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Engineering dynamics

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Submitted to: Madem Anam
Anwar Submittedby:Muhammad
umair 09-me-409
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28/11/2010

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 ENGINEERING DYNAMICS

EXPERIMENT 1
Objective:
To show that for a slider crank mechanism, the piston motion tends to
perform SHM (Simple Harmonic Motion) with increasing value of
connecting rod to crank ratio.

Apparatus:

Slider Crank Mechanism

Observations and Calculations

Connecting road=140mm
Crank radius=55mm
Ratio= c.r / radius=2.54
Application of crank cylinder mechanism:
1:in reciprocating engines
2:in reciprocating compressors
3:in scotch yoke
4:in hand pump

Procedure: The experiment was completed in the following sequence:

1. The cylinder diameter was measured using the vernier calipers.

2. The inner diameter of the large and small ends of the conrod (Dlarge
and Dsmall were measured using vernier calipers.

3. The crank was positioned such that the piston is at full elongiation,
between the min and maximum strokes. Then the displacement of the
piston from the top of the cylinder was measured using vernier calipers.

4. The crank was rotated 10± anti-clockwise, and the new piston displacement
was measured using the vernier calipers and recorded in the logbook. This
step was repeated for 10± increments until one complete cycle (360± of
rotation) was completed.

5. Steps 3 and 4 were repeated twice and averages of these measurements

were calculated. The kinematic length of the crank, R, was then deter-
mined from the average measurements

6. The crank was returned to the maximum position between

Two stokes. The dial gauge was positioned over the inlet valve and
the reading on the dial gauge was recorded into the logbook.

7. The crank was turned 10± anti-clockwise and the the measurement on the
dial gauge was recorded. (Note: It is necessary to correct the readings
from the dial gauge for the initial off set. This was done by subtracting
the reading on the dial when the shaft was fully closed from the other
readings
repeat tha experiment to eliminate errors
Comments

1: The motion of the piston (for a constant crank angular velocity) is close to
simple harmonic. This allows one to estimate the crank angle at which the
maximum speed of the piston is obtained (for a constant crank angular veloc-
ity). The maximum downward speed would occur at a crank angle of 90± and
the maximum upward speed would occur at a crank angle of 270±

2: it is used in oscilatinginng cylinder engine & crank sloted mechanism

Due to its efficient transfer of power

3: it is also utilizes in withworth quick_return mechanism &rotary engines

As it provide a best efficiency loop for it.

4: The kinematic motion of the slider in the slider-crank mechanism can be ex-
pressed in terms of the lengths of the crank and the conrod, and the angular
displacement of the crankshaft.

5: In vehicles The inlet valve was open during the intake stroke and the exhaust valve
was open during the exhaust stroke. The opening range of both valves extended past
the top-dead-centre postions for their respective strokes of the slider crank mechanism

6: The kinematic radius of the crank, R, is determined by halving the displacement

of the piston from its maximum and minimum operating position.
 EXPERIMENT 2

Objective: To draw the work envelope of a 4-bar chain

mechanism
Apparatus: 4bar chain mechanism

Theory:
Kinematic pair
A kinematic pair is the general name for two rigid bodies that can move with respect to
each other via a mechanical constraint (joint) between the two bodies, with one or more
degrees of freedom. In kinematics, one classifies the kinematic pairs in two groups:
Lower pairs: the constraint is of the surface type. The following joint types exist: revolute
joint ("pin", "hinge"), prismatic joint ("slider"), cylindrical joint, screw joint, planar
joint, and ball joint or ball and socket joint.
Higher pairs: the constraint is of the curve or point type. For example: cams or gears.
Kinematic pairs are the building blocks of most kinematic chains and mechanical
linkages, e.g., gimbals, robots, car suspensions.
A kinematic pair must require these 2 conditions
physical contact

Kinematic Pair
Lower Pairs :Revolute joint · Prismatic joint · Cylindrical joint · Screw joint ·
Planar joint · Spherical joint
Higher Pairs :Cam · Gears
4-bar chain mechanism :
Plane linkg: (mechanical engineering) A plane linkage consisting of four links pinned
tail to head in a closed loop with lower, or closed, joints.

A basic linkage mechanism used in machinery and mechanical equipment. The term has
been applied to three types of linkages: plane, spherical, and skew.
The plane four-bar linkage (Fig. 1) consists of four pin-connected links forming a closed
loop, in which all pin axes are parallel. The spherical four-bar linkage consists of four
pin-connected links forming a closed loop, in which all pin axes intersect at one point.
The skew four-bar linkage (Fig. 2) consists of four jointed links forming a closed loop, in
which crank 2 and link 4 are pin-connected to ground 1 and the axes of the pins are
generally nonparallel and nonintersecting; coupler 3 is connected to crank 2 and link 4

by ball joints.

