ENGINEERING DYNAMICS KINEMATICS

MEC 2300

Brady Briffa 140194M Mark Bonello 170994M Sean Farrugia 187794M

[ENGINEERING DYNAMICSKINEMATICS MEC 2300]

Kinematics Assignment
Introduction
Mechanisms are of utmost importance in mechanical engineering. A mechanism is used to produce a mechanical transformation in a machine. The transformation may be but not only: Converting one speed to another speed. Converting one torque to another torque. Converting rectilinear motion into angular motion. Converting angular motion into rectilinear motion. In this particular case we are dealing with the last of the aforementioned transformations that is the conversion of angular motion into rectilinear motion. There are several means by which one can achieve this, one of which may be the linkage method. This method uses pins and linkage bars attached to one another with pins sliding inside the differently shaped links. One such example is the Whitworth quickreturn mechanism. A problem however arises with this approach in many applications as these linkage mechanisms become highly complex when one needs different linear displacements as well as different timings. Moreover maintenance may become very tedious for these linkage systems due to the number of components. Thus the system is swapped for a cam and follower set-up. The unique feature of the cam is that it can provide different displacements since its geometric shape prescribes the motion of the follower, relative to the cam. Cams are much more precise in their output and hence end up costing more money than the conventional approach of linkages.

Figure 1: -Form-closed plate cam with translating follower.

The cam and follower set-up is renowned for its extensive use in the automotive industry for the flexibility and hence higher efficiency it provides to the overall system. There are various types of cams namely: o Plate Cam o Cylindrical Cam o Linear Cam

The follower position can have 2 types of motion either a translating, motion hence constrained to a straight line or a pivoted that means limited to rotational motion.

[ENGINEERING DYNAMICSKINEMATICS MEC 2300]

Design
The aim of the assignment was to modify and re-design the model given to us so that it is able to work continuously as a cam and follower mechanism. Initially one can notice that the set-up, be it the slotted arm path or the offset distance of the rotating axis to the vertical bar doesnt produce continuous linear motion. Originally different concepts were put forward. One of the issues in the design was the path prescribed by the pin. The choice of the latter is determined by the type of cycle one requires. For example in relation to the automotive industry the follower motion has to be expressed in relation to the angular displacement of the cam. This is because; as it is in most other applications the motion must be synchronized. To determine the right cam design for a specific use in a machine one must have a follower displacement diagram. This will have the vertical displacement in this case of the follower bar plotted against time (Graph 1) or angular cam displacement (Graph 3) according to the constraints requested by the designer. This means that this graph would show the relative positions of the vertical bar and the cam. It is important to note that this whole mechanism would be part of a bigger system; going back to the original reference, the automobile, the vertical displacement must open and close a valve and the timing of this has to be close to perfection. Hence these graphs alongside a good kinematic analysis will help choose the right design for the path. It is important to note that there are various considerations involved when analyzing the motion of a cam and follower mechanism. The 2 most important physical features are the gravity acting on the follower and the friction of the pin in the grooved path. This means that the motion of the follower can never be assumed to be the same throughout the course of 1 cycle. We shall see later on how the motion will vary according to which part of the cycle the cam is in.

Implementation
There are basically 4 types of motion that the mechanism can adapt to during the followers rise, fall or dwell (Dwell is the period of cam rotation where there is no follower motion). 1. 2. 3. 4. Constant Velocity Constant Acceleration Harmonic Motion Cycloidal Motion

[ENGINEERING DYNAMICSKINEMATICS MEC 2300] These are the parameters involved:

H = Total follower displacement during the rise or fall. T = Total time period for the rise or fall. = Time into rise or fall interval that defines the instantaneous follower properties. = Rotation angle of cam during the rise or fall = Speed of the cam. R = Magnitude of the instantaneous follower displacement at time t or cam angle . = Magnitude of the instantaneous follower velocity = dR/dt.
m 0 0.985 1.623 1.606 1.101 0.133

Before analyzing the system one must establish the requirements of this cam and follower mechanism. The table on the right shows the type of displacement required by the follower at a given time in one cycle. Using the equations below the table one can find the cycle time and consequently the angular Table 1 velocity of the cam is found. We are assuming constant angular velocity in this case. After this, a table is computed using this equation to find the angular displacements at different sections in the cycle of the cam. From this table we can note that the cycle time is 3.15seconds and accordingly 1 revolution accounts for 360 degrees. A (Sec) follower displacement diagram was plotted to show the maximum and 0 minimum displacements of the 0.7 follower against time (Graph 1) and 1 against angular displacement 2.3 (graph 3). 2.85 Table 2
3.15

