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HEAVY LOAD LIFTING MACHINE

WITH PULLEY SYSTEM

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ABSTRACT

The growth of Indian manufacturing sector depends largely on its


productivity & quality. Productivity depends upon many factors, one of the major
factors being manufacturing efficiency with which the operation /activities are
carried out in the organization. Productivity can be improved by reducing the total
machining time, combining the operations etc.

In case of mass production where variety of jobs is less and quantity to be


produced is huge, it is very essential to produce the job at a faster rate. This is not
possible if we carry out the production by using general purpose machines. The
best way to improve the production rate (productivity) along with quality is by use
of special purpose machine. Usefulness and performance of this machine will be
increased by designing and development of multi spindle head attachment.

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CHAPTER 1

INTRODUCTION

Pulleys are a type of simple machine designed to reverse the direction and
reduce the amount of the force required to lift or move an object. Although pulleys
were in use much earlier, Simon Stevin first enunciated their principles of action in
about 1610.

A pulley system is simply one or more pulleys connected by rope or string.


In order to analyze a pulley system, the knowledge of a few physical concepts is
necessary. Mass is the measure of the amount of substance of an object. In the
metric system, mass is measured in kilograms (kg). There is a platinum-iridium
cylinder kept at the international Bureau of Weights and Measures in France that
by definition has the mass of 1 kg. The mass of other objects can be found through
the use of an equal arm balance. A force is defined as a push or pull in a particular
direction. In analyzing pulley systems, the forces of interest are those caused by the
acceleration of gravity acting on the masses in the system. The amount or
magnitude of these forces is simply the mass of the object multiplied by the
acceleration of gravity (g=9.8 m/(s^2)) or symbolically

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CHAPTER 2

HISTORY OF PULLEY SYSTEM

2.1 History

As is the case with all the simple machines, the origin of the pulley is
unknown. When early peoples lifted heavy objects by throwing vines or other
crude ropes over tree limbs, they used the idea of a single fixed pulley to change
the direction of a force. But since there was no wheel to turn, this use resulted in
considerable friction. It is believed that by 1500 B.C.E. people in Mesopotamia
used rope pulleys for hoisting water.

It is not recorded when or by whom the pulley was first developed. It is


believed however that Archimedes developed the first documented block and
tackle pulley system, as recorded by Plutarch. Plutarch reported that Archimedes
moved an entire warship, laden with men, using compound pulleys and his own
strength

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2.2 Pulley
A pulley is a wheel with a groove along its edge for holding a rope or cable.
It is a simple machine that helps change the direction and point of application of a
pulling force. Pulleys are usually used in sets designed to reduce the amount of
force needed to lift a load. The magnitude of the force is reduced, but it must act
through a longer distance. Consequently, the amount of work necessary for the
load to reach a particular height is the same as the amount of work needed without
the pulleys.

Pulleys are well-known simple machines which can be used to reduce lifting
force. The figure below shows (left to right) 1:1, 2:1, and 4:1 pulleys.

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Let us derive the required lifting force for each pulley. The figure below
shows (left to right) free-body diagrams (FBDs) for the 1:1, 2:1, and 4:1 pulleys.

1:1 Pulley.

For the left FBD above, from static balance the cable tension lifting the
weight must equal the lifting force: F W mg . Then from equating the sum of Y
forces to zero, R F W 2mg . This pulley does not reduce the required lifting
weight.

2:1 Pulley.

For the left of the center two FBDs above, from static balance the cable
tension F1 lifting the weight is only half of the weight since one end of the rope is
tied to the frame: F W mg 1 2 and so / 2 F1 mg . The right of the center two
FBDs above is similar to that of the 1:1 pulley; since the rope is cut for drawing
FBDs, the same F1 acts down on this FBD as shown (equal & opposite forces from
Newton’s Third Law). Therefore, the lifting force is 2/ F F1 mg . Further, R F F
mg 1 . The total reaction force on the frame is 2 3 / Rtot R F1 mg . This pulley
cuts the required lifting weight in two.

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4:1 Pulley.

The left-most of the right three FBDs above is similar to the left FBD of the
2:1 pulley above: F W mg 2 2 and so 2/ F2 mg . Since the F2 rope is attached to
the middle pulley, rope tension F1 may be found from: 1 2 2F F and so 4 / 2 / F1
F2 mg . The right-most of the right three FBDs above is similar to that of the 1:1
pulley; since the rope is cut for drawing FBDs, the same F1 acts down on this FBD
as shown (equal & opposite forces from Newton’s Third Law). Therefore, the
lifting force is 4/ F F1 mg . Further, 2/ R F F1 mg . The total reaction force on
the frame is 5 / 4 Rtot R F1 F2 mg . This pulley cuts the required lifting weight
in four.

