 4
R18.15
53
Week 1
Synthesis 2 Position coupler link

A2
A1
Required 2 positions
of link 3, or coupler
B1
The motion of the coupler is usually the most

complex and interesting of the 3 moving
links, (not being confined to pure circular
arcs) and hence maybe what the designer
wants to control (& exploit).
Week 1
55
54
B2
This motion can be

achieved by
bisecting the
intended pivot
points (A & B) on
this link, and
pivoting the
connecting links
somewhere along
the respective
centrelines..
In this case one simple solution could be to place a

single link pivoting at the intersection of both
centrelines
Week 1
56
A2
A2
A1
A1
Link 3
Link 4
B1
Link 2
B2
B2
Hence Link 2 cant be used to drive this mechanism.
One possible solution (not really a coupler link)

Week 1
B1
An alternate
solution, NB
links 3 & 4 are
in a toggle
position at
state 1. The
mechanism is
locked, and
cant move
further to the
left.
57
Week 1
58
A2
A1
Link 3
Link 4
Link 2
B1
B2
A dyad can be used to drive link 3 between the 2 limits,

as shown above.
NB many other dyads could be used, incl. fixed pivot
Week 1
59
The next level of complexity is introduced

when the position of the coupler link is
specified in 3 locations.
The same geometrical procedure is used (i.e.
bisecting the lines connecting pivot point
locations) however in this case 2 lines are
generated for each point.
The intersection of these 2 lines gives a unique
solution in this case.
Week 1
60

A desired sequence of
moves for a door (with
connection points
nominated)
One possible
situation where
3 points are
defined - where
it is desired
develop a
mechanism to
close a hatch
with a final
motion close to
vertical.
Week 1
61

connection points
nominated)
This analysis guarantees that

mechanism can be assembled in the
3 nominated positions.
However this does not mean it will
be capable of moving smoothly
between the 3 positions.
A 4 bar mechanism can be assembled in one of 2

different branches. It is quite possible that one of
the three chosen positions is actually on a different
branch.
connection points
nominated)
The red and blue

dashed
construction
lines indicate
how the length
and location of
the pivot point
points for the
hinge links can
be determined.
Week 1
62
Provided the coordinates of the chosen pivot
points on the coupler link having the defined
motion are known,
the equations presented in section 11.7 of M & R
(Eqs 11.23 and 11.24) may be set up in a
spreadsheet and solved simultaneously to
determine the required geometry of the
mechanism.
There are some similar equations provided in the
text (ch. 5) based on complex number
representation of the linkages.
Something to be aware of and check for (build a

model, use a computer simulation)
Week 1
63
Week 1
64
Controlling the location of the Fixed Pivots

The previous analysis starts with a selection of
pivot points on the moving coupler link, and
results in finding the location of the fixed
pivots and the lengths of the connecting links.
Sometimes it is necessary to choose the fixed
pivot locations first, then find out where the
connecting points on the coupler link should be
located.
An inversion of the previous analysis can be
used to give this result.
Week 1
A2
These figures show

the apparent motion
of the fixed pivot
points with respect
to the hatch.
A3
The 3rd figure shows

the ground as a
brown bar, moving
with respect to a
fixed hatch (or
door).
B1
B3
B2
A1
A2
A3
B1
B3
B2
Week 1

connection points
nominated)
Chosen positions
of Fixed Pivots
65
A1
67
Week 1
The red & blue

pivots indicate
desired fixed
pivot locations
in this case.
The analysis is
based on finding
the apparent
motion of these
points, as seen
by someone
moving with the
hatch
66

A1
A2
A3
B1
B3
B2
The blue and red construction lines show the new pivot
locations required on the door.
Some extensions to the door would be required to make
this possible (as well as branch compatibility being
checked).
Week 1
68
Example 3-7:
p. 113-116
A possible
outcome
moves for a door (with NB it looks
connection points
like this
nominated)
mechanism
will lock
ie: continuous
motion between
these positions
will not be
possible
different fixed
positions need to
be selected
Chosen positions
of Fixed Pivots
Week 1
69
Example 3-7:
p. 113-116
Week 1
70
Transmission of Motion
A fundamental characteristic of
mechanisms is that they transmit
motion from one link (input link) to
another (output link).
This may occur via direct contact
between the input and output links
(pair of gears, or cam and follower) or
via a third intermediate link
(connecting rod, belt or chain)
Week 1
71
Week 1
72
May be via direct contact (gears, cam &
follower)
The transmission line is common normal

where the components contact
Via an intermediate link (link 3 in a 4-bar

linkage)
The transmission line between links 2 &

4 is defined by the line of link 3
Via a flexible link (belt or chain)
The transmission line is the line of the

belt or chain
Week 1
73
Cam & follower
Line of action
There is a very simple, but important,
principle related to the line of action along
which this motion transfer takes place
Basically, for the parts to stay in contact
(cam & follower)
or the mechanism to not break any links (four
bar mechanism),
the velocity component of the input & output
links along the line of action MUST BE
IDENTICAL
Week 1
74
Cam & follower
The line of action for a cam and

follower is along the common normal.
The velocity component of both these
parts at the point of contact along this
line (the common normal) must be the
same if contact is to be maintained.
Week 1
75
Week 1
76
Cam & follower
4 Bar Mechanism
Where the cam and follower are in contact