Plane four-bar linkage with joints at A, B, C, and D. φ, ψ, and μ are angles defining

orientations of joints.

perpendicular between axes of pin joints at A and D; φ, ψ, and ξ are angles defining
orientations of joints.">
Skew four-bar linkage with joints at A, B, C, and D. OA = f; ED = g; OE = common
perpendicular between axes of pin joints at A and D; φ, ψ, and ξ are angles defining
orientations of joints.
Four-bar linkages are most frequently used to convert a uniform continuous rotation (the
motion of crank 2) into a nonuniform rotation or oscillation (the motion of link 4). In
instrument applications the primary function of the linkage is the conversion of motion,
while in power applications both motion conversion and power transmission are
fundamental.
Each of the above linkages can be proportioned for three types of motion, or linkage
types: crank-and-rocker, drag, and double-rocker.
Crank-and-rocker linkages have a motion in which the crank (link 2) is capable of
unlimited rotation, while the output link (link 4) oscillates or rocks through a fraction of
one turn (usually less than 90°). This is the most common form of the plane and the skew
four-bar linkage, and is used in machinery and appliances of all types.
In drag linkages the motions of cranks 2 and 4 are both capable of unlimited rotations.
The plane drag linkage has been used for quick-return motions. The most common drag
linkage is the spherical drag linkage. One such linkage is the Hooke-type universal joint,
or hooke joint. See also Universal joint.
In double-rocker linkages, neither crank 2 nor 4 is capable of complete rotations. Such
motions occur in hand tools and mechanical equipment in which only limited rotations
are required. See also Linkage (mechanism); Straight-line mechanism.
Kinematic Inversion
Every mechanism has moving members which move relative to each other about the
joints connecting them. These relative motions result in the trajectories of the points on
members of the mechanism. In any mechanism one link or member is fixed and acts as
the frame. The trajectories and motion characteristics of mechanism depend on the
choice of the reference frame link.
Inversions of a mechanism are the different configurations of the mechanism with change
of the fixed reference link called frame. For different inversions of a mechanism although
the motion characteristics are entirely different but the relative angular displacements of
the members remain unchanged irrespective of the link chosen as frame.
Determining the Inversions of a Mechanism
Before going into details of obtaining inversions of a mechanism I would like to make it
very clear that Inverse Kinematics is different from Kinematic Inversion. Read more
about Inverse Kinematics.
Every mechanism is formed of a kinematic chain. When one of the links in the kinematic
chain is fixed it becomes a mechanism. To determine the inversions of a mechanism
consider the kinematic chain forming the mechanism and obtain the desired inversions
by fixing any one of the members as the frame link.
Inversions of a Four-Bar Mechanism
A typical four bar mechanism, as the name denotes, is formed of a kinematic chain of
four members connected by revolute joints. This mechanism can have four possible
configurations with a different link fixed as frame each time.

Configuration 1
Link 1 is taken as the base link or frame. In this configuration the shortest link is jointed
to the base link and this joint can fully rotate and hence called as crank. The other link
jointed to the base link oscillates and called as a rocker. This configuration of the four-
bar kinematic chain is called as Crank-Rocker mechanism.

Configuration 2
Link 2 is fixed as the base link. In this configuration shortest link is the base and both
joints to the base can rotate completely. It is thus called as Double-Crank or a Drag-
Link.
Configuration 3
Link 3 is fixed as the base link. It can be observed that this configuration is same as the
Crank-Rocker mechanism.

Configuration 4
Link 4 is fixed as the base link. In this configuration shortest link is the coupler and both
the links connected to the base link cannot rotate fully, both oscillate. In this
configuration the four-bar kinematic chain is called as Double-Rocker mechanism.
Grashof's law is applied to pinned linkages and states; The sum of the shortest an
ngest link of a planar four-bar linkage cannot be greater than the sum of remaining two
links if there is to be continuous relative

Procedure
Let , maximum distance b/w shaft and piston or circular dia=Frame=q=10cm,
Driver/output=p=5cm,
Coupler/connecting rod=L=7cm.
Crank/input link =or dia of piston=s=3cm,

First, draw a straight line, 10 cm long (s).