Comparing the total reaction force on the frame for all three pulleys, we see
that increased mechanical advantage also reduces the frame reaction force: this
reaction force must be the weight, plus the lifting force F. As F is reduced, so is the
total frame reaction.

Obviously, a simple machine cannot reduce work, it can only reduce the
input force effort. The tradeoff for reduced F in these pulleys is more rope must be
pulled: the 2:1 pulley must pull twice as much rope as the 1:1 pulley, and the 4:1
pulley must pull four times as much rope as the 1:1 pulley. In all three cases the
work (force times distance) will theoretically be the same.

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User chooses: 1:1, 2:1, or 4:1 pulley

Computer sets: m = 10 kg, g = 9.81 m /s2, (in the –Y direction).

Visualize: pulley lifting mass

Numerical Display: F, R, F1, F2, Rtot

User Feels: Lifting force F

Examples:

To lift the 10 kg mass 1 m against gravity (98.1 Nm of work), the results are:

1:1 Pulley= F 98.10 N, 20 Rtot= R = 196.20 N, Lrope =1 m

2:1 Pulley= F = F1 =49. 05 N, R =98.10 N, Rtot =147. 15 N, Lrope= 2 m

4:1 Pulley= F2 = 49.05 N, F =F1= 24.52 N, R= 49.05 N, Rtot= 122. 62 N, Lrope

=4m

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CHAPTER 3

TYPES OF PULLEYS
3.1 fixed pulley
A fixed or class 1 pulley has a fixed axle. That is, the axle is "fixed" or
anchored in place. A fixed pulley is used to redirect the force in a rope (called a
belt when it goes in a full circle. A fixed pulley has a mechanical advantage of one.

Procedure

1. To create your pulley, duct tape the dowel to a table, the side of some
stairs, or something else that’s relatively high off the ground. Make sure the dowel
sticks out over the edge of whatever surface you’re using.

2.Place the empty spool of ribbon onto the dowel. This acts as your pulley.

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3.Now, cut a piece of thin rope or string and drape it over your spool so that
equal lengths of string hang over either side of the pulley. Move it back and forth
to make sure it won’t fall off.

4.Find something to lift. If you have a toy that would like a ride up into the
air, attach it to one length of string using the tape. Now, gently pull down on the
other length of string. Observe what happens.

Results

A fixed pulley changes the direction of the force you exert by pulling, so you
can pull down to move an object up.

Why?

So how does a pulley work? A pulley is one of many simple machines that
can make life easier. The pulley you just made is the simplest kind of pulley: a
fixed pulley.

In this fixed pulley system, you pull down on one side of the rope and the
other side goes up. You use the same amount of force to pull down as you would to
lift the toy yourself. However, you have changed the direction of the force.

A fixed pulley is useful because when you pull down, you can use your
body’s own weight to add to the push. In contrast, when you exert a force upwards
by lifting something, you also have to lift the weight of your own arms. Imagine
that you had a small family member sitting on a seat in the air. Would you prefer to
lift them overhead with your arms, or hoist them up with a pulley system?

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Remember, a fixed pulley changes the direction of the pull, but it doesn’t
change the amount of force you use to pull. If you have a very heavy object, you
could consider building a moveable pulley. A moveable pulley supports an object
with two ropes, placing the pulley in the middle. Since the pulley is being
supported by two ropes, the amount of force you need to move an object is cut in
half.

Simple machines can make life a lot easier. What other simple machines can
you create? Are there others that could help you lift a heavy load? Keep exploring
to find out!

3.2 movable pulley

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A movable or class 2 pulley has a free axle. That is, the axle is "free" to
move in space. A movable pulley is used to transform forces. A movable pulley
has a mechanical advantage of two. That is, if one end of the rope is anchored,
pulling on the other end of the rope will apply a doubled force to the object
attached to the pulley.

A movable pulley is a pulley that is free to move up and down, and is


attached to a ceiling or other object by two lengths of the same rope. Examples of
movable pulleys include construction cranes, modern elevators, and some types of
weight lifting machines at the gym.

