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Kinematics of Machinery PDF
Kinematics of Machinery PDF
EINSTEIN
COLLEGE OF ENGINEERING
Sir.C.V.Raman Nagar, Tirunelveli-12
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Lecture plan
UNIT I Basics of Mechanisms
SYLLABUS
Introduction:
Definitions : Link or Element, Pairing of Elements with degrees of freedom, Grublers
criterion (without derivation), Kinematic chain, Mechanism, Mobility of Mechanism,
Inversions, Machine.
Mechanisms:
1. Quick returns motion mechanisms Drag link mechanism, Whitworth mechanism
and Crank and slotted lever mechanism
2. Straight line motion mechanisms Peaceliers mechanism and Roberts
mechanism.
3. Intermittent motion mechanisms Geneva mechanism and Ratchet & Pawl
mechanism.
4. Toggle mechanism, Pantograph, Hookes joint and Ackerman Steering gear
mechanism.
What is Kinematics?
Kinematics is the study of motion (position, velocity, acceleration). A major goal of
understanding kinematics is to develop the ability to design a system that will satisfy
specified motion requirements. This will be the emphasis of this class.
What is Kinetics?
Kinetics is the study of effect of forces on moving bodies. Good kinematic design should
produce good kinetics.
Definitions
Link:
A link is defined as a member or a combination of members of a mechanism connecting other
members and having relative motion between them. The link may consist of one or more
resistant bodies. A link may be called as kinematic link or element. Eg: Reciprocating steam
engine.
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Joint: A connection between two links that allows motion between the links. The motion
allowed may be rotational (revolute joint), translational (sliding or prismatic joint), or a
combination of the two (roll-slide joint).
Kinematic pair:
Kinematic pair is a joint of two links having relative motion between them. The types of
kinematic pair are classified according to
Nature of relative motion ( Sliding pair, turning pair, rolling pair, screw pair, spherical
pair)
In the above given Slider crank mechanism, link 2 rotates relative to link 1 and constitutes a
revolute or turning pair. Similarly, links 2, 3 and 3, 4 constitute turning pairs. Link 4 (Slider)
reciprocates relative to link 1 and its a sliding pair.
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If you pin one end of the link to the plane, how many degrees of freedom does it now
have?
Add a second link to the picture so that you have one link pinned to the plane and one
free to move in the plane. How many degrees of freedom exist between the two links? (4
is the correct answer)
Pin the second link to the free end of the first link. How many degrees of freedom do you
now have?
How many degrees of freedom do you have each time you introduce a moving link?
How many degrees of freedom do you take away when you add a simple joint? How
many degrees of freedom would you take away by adding a half joint? Do the different
terms in equation make sense in light of this knowledge?
Both joints of the shortest link are capable of 360 degrees of rotation in a Grashoff
linkages.
This gives us 4 possible linkages:
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We can also calculate how many unique mechanisms can be obtained from the 8- link
kinematic chain.
We can also calculate degree of freedom and the number of ternary and quaternary links
it will have if it has only single turning pairs.
Coupling rod of locomotive: In this mechanism the length of link AD = length of link C. Also
length of link AB = length of link CD. When AB rotates about A, the crank DC rotates about D.
this mechanism is used for coupling locomotive wheels. Since links AB and CD work as cranks,
this mechanism is also known as double crank mechanism. This is shown in the figure below.
Watts straight line mechanism or Double lever mechanism: In this mechanism, the links AB
& DE act as levers at the ends A & E of these levers are fixed. The AB & DE are parallel in the
mean position of the mechanism and coupling rod BD is perpendicular to the levers AB & DE.
On any small displacement of the mechanism the tracing point C traces the shape of number
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A slotted link 1 is fixed. When the crank 2 rotates about O, the sliding piston 4 reciprocates in
the slotted link 1. This mechanism is used in steam engine, pumps, compressors, I.C. engines,
etc.
Crank and slotted lever mechanism:
It is an application of second inversion. The crank and slotted lever mechanism is shown in
figure below.
In this mechanism link 3 is fixed. The slider (link 1) reciprocates in oscillating slotted lever (link
4) and crank (link 2) rotates. Link 5 connects link 4 to the ram (link 6). The ram with the cutting
tool reciprocates perpendicular to the fixed link 3. The ram with the tool reverses its direction of
motion when link 2 is perpendicular to link 4. Thus the cutting stroke is executed during the
rotation of the crank through angle and the return stroke is executed when the crank rotates
through angle or 360 . Therefore, when the crank rotates uniformly, we get,
This mechanism is used in shaping machines, slotting machines and in rotary engines.