On one side of the line, draw a circle of radius=s, and divide it into 12 equal parts, and
name them as 1, 2, 3….12.On the right edge of the line, draw a circle of radius=p.
Open your compass to 7cm (l); keeping its needle on point 1, bisect it at the other circle
(radius=p). Join this point of bisection to center of the circle of radius p. This is the
coupler (l).Repeat the steps above for all points on the crank/input link circle.
Draw three perpendicular lines of 1cm length, one on each of the topmost 3 paths of the
coupler (l).Trace a line that touches the top of these three 1cm lines, starting at the
input link circle and ending at output link circle
Select the refrence straight line of 10 cm long (s).
On the LHS of the line, draw a circle of radius=s, and divide it into 12 equal parts,
naming the 12 edges as 1, 2, 3….12.
On the right edge of the line, draw a circle of radius=p.
Open your compass to 7cm (l); keeping its needle on point 1, bisect it at the other circle
(radius=p). Join this point of bisection to center of the circle of radius p. This is the
coupler (l).Repeat the steps above for all points on the crank/input link circle.
Draw three perpendicular lines of 1cm length, one on each of the topmost 3 paths of the
coupler (l).

. draw the line that meets the top of these three 1cm lines, starts from the input link circle
and ending at output link circle

Comments:
1: A 4- bar slider has six instantinous centers regardless of dimentionsor orientations of
links

2: According to Grashof's law in the pined linkes the sum of the shortest and
longest link of a planar four-bar linkage cannot be greater than the sum of remaining
two links if there is to be continuous relative motion between the link

3:for afor bar with for pin joints four I’c are immediately inentified each four I’c is
marked on circuleas a line drawn b/w two indices.these for I”c are actually not
imaginary pin joints. In order to find other I’c we must apply Keniddy rule over and
overe

EXPERIMENT 3

Objective: To investigate a 4-bar mechanism and to find the

velocities of the follower/output link.

Apparatus: 4-bar mechanism

Theory:
-Instantenous Center
The instant centre of rotation, also called instantaneous centre, for a plane figure moving
in a two dimensional plane is a point in its plane around which all other points on the
figure, for one instant, are rotating. This point itself is the only point that is not moving at
that instant.
According to the Euler's rotation theorem any 3D rotation that has a fixed point also has
a fixed axis. Therefore in 3D rotations it is more common to speak of the instant axis of
rotation.
Extension of a rigid body: The extension of a rigid body refers to the operation
of theoretically extending the body to fill all space. By this operation every point in space
becomes a point of the body and as a result has a velocity associated with it. Since this is
not an actual extension of the body, a theoretical extension does not influence how the
actual body moves-it simply follows the motions of the actual body.
Instantaneous Center of Velocity (ICV): Any point on a rigid body or on its extension
that has zero velocity is called the Instantaneous Center of Velocity of the body.
Assuming one knows the ICV of a body, one can calculate the velocity of any point A on
the body using the equation v_A + W®/ icv +v icv and recognizing that be
definition. This gibes

In 2-D motion, if is in the plane of motion and is perpendicular to this plane,

then one can use the scalar relation
Methods of finding the ICV:

 Given the velocity of point A on a rigid body and the angular velocity of the
rigid body one can use the above equation to find the distance between the point A
and the ICV. One can then draw a line perpendicular to the velocity and passing through
A, and move along this line a distance to get to the ICV. The side on which the ICV
is can be determined by the direction of the angular velocity.
 Given the velocity of points A and B on a rigid body one can find the ICV by
drawing a line perpendicular to and passing through A, and by drawing a line
perpendicular to and passing through B. One of the following three cases will result
 The lines intersect at one point: The point of intersection is the ICV. The
angular velocity can be calculated once the ICV is determined using the velocity of either
point and its corresponding distance from the ICV.

 The lines are parallel (they intersect at

infinity): The ICV is at infinity, and the angular
velocity is zero since infinity times zero is the only way
one can get velocities other than infinite. Therefore,
the body is in pure translation and the velocity of the
two points must be the same.
 The two lines fall on top of each other: One can find the location
of the ICV using the proportionality of velocity and distance from the ICV to create
similar triangles. This follows from

Observations and calculations:

Length of crank=47.15

Frame member=150mm

Length of coupler=174mm

Length of rocker=68.5

No of obs. Crank angle Θ Rocker angle Ø OAD

1 0 68 16
2 20 75 23
3 40 83 36
4 60 92 42
5 80 102 46
6 100 115 50
7 120 127 47
8 140 140 43

Procedure
first adjust tha apparatus on flate table and adjust the crank on any desired position
andtake up the slack with the screws on the coupler but donot tighten.use a ruler to
measure the length of tfhe crank,follower,rocker and frame members of the mechanism.
Start with the crank at 0 degree and note the position of rocker.set the extra link with
scale yo the same angle as the rocker.than read the distance Oad from the scale by
noting where the the line in the centre of the follower crosses the scale.repeat the reading
every 10 degree of the crank angle.

