Mechanical actuation system

Learning outcome At the end of the chapter, student should be able to: Evaluate mechanical system involving:
linkages cams gears ratchet and pawl

belt and chain drives

Mechanical actuation system

Provide function as:
Motion converters
rotational to linear

Force amplification
lever

Change of speed
gears

Transfer of rotation axis

timing belt

Particular types of motion

quick return mechanism, cam

Mechanical actuation system

Types of motion Translational, rotational and its combination Degree of freedom, dof
dof = 6 number of constrain

Mechanical actuation system

Types of motion Translational, rotational and its combination Degree of freedom, dof
dof = 6 number of constrain For planar dof = 3(N-1) 2L where: N = number of link L = number of join

Mechanical actuation system

Kinematic chains A link is part of a mechanism A joint is a connection between link Kinematic chain is a sequence of link and joints

Mechanical actuation system

Kinematic chains
Open loop kinematic chain

Mechanical actuation system

Kinematic chain
Slider crank mechanism

Mechanical actuation system

Kinematic chain
The four bar chain Grashof theorem Lmax + Lmin La + Lb for one link to rotate Double lever 360 deg

Lever crank

Double crank

Mechanical actuation system

Kinematic chain
Example

Mechanical actuation system

Cams Rotates to provide reciprocating motion to the follower

Mechanical actuation system

Cams

Mechanical actuation system

Cams

Mechanical actuation system

Geneva wheel
Upper Wheel

Upper wheel axis of rotation

Driving pin

Lower wheel axis of rotation

Lower Wheel

Mechanism is used for achieving intermittent motions. The component has two wheels; upper & lower Continuous rotational movement of the lower wheel Intermittent motion of the upper wheel; rotates step-wise

Mechanical actuation system

Gear trains Used to change speed or torque of rotating device

Mechanical actuation system

Gear trains Used to change speed or torque of rotating device

Mechanical actuation system

Gear trains G = A / B = dB / dA= B / A

G = A / B x B / C = A / C

Mechanical actuation system

Epycylic gear train Consists of groups of gears
3 possibility of gear ratios

Mechanical actuation system

Ratchet and pawl Used to lock a mechanism when its holding a load

Mechanical actuation system

Belt and chain drives
Torque on A, A = (T1 - T2) rA Torque on B, B = (T1 - T2) rB Power = (T1 - T2)v where belt speed v = A rA

Mechanical actuation system

Belt and chain drives Reversing drive