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Third inversion is obtained by fixing the crank i.e. link 2. Whitworth quick return mechanism is
an application of third inversion. This mechanism is shown in the figure below. The crank OC is
fixed and OQ rotates about O. The slider slides in the slotted link and generates a circle of radius
CP. Link 5 connects the extension OQ provided on the opposite side of the link 1 to the ram (link
6). The rotary motion of P is taken to the ram R which reciprocates. The quick return motion
mechanism is used in shapers and slotting machines. The angle covered during cutting stroke
from P1 to P2 in counter clockwise direction is or 360 -2. During the return stroke, the angle
covered is 2 or .
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Scotch yoke mechanism: This mechanism is used to convert rotary motion in to reciprocating
motion.The inversion is obtained by fixing either the link 1 or link 3. Link I is fixed. In this
mechanism when the link 2 rotates about B as centre, the link 4 reciprocates. The fixed link 1
guides the frame.
Oldhams coupling: The third inversion of obtained by fixing the link connecting the 2 blocks P
& Q. If one block is turning through an angle, the frame and the other block will also turn
through the same angle. It is shown in the figure below.
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An application of the third inversion of the double slider crank mechanism is Oldhams coupling
shown in the figure. This coupling is used for connecting two parallel shafts when the distance
between the shafts is small. The two shafts to be connected have flanges at their ends, secured by
forging. Slots are cut in the flanges. These flanges form 1 and 3. An intermediate disc having
tongues at right angles and opposite sides is fitted in between the flanges. The intermediate piece
forms the link 4 which slides or reciprocates in flanges 1 & 3. The link two is fixed as shown.
When flange 1 turns, the intermediate disc 4 must turn through the same angle and whatever
angle 4 turns, the flange 3 must turn through the same angle. Hence 1, 4 & 3 must have the same
angular velocity at every instant. If the distance between the axis of the shaft is x, it will be the
diameter if the circle traced by the centre of the intermediate piece. The maximum sliding speed
of each tongue along its slot is given by v=x where, = angular velocity of each shaft in
rad/sec v = linear velocity in m/sec
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The angle covered during cutting stroke from P1 to P2 in counter clockwise direction is or 360
-2. During the return stroke, the angle covered is 2 or .
Drag link mechanism:
This is four bar mechanism with double crank in which the shortest link is fixed. If the crank AB
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In this mechanism link 3 is fixed. The slider (link 1) reciprocates in oscillating slotted lever (link
4) and crank (link 2) rotates. Link 5 connects link 4 to the ram (link 6). The ram with the cutting
tool reciprocates perpendicular to the fixed link 3. The ram with the tool reverses its direction of
motion when link 2 is perpendicular to link 4. Thus the cutting stroke is executed during the
rotation of the crank through angle and the return stroke is executed when the crank rotates
through angle or 360 . Therefore, when the crank rotates uniformly, we get,
Time to cutting = =
Time of return
360
This mechanism is used in shaping machines, slotting machines and in rotary engines.
Ratchets and escapements - Indexing Mechanisms - Rocking Mechanisms:
Intermittent motion mechanism:
Ratchet and Pawl mechanism: This mechanism is used in producing intermittent rotary motion
member. A ratchet and Pawl mechanism consists of a ratchet wheel 2 and a pawl 3 as shown in
the figure. When the lever 4 carrying pawl is raised, the ratchet wheel rotates in the counter clock
wise direction (driven by pawl). As the pawl lever is lowered the pawl slides over the ratchet
teeth. One more pawl 5 is used to prevent the ratchet from reversing. Ratchets are used in feed
mechanisms, lifting jacks, clocks, watches and counting devices.
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Pantograph: Pantograph is used to copy the curves in reduced or enlarged scales. Hence this
mechanism finds its use in copying devices such as engraving or profiling machines.
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In slider crank mechanism as the crank approaches one of its dead centre position, the slider
approaches zero. The ratio of the crank movement to the slider movement approaching infinity is
proportional to the mechanical advantage. This is the principle used in toggle mechanism. A
toggle mechanism is used when large forces act through a short distance is required. The figure
below shows a toggle mechanism. Links CD and CE are of same length. Resolving the forces at
C vertically F Sin =P Cos 2
Therefore, F = P. (because Sin /Cos = Tan ) 2 tan Thus for the given value of P, as the
links CD and CE approaches collinear position (O), the force F rises rapidly.