Type of displacement Starting Position Rise Fall Rise Fall Rise

Time (Sec) 0 0.7 0.3 1.3 0.55 0.3

= 1 + 2 + 3 + 4 + 5 = 0.7 + 0.3 + 1.3 + 0.55 + 0.3 = 3.15 s

1 3.15

= 0.317 1

=
(sec) 0 0.7 0.3 1.3 0.55 0.3 R m 0 +0.985 -0.638 +0.968 -0.133 0 Radians 0 0.2219 0.0951 0.4121 0.1743 0.0951 Degrees 0 79.884 34.236 148.35 62.766 34.236 Degrees 0 79.8840 114.120 262.476 325.242 359.478

1.5 1 0.5 0 -0.5 -1 0

Rectilinear Displacement vs Cycle time

Graph 1

0.5

1.5

2.5

3.5

[ENGINEERING DYNAMICSKINEMATICS MEC 2300]

Using simulation software the following of information was acquired. It is important to note that this information takes into consideration the previously mentioned dynamic considerations such as gravity forces and the smoothness of the curved path in relation to friction. Hence as illustrated in graph 3, which plots the follower displacement versus angular displacement from table 2 and table 3, in reality it is not a linear relationship but much different. This is also due to the fact that one can never achieve absolute constant velocity or acceleration. For example when starting the mechanism a starting torque is applied and this is varied accordingly until a steady angular speed is reached. Once we obtain a follower displacement diagram, we have a relationship between the follower displacement and angular displacement at various sections in the cycle. Using differentiation techniques since the angular velocity is assumed to be constant throughout the follower motion hence using a kinematic analysis we can compute a Velocity vs Angular Displacement (Graph 2) and Velocity vs Time ( Graph 4). From the last graph we can tell what type of motion the system adapts to as discussed previously in the implementation section. Seconds 0 0.15 0.3 0.45 0.6 0.75 0.9 1.05 1.2 1.35 1.5 1.65 1.8 1.95 2.1 2.25 2.4 2.55 2.7 2.85 3 3.15 Table 3 R m 0 0.146 0.344 0.602 0.897 0.866 -0.331 -0.633 -0.551 -0.44 -0.312 -0.162 0.021 0.252 0.546 0.883 0.894 0.254 -0.07 -0.133 -0.092 0.008 Velocity of Follower m/s 0 1.138 1.513 1.921 1.782 -4.133 -7.683 0.323 0.672 0.792 0.92 1.098 1.359 1.735 2.19 2.025 -3.045 -3.631 -1.019 0.016 0.495 0.828 Rotation of cam Degrees 0 17.18873 34.37747 51.5662 68.75494 85.94367 103.1324 120.3211 137.5099 154.6986 171.8873 189.0761 206.2648 223.4535 240.6423 257.831 275.0197 292.2085 309.3972 326.5859 343.7747 360.9634 Graph 2

4 2 0 -2 -4 -6 -8 -10 -12

Velocity vs Angular Displacement

50

100

150

200

250

300

350

400

[ENGINEERING DYNAMICSKINEMATICS MEC 2300]

5 Graph 3

Rectilinear Motion of follower vs Angular Displacement of cam

1.2 1

Rectilinear Displacement of follower

0.8 0.6 0.4 0.2 0 0 -0.2 -0.4 -0.6 -0.8 50 100 150 200 250 300 350 400 Including Dynamic considerations" Not including Dynamic considerations

Angular Displacement of cam in degrees

[ENGINEERING DYNAMICSKINEMATICS MEC 2300]

Graph 4

Follower velocity vs Time

4

0 0 0.5 1 1.5 2 2.5 3 3.5

-2

-4

-6

-8

-10

The velocity on start-up is almost at constant acceleration. Before the peak it changes into cycloidal motion. The fall is a very abrupt one at very sharp deceleration and followed by an almost immediate acceleration. Once again the acceleration reaches its peak with a cycloidal type of motion. The second fall is similar to the first one. However the final rise has a decreasing acceleration.