(point P):
the velocity of the point on the cam (link 2) is
perpendicular to O2P
the velocity of the point on the follower (link
3) is perpendicular to O3P
the component of both these velocities in the
direction of the common normal (P N) must
be the same for the surfaces to remain in
contact
Week 1
In this case, the line of action is defined

by the straight line between the points
of connection of the intermediate link
(normally designated as link 3)
The velocity component of both these
points along this line must be the same,
otherwise link 3 would be either
compressing or stretching
77
Week 1
78
4 Bar Mechanism
4 Bar Mechanism
The actual velocities of points A & B are

perpendicular to the lines O2A and O4B
respectively
The components of these 2 velocities (VA and
VB) that lie along link 3 (shown in red as VLOA)
must be identical if link 3 is not to be
deformed in the process of the mechanism
moving
Note the point K
Week 1
79
Week 1
80
Some calculations
Some calculations
Section 1.8 of Mabie & Reinholtz

discusses these concepts, and also
presents some equations for determining
the ratio between the angular velocity of
the input and output links based on this
approach (given in following slides)
The procedure is based on:

a similar triangles analysis
the line of action for motion transmission
the line defined by the pivot points for the input
and output links (O2, O3, O4)
and the intersection between these 2 lines
(point K)
the length from this intersection point (K) and
the pivot points for the input and output links
Week 1
81
Some calculations
(Eq. 1.1 M & R)
Four Bar Mechanism
4 O2 K
2 O4K
Week 1
82
Cam & Follower (3 bar mechanisms)
3 O2 K
2 O3 K
Week 1
(Eq. 1.2 M & R)

83
Velocity along the common normal (line of

action) must be equal
Velocity of sliding is the relative velocity along
the common tangent
For pure rolling the point of contact must lie
on the line of centres
For a constant angular velocity ratio to be
maintained between 2 links, the common
normal must intersect the line between the
centres at a fixed point (for all phases of the
cycle)
Week 1
84
Next Week
Browse through sections 8.0 to 8.3 and
familiarise yourself with concepts
relating to cams
NB: Tutorial Handin Problem in the tute
next week.
Week 1
85

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Objectives

Dr Oliver Kennedy - Office: 8.109

A/Prof Weihua Li Office: 8.110

Analyse rigid bodies in plane motion

Subject mind map

Subject mind map

MECH226 reference matls

Books in the library with call numbers

Thursday 10.30 12.30

Kinematic design of machines and

You can register and check your tutorial group via

Labs (details to be finalised)

Still sorting out arrangements for these will set

Labs 1 & 2 are 1 hour duration, Lab 3 runs for 2 hours.

1 mid session quiz (of tutorial type problems),

Please see and/or email me if you want to

weeks 10 & 11 18%

Final Exam - 45%

NB PCs no longer exist - may get WS (possible

Tutorial Quizzes, Mid session and

Past Results - 2007

Past Results - 2008

MECH226 2007: Average Mark: 58.74%

Machine Dynamics Average Mark: 58.22%

Kinematics and Kinetics

To develop our ability to design variable

Kinematics: the study of motion

Synthesis of mechanisms to accomplish

Kinetics: the study of forces in

Newtons second law: F = ma

plus the transmitted forces

Mechanisms and machines

Mechanisms and machines

Mechanism: A means of transmitting,

Machine: A machine contains mechanisms

controlling, or constraining relative

displacement, velocity, and acceleration

(car, bike, tank, etc.)

Degree of freedom (DOF)

Links, joints, kinematic chains

Degree of freedom (DOF)

Degree of freedom (DOF)

Degree of freedom: the number of independent

Crank: a link that makes a complete

A joint is a connection between two or more

Lower Pair (surface contact in joint)

Is an assembly of links connected by

Locked chain (no motion is possible

Mobility (or Degrees of Freedom)

The mobility of a mechanism is the

Mobility (Grueblers Eqn)

Summary: Mobility (Grueblers Eqn)

L=6, J1=7, J2=1

Can be a mix of inspiration (aided by

We will only consider some simple cases of

One simple case concerns the control

required range of motion

required range of motion

required range of motion

This can be arranged by placing the crank pivot somewhere

The user is free to locate the pivot point of link 2 anywhere

NB: links 2 and 3, together, are sometimes called a dyad,