Hookes joint:
Hookes joint used to connect two parallel intersecting shafts as shown in figure. This can also
be used for shaft with angular misalignment where flexible coupling does not serve the purpose.
Hence Hookes joint is a means of connecting two rotating shafts whose axes lie in the same
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This mechanism is made of only turning pairs and is made of only turning pairs wear and tear of
the parts is less and cheaper in manufacturing. The cross link KL connects two short axles AC
and BD of the front wheels through the short links AK and BL which forms bell crank levers
CAK and DBL respectively as shown in fig, the longer links AB and KL are parallel and the
shorter links AK and BL are inclined at an angle . When the vehicles steer to the right as shown
in the figure, the short link BL is turned so as to increase , where as the link LK causes the other
short link AK to turn so as to reduce . The fundamental equation for correct steering is, Cot
Cos = b / l. In the above arrangement it is clear that the angle through which AK turns is less
than the angle through which the BL turns and therefore the left front axle turns through a
smaller angle than the right front axle. For different angle of turn , the corresponding value of
and (Cot Cos ) are noted. This is done by actually drawing the mechanism to a scale or by
calculations. Therefore for different value of the corresponding value of and are tabulated.
Approximate value of b/l for correct steering should be between 0.4 and 0.5. In an Ackermann
steering gear mechanism, the instantaneous centre I does not lie on the axis of the rear axle but
on a line parallel to the rear axle axis at an approximate distance of 0.3l above it.
Question Bank- I unit
Important Two marks
With the help of a neat sketch explain the working of Whitworth quick return
mechanism.
With the help of a neat sketch explain the working of Single slider and double
slider crank chain mechanism.
References
1. Ambekar A. G., Mechanism and Machine Theory, Prentice Hall of India, New Delhi, 2007.
2. Khurmi R.S., Gupta J.K., Theory of machines, S. Chand company limited, New Delhi, 2009.
Web site:
www. nptel.iitm.ac.in (National programme on technology enhanced learning by IIT, India)
http://www.scribd.com/doc/18424291/Kinematics-of-Machines
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A slider attached to a rotating link (such that the slider is moving in or out along the link as the
link rotates) experiences all 4 components of acceleration. Perhaps the most confusing of these
is the coriolis acceleration, though the concept of coriolis acceleration is fairly simple. Imagine
yourself standing at the center of a merry-go-round as it spins at a constant speed (). You
begin to walk toward the outer edge of the merry-go-round at a constant speed (dr/dt). Even
though you are walking at a constant speed and the merry-go-round is spinning at a constant
speed, your total velocity is increasing because you are moving away from the center of rotation
(i.e. the edge of the merry-go-round is moving faster than the center). This is the coriolis
acceleration. In what direction did your speed increase? This is the direction of the coriolis
acceleration.
The total acceleration of a point is the vector sum of all applicable acceleration components:
A = An + At + Ac + As
These vectors and the above equation can be broken into x and y components by applying sines
and cosines to the vector diagrams to determine the x and y components of each vector. In this
way, the x and y components of the total acceleration can be found.
Graphical Method, Velocity and Acceleration polygons :
Graphical velocity analysis:
It is a very short step (using basic trigonometry with sines and cosines) to convert the graphical
results into numerical results. The basic steps are these:
1. Set up a velocity reference plane with a point of zero velocity designated.
2. Use the equation, V = r, to calculate any known linkage velocities.
3. Plot your known linkage velocities on the velocity plot. A linkage that is rotating about
ground gives an absolute velocity. This is a vector that originates at the zero velocity point
and runs perpendicular to the link to show the direction of motion. The vector, VA, gives the
velocity of point A.
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References
1. Ambekar A. G., Mechanism and Machine Theory, Prentice Hall of India, New Delhi, 2007.
2. Khurmi R.S., Gupta J.K., Theory of machines, S. Chand company limited, New Delhi, 2009.
Web site:
www. nptel.iitm.ac.in (National programme on technology enhanced learning by IIT, India)
http://www.scribd.com/doc/18424291/Kinematics-of-Machines
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3. KINEMATICS OF CAMS
INTRODUCTION
A cam is a mechanical device used to transmit motion to a follower by direct contact. The
driver is called the cam and the driven member is called the follower. In a cam follower pair, the
cam normally rotates while the follower may translate or oscillate. A familiar example is the
camshaft of an automobile engine, where the cams drive the push rods (the followers) to open
and close the valves in synchronization with the motion of the pistons.