3.3 Compound pulley

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A compound pulley system uses a fixed pulley and a movable pulley so that
an operator is able to move a heavy load with less physical effort. The multiple
pulley system is able to multiply the strength and pulling power of the winch,
lowering the strain on the winch and the object being pulled. Such a system can be
found on many heavy lifting cranes and overhead winching machines. The block
and tackle is also a type of compound system.

In the most simple terms, the weight reduction of a given load is reduced by
the number of pulleys used in a compound pulley system. With this in mind, a
system using four pulleys to lift an object will feel like the user is actually lifting
one-fourth of the item's weight. This is why a crane is able to operate with a
smaller cable and winch, saving valuable space on the machine as well as allowing
the crane to be physically smaller and lighter, while still remaining operational and
able to lift greater amounts of weight.

The compound system also affects the ability to pull. When using a winch to
recover a vehicle that is stuck in deep mud or has become trapped in a steep ditch,
for example, the winch operator will often use a compound pulley system to help
ease the vehicle out while exerting minimal strain on the winch and cable. By
using this type of system, a much smaller winch can often do the job of a much
larger device while remaining cool and drawing much less power.

On battery-powered winch motors, this means extended pulling power from


a single battery. It also means less chance of damaging the winch motor due to
over-heating of the electrical circuits from straining and stressing the motor. With a
hydraulic winch motor, there is much less chance of breaking a fluid line or
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damaging the pump due to a difficult pull. The pull will require a little more time
when using a compound system, although most users agree that the benefits
outweigh the problems and repairs. The system can assist with heavy tasks and
allow work to be completed with much less strain placed upon any system.

3.4 Block and tackle pulley

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A block and tackle is a system of two or more pulleys with a rope or cable
threaded between them, usually used to lift or pull heavy loads.

The pulleys are assembled together to form blocks and then blocks are
paired so that one is fixed and one moves with the load. The rope is threaded, or
roves, through the pulleys to provide mechanical advantage that amplifies that
force applied to the rope.

Hero of Alexandria described cranes formed from assemblies of pulleys in


the first century. Illustrated versions of Hero's "book on raising heavy weights"
show early block and tackle systems.

A block is a set of pulleys or "sheaves" mounted on a single axle. An


assembly of blocks with a rope threaded through the pulleys is called tackle. A
block and tackle system amplifies the tension force in the rope to lift heavy loads.
They are common on boats and sailing ships, where tasks are often performed
manually.

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In the diagram on the right, the number of rope sections of the tackles shown
is as follows:

Gun Tackle: 2

Luff Tackle: 3

Double Tackle: 4

Gyn Tackle: 5

Threefold Purchase: 6

Note that the Gun tackle, Double tackle and Threefold purchase all have the
same number of pulleys in both blocks (one, two and three, respectively) whereas
the Luff tackle and Gyn tackle have mis-matched blocks with differing numbers of
pulleys.

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CHAPTER 4

POWERFUL PULLEYS

4.1 Summary
Students continue to explore the story of building a pyramid, learning about
the simple machine called a pulley. They learn how a pulley can be used to change
the direction of applied forces and move/lift extremely heavy objects, and the
powerful mechanical advantages of using a multiple-pulley system. Students
perform a simple demonstration to see the mechanical advantage of using a pulley,
and they identify modern day engineering applications of pulleys. In a hands-on
activity, they see how a pulley can change the direction of a force, the difference
between fixed and movable pulleys, and the mechanical advantage gained with
multiple / combined pulleys. They also learn the many ways engineers use pulleys
for everyday purposes.

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4.2 Engineering connection

Engineers are experts at exploiting the advantages of simple machines in all


sorts of real-world applications that benefit society. They incorporate the
mechanical advantage of pulleys into their design of many modern-day structures,
machines, products and tools, such as cranes, elevators, flagpoles, zip lines,
motors, bicycle rings/chains, clothes lines, water well bucket/rope, rock climbing
devices, window blinds and sail/fishing boats. Using multiple pulleys in
conjunction with motors and electronics, engineers create complex modern devices
that perform much work for very little power.

4.3 Introduction/Motivation
We are well underway in learning about simple machines and building the
ancient Egyptian pyramids that we have been hired as engineers to design and
construct. Now, we are going to go deeper into our understanding of pulleys to see
if we can use this knowledge to help make our work easier.