Graph
Comments

1: In biomechanical research the instant centre of rotation is observed

for the functioning of the joints in the upper and lower extremities. For
example in analysing the knee, ankle,[ or shoulder joints
2: D uring experiment the readings should be clearly noted as shaft is
slightly titled and it is difficult to take accurate readings
3; The experimental apparatus should be well lubricated so that slider
and shaft moves afficiently and without friction
4; Study of the joints of horses: "...velocity vectors determined from the
instant centers of rotation indicated that the joint surfaces slide on each
other."
5; The braking characteristiscs of a car may be improved by varying the
design of a brake pedal mechanism.
6: it is used in Designing the suspension of a bicycle, or of a car.
7; while drawing the graph we should locate point efficiently and accurately
to getrealiable and accurate graph
Experiment no 4
Objective:
To draw displacement, velocity and
acceleration graphs for slider crank mechanism.

Apparatus: Slider crank mechanism

Theory:
θ=angular displacement of crank
φ=angular displacement of connecting rod
w=dθ/dt=angular velocity of crank
Nr=length of crank
l=length of connecting rod
Ω=angular velocity of crank.
η=L/r
angular analysis of slider crank
x=OP-OP’
=(l+r)-(rcos θ+lcos φ)

= -l(1-cos φ)+(r(1-cos θ)
=r(1-cos θ)+l(1-cos φ)
=r+l-r cos θ -l cos φ
In both triangles components are equal
rsin θ=lsinφ
r/l sinθ=sinφ
L/r=n
1/n sinθ=sinφ
Cosφ=√(1 – sin2φ)
Cosφ = √(1 – (sin2 θ)/n2)

Cosφ = √(1 – (sin2 θ)/2n2)

X = r(1-cosθ) + L(1-1+ sin2 θ)/2n2)
= r(1-cosθ) + L( sin2 θ)/2n2)
= r(1-cosθ) - r( sin2 θ)/2n)
= r(1-cosθ) - r( 1 – cos2θ)/4n)
= r [ 1 – cosθ – (1- cosθ)/4n]
dx/dt = r(sinθ + (sin2θ)/2n) dθ/dt
= wr(sinθ + sin2θ)
= w2r (cosθ + (cos2θ)/n) .
Observations and Calculations
Connecting road=140mm
Crank radius=55mm
Ratio= c.r / radius=2.54
Procedure:
The experiment was completed in the following sequence:

The cylinder diameter was measured using the vernier calipers.

The inner diameter of the large and small ends of the conrod (Dlarge
and Dsmall were measured using vernier calipers.
.The crank was positioned such that the piston is at top full elongiation,
between the min and maximum strokes. Then the displacement of the
piston from the top of the cylinder was measured using vernier calipers.
The crank was rotated 10 degree anti-clockwise, and the new piston displacement
was measured using the vernier calipers and recorded in the logbook. This
step was repeated for 10 degree increments until one complete cycle (360± of

rotation) was completed.

Steps 3 and 4 were repeated twice and averages of these measurements
were calculated. The kinematic length of the crank, R, was then deter-
mined from the average measurements
The crank was returned to the maximum position between
Two stokes. The dial gauge was positioned over the inlet valve and
the reading on the dial gauge was recorded into the logbook.
The crank was turned 10± anti-clockwise and the the measurement on the
dial gauge was recorded. (Note: It is necessary to correct the readings
from the dial gauge for the initial off set. This was done by subtracting
the reading on the dial when the shaft was fully closed from the other
readings repeat tha experiment to eliminate errors
Comments:
1:It is obvious from graph that at initial point the displacement of crank is max an it
reduce with the increasing angle upto 180 and reaches the main value and after that
displacement increases upti360 degree
2: The kinematic radius of the crank, R, is determined by halving the displacement
of the piston from its maximum and minimum operating position.
3: The kinematic motion of the slider in the slider-crank mechanism can be ex-
pressed in terms of the lengths of the crank and the conrod, and the angular
displacement of the crankshaft.
4:The value of displacement is inaccurate if not read properly just in top front of scale
and desired results are not found
5:The velocity is determine from displacement and Ǿ graph by sketchinh right velocity
vector to every instantaneous displacement