Types of cams
Cams can be classified based on their physical shape.
a) Disk or plate cam The disk (or plate) cam has an irregular contour to impart a specific motion
to the follower. The follower moves in a plane perpendicular to the axis of rotation of the
camshaft and is held in contact with the cam by springs or gravity.
Fig.3.1 Plate or disk cam.
b) Cylindrical cam: The cylindrical cam has a groove cut along its cylindrical surface. The
roller follows the groove, and the follower moves in a plane parallel to the axis of rotation of the
cylinder.
Fig. 3.2 Cylindrical cam.
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c) Translating cam. The translating cam is a contoured or grooved plate sliding on a guiding
surface(s). The follower may oscillate (Fig. 3.3a) or reciprocate (Fig. 3.3b). The contour or the
shape of the groove is determined by the specified motion of the follower.
Fig. 3.3 translating cam
Fig 3.4
Fig: 3.5
(iii)
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Fig
3.6
Cam
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Fig 3.7
Displacement diagrams: In a cam follower system, the motion of the follower is very
important. Its displacement can be plotted against the angular displacement of the cam and it is
called as the displacement diagram. The displacement of the follower is plotted along the y-axis
and angular displacement of the cam is plotted along x-axis. From the displacement diagram,
velocity and acceleration of the follower can also be plotted for different angular displacements
of the cam. The displacement, velocity and acceleration diagrams are plotted for one cycle of
operation i.e., one rotation of the cam. Displacement diagrams are basic requirements for the
construction of cam profiles. Construction of displacement diagrams and calculation of velocities
and accelerations of followers with different types of motions are discussed in the following
sections.
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Fig
3.8
(b)
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(c)
Follower
motion
with
uniform
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Fig 3.11
Cycloidal motion:
Cycloid is the path generated by a point on the circumference of a circle, as the circle rolls
without slipping, on a straight/flat surface. The motion executed by the follower here, is similar
to that of the projection of a point moving along a cyloidal curve on a vertical line as shown in
figure 6.12.
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Cam profile:
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Cam profile ;
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Cam profile
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Cam profile
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4. Gears
Introduction: The slip and creep in the belt or rope drives is a common phenomenon, in the
transmission of motion or power between two shafts. The effect of slip is to reduce the velocity
ratio of the drive. In precision machine, in which a definite velocity ratio is importance (as in
watch mechanism, special purpose machines..etc), the only positive drive is by means of gears or
toothed wheels.
Gears are machine elements that transmit motion by means of successively engaging teeth. The
gear teeth act like small levers. Gears are highly efficient (nearly 95%) due to primarily rolling
contact between the teeth, thus the motion transmitted is considered as positive.
Gears essentially allow positive engagement between teeth so high forces can be transmitted
while still undergoing essentially rolling contact. Gears do not depend on friction and do best
when friction is minimized.
4.1 Gear Classification: Gears may be classified according to the relative position of the
axes of revolution. The axes may be
1. Gears for connecting parallel shafts,
2. Gears for connecting intersecting shafts,
3. Gears for neither parallel nor intersecting shafts.
Gears for connecting parallel shafts
1. Spur gears: Spur gears are the most common type of gears. They have straight teeth, and are
mounted on parallel shafts. Sometimes, many spur gears are used at once to create very large
gear reductions. Each time a gear tooth engages a tooth on the other gear, the teeth collide, and
this impact makes a noise. It also increases the stress on the gear teeth. To reduce the noise and
stress in the gears, most of the gears in your car are helical.
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One interesting thing about helical gears is that if the angles of the gear teeth are correct,
they can be mounted on perpendicular shafts, adjusting the rotation angle by 90 degrees. Helical
gears to have the following differences from spur gears of the same size:
Tooth strength is greater because the teeth are longer, Greater surface contact on the teeth
allows a helical gear to carry more load than a spur gear. The longer surface of contact reduces
the efficiency of a helical gear relative to a spur gear
Rack and pinion (The rack is like a gear whose axis is at
infinity.): Racks are straight gears that are used to
convert rotational motion to translational motion by
means of a gear mesh. (They are in theory a gear with an
infinite pitch Diameter). In theory, the torque and angular
velocity of the
pinion gear are related to the Force and the velocity of the
rack by the radius of the pinion gear, as is shown.Perhaps
the most well-known application of a rack is the rack and
pinion steering system used on many cars in the past
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Addendum: The radial distance between the Pitch Circle and the top of the teeth.