No one knows for sure if pulleys were one of the simple machines that
ancient cultures used to build pyramids. A few people believe that the beautiful
and massive pyramids could not possibly have been built using something as
simple as simple machines. Some people have wild theories about how the
pyramids came to be — that perhaps aliens from another planet came to Earth and
built them. Well, we do not know about that, but we do know that human beings
are very creative and resourceful when they want to be. As long as we limit
ourselves to materials and technologies that would have been available to the
ancient Egyptians, it is acceptable for us to use our knowledge to construct pulley
systems to build our pyramid.

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A pulley is a simple machine consisting of a string (or rope) wrapped around
a wheel (sometimes with a groove) with one end of the string attached to an object
and the other end attached to a person or a motor. Pulleys may seem simple, but
they can provide a powerful mechanical advantage so lifting tasks may be done
easily.

Pulleys are used in many ways, every day. What kind of pulleys can you
think of? Some common examples are large construction cranes that use pulleys to
lift heavy objects with what would normally be a very underpowered motor
weight machines at a gym, some elevators, flagpoles, window blinds, bicycle

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rings/chains, clotheslines, water well bucket/rope, zip lines, motors, rock climbing
devices, and sailing and fishing boats

An elevator is a modern engineering use of a pulley system that performs


much like the raising of a large stone for pyramid building. Without the use of
pulleys, an elevator would require a large motor to pull the cable straight up.
Instead of using a large motor, some elevators use a large weight that takes
advantage of gravity to help raise the elevator car. In this situation, the powering
motor can be much smaller and only be used to determine the direction the elevator
should go.

But how can a wheel with string over it help us move the huge stones
required to build a pyramid? Well, pulleys help us by changing the direction of the
force we use to lift an object. Is it easier for you to pull up on a rope or pull down
on a rope? By using a pulley, we do not have to pull up on a rope to lift a heavy
object attached to it, but instead we can pull down on it. Think of a flagpole as an
example. When you pull down on the rope of a flagpole, the flag goes up the pole
to wave in the air. That's because a flagpole has a pulley on it. By using pulleys to
redirect force, a stone could be lifted off the ground, allowing more people to grab

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on to the rope, and adding weight so workers have to pull less. To simplify this
effort even more, workers using a pulley could move a large stone up a ramp by
pulling on a rope while walking down the ramp, using gravity to their advantage.

The real mechanical advantage of a pulley is in using many pulleys at once.


Using multiple pulleys decreases the amount of force necessary to move an object
by increasing the amount of rope used to raise the object. The mechanical
advantage (MA) of a pulley system is equal to the number of ropes supporting the
movable load. We know from other lessons on simple machines that to gain a
greater mechanical advantage, there is a trade-off. With a pulley, the trade-off is
distance. So, if two pulleys are used together, the amount of force required is cut in
half, but twice the amount of rope is needed to be pulled to raise the object to the
same desired height. (Illustrate this concept to students by conducting the
following classroom demonstration;

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4.4 Classroom Broom and Rope Demonstration:

This demo requires three students, two brooms and ~6 meters of rope. Tie
the rope to one of the brooms (broom 1) and wrap the rope around the other broom
(broom 2). Have two students stand about a meter apart each holding one broom,
and try to keep the brooms separated while the third student pulls on the free end
of the rope; it should be a difficult task to pull the broom sticks together. Next,
wrap the rope around each of the brooms again. Try again to pull the
students/brooms together; the more times you wrap the rope around the brooms,
the easier it is for the third student to pull the others together! This is an example
showing the power of mechanical advantage.

Pulleys can be much more complicated. Engineers combine many pulleys


into a pulley system that significantly reduces the amount of force required to lift
an object. They often use pulley systems to move extremely heavy objects. A block
and tackle is an example of a pulley system that can be attached to anything. It may
take a lot of cable or rope, but a human using enough pulleys could lift several
tons. Engineers use the block and tackle along with motors and electronics to
create modern devices that operate with very low power requirements, such as
cranes and elevators. At Disneyland, engineers even use a pulley system to move
Tinkerbell across the sky.

We are unsure if the Egyptians used pulleys, and have yet to find any
evidence that they did, but we do know, that if they had used them, life would have
been easier than if they did not. Now, since we understand pulleys and have
modern materials, we can build the pyramids much easier. Today we are going to
look at engineering a pulley system and see if we can design a way to get our
heaviest stones to the top of our pyramid with the help of this simple machine.

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4.5 Pulley calculation

With no pulley - the effort force is similar to the load - in opposite direction.

S=F (1)

Where

S = effort force (N, lb.)

F = load (N, lb.)

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Single Pulley

Fixed Pulley

With a single fixed pulley the effort force is similar (or more due to
efficiency loss) to the load.

