Beruflich Dokumente
Kultur Dokumente
THEORY OF MACHINES
DEFINITIONS
Link - A resistant body which is connected to other such body
such
that a relative motion takes place between the two for transferring
the motion.
DEFINITIONS
Mechanism - is a combination of rigid bodies which are
formed and connected together by some means, so that they
are moved to perform some functions, such as the crankconnecting rod mechanism of the I.C. engines, steering
mechanisms of automobiles. etc
Definitions
Inversions - When different links of mechanism are
fixed one by one , it results in different useful
mechanisms . Each of this mechanism is called as
Inversion.
Degree of Freedom
For pairs
links
For mechanism :
- No. of independent input motions required for
operating the
mechanism
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- No. of coordinates required to define the
Example of Mechanisms
Lift platform
Front loader
Device to close
the top flap of
boxes
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Example of Mechanisms
Moves packages from an
assembly bench to a
conveyor
Lift platform
Microwave carrier to
assist people on
wheelchair
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Example of Mechanisms
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Classification of links
Any body (normally rigid) which has motion relative to
another
(a) Binary link
(b) Ternary link
(c) Quaternary link
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Revolute pair
Prismatic pair
Twisting pair
Screw pair
Spherical pair
Rolling pair
Open Pair
Closed Pair
Lower pair
Higher Pair
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15
16
17
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19
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In 2D plane
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Kinematic Pairs
Based on type of closure
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Prismatic(Or)SlidingPair
Spherical (Or)GlobularPair
Flat(or)
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Ball Bearing
roller follower
Cam with
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Constrained motion
(a) Completely constrained motion
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L.H.S>R.H.S
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L=5,P=5,J=5
L.H.S < R.H.S
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GRUBLERS CRITERION
Number of degrees of freedom of a mechanism is
given by
F = 3(n-1)-2l-h.
where,
F = Degrees of freedom
n = Number of links in the mechanism.
l = Number of lower pairs, which is obtained by
counting the number of joints. If more than two links
are joined together at any point, then, one additional
lower pair is to be considered for every additional
link.
h = Number of higher pairs
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F = 3(n-1)-2l-h
Here, n = 4, l = 4 & h =
0.
F = 3(4-1)-2(4) = 1
(one input at one link will
result in definite motion of
all the links.
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F = 3(n-1)-2l-h
Here, n = 5, l = 5 and h = 0.
F = 3(5-1)-2(5) = 2
(two inputs to any two links
are required to yield definite
motions in all the links.)
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F = 3(n-1)-2l-h
Here, n = 6, l = 7 (at the
intersection of 2, 3 and 4,
two lower pairs are to be
considered) and h = 0.
F = 3(6-1)-2(7) = 1
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F = 3(n-1)-2l-h
Here, n = 6, l = 7 (at the
intersection of 2, 3 and 4,
two lower pairs are to be
considered) and h = 0.
F = 3(6-1)-2(7) = 1
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Nb=No of Binary
Links
Nt=No of Ternary
Links
No=No of Other
Links
N=Total No of Links
L=No of Loops
P=No of Pairs
M=Mobility or DOF
P=N+L-1
M=N-(2L+1)
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P=N+L-1
M=N-(2L+1)
Nb = 4,Nt=2, N0=0
N=6, L=2
Solution:
P=6+2-1=7
M=6-(2x2 +1)=1
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P=N+L-1
M=N-(2L+1)
Nb = 5,Nt=1, N0=0
N=6, L=2
Sol:
P=6+2-1=7
M=6-(2x2 +1)=1
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Grashoffs law
For a four bar linkage planer, the sum of the shortest
and longest link lengths must be less than or equal to
the sum of the remaining two link lengths if there is to
be continuous relative motion
between the links
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Grashoffs law
(a) Crank Rocker mechanism
[Link adjacent to shorter link fixed ]
(b) Crank Rocker mechanism
[Link adjacent to shorter link fixed ]
(c ) Crank Crank mechanism
[Shortest link is fixed]
(d) Rocker Rocker mechanism
[Link opposite to Shortest link is
fixed]
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Inversions of mechanism
A mechanism is one in which one of the links of
a kinematic chain is fixed. Different
mechanisms can be obtained by fixing different
links of the same kinematic chain. Each of
these mechanisms is called as inversion of the
parent kinematic chain.
Four Bar Chain
Single Slider Crank
Double Slider Crank
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Locomotive Wheel
DOUBLE CRANK MECHANISM
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tua
Actual Mechanism
Timeforfor wardstroke B o 2 B 1
Timeforret urnstroke
B o 2 B 2
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Timeforfor wardstroke B o 2 B 1
Timeforret urnstroke
B o 2 B 2
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Timeforfor wardstroke B1 A B2
Timeforret urnstroke
B2 A B1
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Application
Inversion IV Link 4 Slider fixed
Pendulum pump or bull engine
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x
q
y
p
cos 2 sin 2 1
Elliptical trammel
AC = p and BC = q, then,
x = q.cos and y = p.sin.
Rearranging,
x
q
y
p
cos 2 sin 2 1
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OLDHAM COUPLING
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Other Mechanisms
1.Straight line motion mechanisms
Proof:
AC AE
AB AC
AD
butAD const.
AE
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1.c) Pantograph
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2.Indexing Mechanism
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4. Toggle mechanism
Considering
the
equilibrium condition
of slider 6,
F
2
P
F 2 P tan
tan
5.Hookes joint
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Hookes joint
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Mechanical
Advantage
Mechanical
Advantage of the
Mechanism at
angle a2 = 00 or
1800
Extreme position of
the linkage is
known as toggle
positions.
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Transmission
Angle
= a1=Crank Angle
= a2 =Angle between
crank and Coupler
= a3 =Transmission
angle
Cosine Law
a2 + d2 -2ad cos =
b2 + c2 -2 bc cos
Where a=AD, b=CD,
c=BC, d=AB
Determine .
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Design of
Mechanism
1.Slider Crank
Mechanism
Link Lengths, Stroke
Length, Crank Angle
specified.
2.Offset Quick Return
Mechanism
Link Lengths, Stroke
Length, Crank Angle,
Time Ratio specified.
3.Four Bar Mechanism
Crank Rocker
Mechanism
Link Lengths and
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END
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