Arc of Action: Is the arc of the Pitch Circle between the beginning and the end of the
engagement of a given pair of teeth.
Arc of Approach: Is the arc of the Pitch Circle between the first point of contact of the gear
teeth and the Pitch Point.
Arc of Recession: That arc of the Pitch Circle between the Pitch Point and the last point of
contact of the gear teeth.
Backlash: Play between mating teeth.
Base Circle: The circle from which is generated the involute curve upon which the tooth profile
is based.
Center Distance: The distance between centers of two gears.
Chordal Addendum: The distance between a chord, passing through the points where the Pitch
Circle crosses the tooth profile, and the tooth top.
Chordal Thickness: The thickness of the tooth measured along a chord passing through the
points where the Pitch Circle crosses the tooth profile.
Circular Pitch: Millimeter of Pitch Circle circumference per tooth.
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Path of contact :
Consider a pinion driving wheel as shown in figure. When the pinion rotates in
clockwise, the contact between a pair of involute teeth begins at K (on the near the base circle of
pinion or the outer end of the tooth face on the wheel) and ends at L (outer end of the tooth face
on the pinion or on the flank near the base circle of wheel).
MN is the common normal at the point of contacts and the common tangent to the base
circles. The point K is the intersection of the addendum circle of wheel and the common tangent.
The point L is the intersection of the addendum circle of pinion and common tangent.
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Arc of contact: Arc of contact is the path traced by a point on the pitch circle from the
beginning to the end of engagement of a given pair of teeth. In Figure, the arc of contact is EPF
or GPH.
The arc GP is known as arc of approach and the arc PH is called arc of recess. The angles
subtended by these arcs at O1 are called angle of approach and angle of recess respectively.
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Continuous motion transfer requires two pairs of teeth in contact at the ends of the
path of contact, though there is only one pair in contact in the middle of the path, as in Figure.
The average number of teeth in contact is an important parameter - if it is too low due to the use
of inappropriate profile shifts or to an excessive centre distance. The manufacturing inaccuracies
may lead to loss of kinematic continuity - that is to impact, vibration and noise The average
number of teeth in contact is also a guide to load sharing between teeth; it is termed the contact
ratio
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The equation gives minimum number of teeth required on the wheel to avoid interference.
Gears Trains
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FRICTION
Dry friction Friction in screw jack Pivot and collar friction - Plate clutches - Belt and
rope drives - Block brakes, band brakes.
Friction:
The opposing force which acts in the opposite direction of the movement of the upper
block is called the force of friction or friction.
Types or friction:
1. Static friction: It is experienced by a body, when at rest.
2. Dynamic friction: It is friction experienced by a body when in motion.
a. Sliding friction: It is friction experienced by a body when it slides over another
body.
b. Rolling friction: It is friction experienced between the surfaces which the balls or
rollers interposed between them.
c. Pivot friction: It is the friction experienced by a body due to motion of rotation.
Further classified
1. Friction between unlubricated surfaces
2. Friction between lubricated surfaces.
Laws of dry or solid friction:
The force of friction directly proportional to the normal load between the surfaces.
The force of friction is independent of the area of the contact surface for a given normal
load.
The force of friction depends upon material which the contact surfaces or made.
The force of friction is independent of the velocity of sliding of one body relative to other
body.
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1.
Let
tan =p/d
Torque required overcoming friction between the screw and nut
If an P1 is applied at the end of a lever of arm l, then the total torque required to overcome
friction must be equal to the torque applied at the end of the lever
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tan =p/d
Torque required overcoming friction between the screw and nut
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In the above expressions ,if < ,then the torque required to lower the load will be
negative ,the load will start moving downward without application of force, such a condition is
known as overhauling of screw.
If > ,then the torque required to lower the load will be positive ,indicating that an
efforts applied lower the load , such a condition is known as self locking of screw
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d2
N1
N2
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r1 and r1
(T1-T2)v W
v
Power
angle of contact
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