S=F (2)

The advantage with the single fixed pulley is that the direction of force is
changed - it is possible to pull down instead of lifting up.

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Movable Pulley

With a single moveable pulley the effort force is half (or more due to
efficiency loss) of the load.

S = 1/2 F (3)

Combined Pulleys

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With a combined moveable pulley as above - the effort force is half (or more
due to efficiency loss) of the load.

S = 1/2 F (4)

With two pulleys and the ropes as above - the effort force is 1/3 (or more
due to efficiency) of the load.

S = 1/3 F (5)

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General Equation for Blocks and Tackles

The general effort force equation for block and tackle to raise or pull a load
can be expressed as

S = F / (μ n)

= (m g) / (μ n) (6)

where

S = effort force (N, lb)

F = load, often weight (N, lb)

m = mass (kg, slugs) (when lifting a mass)

g = constant of gravitation (9.81 m/s2, 32.17405 ft/s2) (when lifting a mass)

μ = mechanical efficiency of the system (equal to one for an ideal


frictionless system, a fraction less than one for real-world systems with energy
losses due to friction)

n = number of ropes between the sets of pulleys

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Example - Pulley and Effort Force

The effort force for a pulley with 4 ropes, no friction loss (μ = 1) and a load 100 kg
can be calculated as

S = (100 kg) (9.81 m/s2) / ((1) (4))

= 245 N

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CHAPTER 5

PULLEYS APPLICATIONS

The pulley is a simple machine that has many complex uses. The basic
purpose is to making moving or lifting things easier. The advantage is that in
exchange for very little effort, difficult tasks can be completed.

There are different types of pulleys and each has its own style of application.
A pulley supplier can use knowledge of the uses of types of pulleys to his business
advantage. Sharing how a product can make someone's life easier is a positive
selling point. The pulley types are:

1. Fixed pulleys

2. Movable pulleys

3. Combined pulleys

Applications of the pulley are all around us. From flag poles to the working
parts under the cars we drive and the speeds on a bike, pulleys help make our lives
easier. Their biggest asset for the common user is to create motion transfer with the
least amount of effort.

Recognize pulleys applications and uses

Some uses of pulleys are obvious like the rigging on a sailboat or the lifting
ability of a crane. Other applications are not so obvious, with complex moving
parts hidden inside housings. Most machines use a pulley of some sort. For
example, pulleys are used in vehicles to increase their power and make them run
more smoothly.

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Explore fixed and movable pulleys

An example of a fixed pulley is a weight machine. The pulley is in a fixed


position and the load changes direction with the use of force on the other end.
Instead of exerting the great amount of force to necessary to lift an object up, the
fixed pulley takes much less effort to pull down in order to lift the load on the other
end of the fulcrum. With a movable pulley, the pulley itself moves with the
application of force. A zip line is an example of a movable pulley.

Rhonda Salzmon explains the use of pulleys in an elevator system.

Discover pulleys used in more complex machinery systems

Pulley providers sometimes need to offer solutions that involve complex


systems in order to best solve a particular problem. This can mean using two or
more pulleys both movable and fixed. A complex pulley system can achieve both
change in direction and increase in mechanical productivity. With the addition of
more pulleys, the effort to move the load is lessened.

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CHAPTER 6

USE OF PULLEYS

He original primary use for pulleys was to make it easier to lift heavy items.
The pulley is a simple machine made with a wheel and a rope, cord, or chain.

There are three types of pulleys:

One has a fixed axle

One has a moveable axle

A compound, which is a mixture of the two

Pulleys can be found everywhere to help make tasks easier. In addition to


lifting things, pulleys can be used singly or with many pulleys working together in
order to transport people or things. They can also be used to provide power from
one shaft to another.

Examples of pulleys include:

 Elevators use multiple pulleys in order to function.


 A cargo lift system that allows for items to be hoisted to higher floors
is a pulley system.
 Wells use the pulley system to hoist the bucket out of the well.
 Many types of exercise equipment use pulleys in order to function.
 Construction pulleys are used in order to lift and place heavy
materials.
 Curtains at a theatre are moved using pulley systems that pull the
curtains apart.

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 Blinds on windows operate using a pulley system to move the blinds
up and down. You pull the cord on the blinds and the pulley system
causes the blinds to open or close.
 Flagpoles use pulleys in order to hoist the flag up or to bring it down.
You pull the string on the pulley and the flag runs up or down the
pole.
 Clotheslines can use pulley systems in order to make it easier to pull
clothes toward the user.
 Pulleys can be used to place birdfeeders high in trees or on poles, and
then to pull them down when they need to be refilled or removed.
 Roofers may use pulleys in order to hoist all of the shingles up on to
the roof instead of attempting to carry them.
 A crane is a type of pulley that is used in construction.
 Engines utilize a pulley system in order to work.
 A bulldozer is an example of use of a pulley system.
 Pulleys are utilized regularly in oil derricks.
 Pulleys can be used to extend ladders.
 Sails on sailboats are raised and lowered using pulleys.
 Garage doors raise and lower utilizing a pulley system.
 Rock climbers use pulleys to help them to climb.
 Timing belts in cars are examples of pulleys.
 Escalators utilize pulley systems to function.

In all of these examples, a cable system works in order to make lifting easier
or to make moving items easier. Pulleys are essential to being able to move and lift
very heavy or large items. The simple principle behind pulleys makes these one of
the most effective tools in existence.

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CHAPTER 7

HEAVY LOAD LIFTING MACHINE WITH PULLEY SYSTEM

PART DIAGRAM WITH DETAILS

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LINE DIAGRAM

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BLOCK DIAGRAM

MANUALLY
OPERATING
HANDLE

ROPE

PULLEY
ARRANGEMENT LIFT MOVABLE BED

LIFTING

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CHAPTER 8

WORKING PRINCIPLE

The heavy load lifting machine using pulley system consists of a pole which
is connected to the bed. Bed is used to lift the weight. The pole is also connected to
a rope which is connected through a number of pulleys. Totally 8 pulleys used in
this construction. 4 pulleys are connected to the left side of this system and
another four pulleys are connected in the right side. As pulleys are connected on
both side of the construction so we can easily lift heavy weight.

The rope is rotated by means of a handle which is placed on a rotating plate.


Rope is connected to the rotating pipe. A handle is connected to the pipe. When
the handle is rotated the movement of the rod transmits the power to the pulleys
through a rope. Using pulley we can lift heavy loads very easily. This heavy load
lifting system is used very widely. In this project used strong ropes for lifting
heavy weight

Manual Rotation of handle provides power to the pipe, which in turn pulls
the rope. The movement of the rope lifts the bed and hence load is lifted. This
system can be used to lift heavy loads easily because of the arrangement of number
of pulleys.

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CHAPTER 9

BILL OF MATERIALS

S.no Components Quantity Material


1 Pulley 8 Cast iron
2 Rope 1 Nylon
3 Frame and others 1 Mild steel
Table 9.1 Bill of Materials

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CHAPTER 10

ADVANTAGES AND APPLICATIONS

ADVANTAGES

 Compact in size, low weight and stable


 Low cost of manufacture.
 Simple construction
 No maintenance cost
 Long life
 Heavy load can be lifted

APPLICATION

 Automobile Garages
 Machineries etc.,

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CHAPTER 10

COST OF ESTIMATION

S.NO Components Quantity Cost(Rs)


1 pulley 8 1200
2 rope 1 300
3 Stand setup 1 1000
4 Welding and 1 1800
assembly
total 4300

Table 11.1 Cost of Estimation

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CONCLUSION

With the idea on view, we have completed the project titled “HEAVY LOAD
LIFTING MACHINE WITH PULLEY SYSTEM”

By means of this machine heavy load lifting operation can be performed


using same power. So this lifting device can be used for various operations with a
less amount of investment.

This is one of the most reliable and simple machine in the machine shop in
which we can lift any type of heavy load easily using less power

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REFERENCE

[1].P. S. Shiakolas; D. Koladiya; J. Kebrle, On the

Optimum Synthesis of Four bar Linkages Using

Differential Evolution and the Geometric Centroid

of Precision Positions.

[2] Hoskins, J.C.; Kramer, G.A , Synthesis of mechanical

linkages using artificial neural networks and

optimization, Neural Networks, 1999

Volume , Issue , 1993 .

[3].RichardS.Hartenberg (1964), Kinematic Synthesis of

linkages. New York: McGraw Hill.

[4]. Akbarnejad S., Design a Robot to Walk in Tough

Terrains, Golpayegan Engineering and Technical

College , 2004.

[5] Sclater, Neil. (2011). "Linkages: Drives and Mechanisms


" Mechanisms and Mechanical Devices Source book . New York:
McGraw Hill.. Drawings and designs of various linkages.

[6]. S.S. Rattan. “ Theory of Machines ”

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