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Department of Mechanical Engineering

NED University of Engineering & Technology

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Course Code & Name

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Abstract

We have designed a 3D model with assistance of a designing software, MechAnalyzer. Our Project is

based upon the Mechanism of cutter which can the purpose for meat cutting and bread slicing with

different blades.

In this project, we analyzed the kinematics and dynamics of meat cutter motion. After completely

studying its motion we have further plotted the curve to see its position, velocity and acceleration over

the entire operation in which it makes one complete revolution.

As bread cutter follows the four bar mechanism, its final motion refers to crank rocker mechanism, in

which the rocker will oscillates in a closed path.

It also includes analysis over tensile, shear and fatigue of materials along with its cost estimation.

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Table of Contents

Abstract ......................................................................................................................................................... 2

Table of Contents .......................................................................................................................................... 3

List of Figures ................................................................................................................................................ 5

List of Charts ................................................................................................................................................. 6

1. INTRODUCTION: .................................................................................................................................... 7

1.1. OBJECTIVE AND FUNCTION: ........................................................................................................ 14

1.2. PRACTICAL APPLICATIONS: ......................................................................................................... 14

1.3. PROJECT: ..................................................................................................................................... 15

1.4. MECHANALYZER:......................................................................................................................... 15

2. BACKGROUND: .................................................................................................................................... 15

2.1. SIMULATION: .............................................................................................................................. 15

2.1.1 PATH TRACED BY THE CUTTER: ........................................................................................... 16

2.1.2 LENGTH OF THE LINKS:........................................................................................................ 16

2.2. MATERIAL SELECTION: ................................................................................................................ 17

2.2.1 7075-T6 ALUMINIUM vs. ASTM A36 CARBON STEEL: ......................................................... 17

2.2.2 7075-T6 ALUMINIUM vs. GREY CAST IRON: ........................................................................ 18

2.2.3. SELECTION: .......................................................................................................................... 18

2.3. CALCULATIONS: ............................................................................................................................. 19

2.3.1 FORMULA ............................................................................................................................ 19

2.3.2 MASS AND MASS MOMENT OF INERTIA OF THE LINKS: .................................................... 20

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 2.4. GRAPHS ....................................................................................................................................... 21

2.5. GEAR AND PINION: ........................................................................................................................ 22

2.6. NUMBER OF TEETHS: .................................................................................................................. 22

3. METHODOLOGY: ................................................................................................................................. 23

4. RESULTS AND DISCUSSION: ................................................................................................................ 24

5. CONCLUSIONS: .................................................................................................................................... 26

6. REFERENCES: ....................................................................................................................................... 27

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List of Figures

Figure 1- Four Bar Linkage ............................................................................................................................ 7

Figure 2- Links ............................................................................................................................................... 8

Figure 3- Triple Rocker Mechanism .............................................................................................................. 9

Figure 4- Crank Rocker Mechanism .............................................................................................................. 9

Figure 5- Double Crank Mechanism ............................................................................................................ 10

Figure 6- Double Rocker Mechanism .......................................................................................................... 10

Figure 7- Parallelogram Linkage .................................................................................................................. 11

Figure 8- Deltoid Linkage ............................................................................................................................ 11

Figure 9- First Change Point Condition ....................................................................................................... 12

Figure 10- Ways .......................................................................................................................................... 12

Figure 11- Second Change Point Condition ................................................................................................ 13

Figure 12- Ways .......................................................................................................................................... 13

Figure 13- Path of cutter ............................................................................................................................. 16

Figure 14- length of links............................................................................................................................. 16

Figure 15- Mass and Mass Moment of Inertia of ground link .................................................................... 20

Figure 16- Mass and Mass Moment of Inertia of Link 2 ............................................................................. 20

Figure 17-Mass and Mass Moment of Inertia of Link 3 .............................................................................. 20

Figure 18-Mass and Mass Moment of Inertia of Link 4 .............................................................................. 20

Figure 19-Mass and Mass Moment of Inertia of Coupler ........................................................................... 21

Figure 20-Joint Position graph .................................................................................................................... 21

Figure 21-Joint Velocity graph .................................................................................................................... 21

Figure 22-Joint Acceleration ....................................................................................................................... 21

Figure 23-Force/Torque .............................................................................................................................. 22

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List of Charts

CHART 1-7075-T6 ALUMINIUM vs. ASTM A36 CARBON STEEL MECHANICAL PROPERTIES ....................... 17

CHART 2-7075-T6 ALUMINIUM vs. GREY CAST IRON MECHANICAL PROPERTIES ...................................... 18

Chart 3 Motor Specifications and Model .................................................................................................... 26

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1. INTRODUCTION:

A four bar linkage consist of four bars that are linked together in a closed ring structure. The

four links are,

1st LINK: It is linked rigidly to the ground called FIXED LINK or FRAME.

2nd LINK: It makes one complete revolution about the fixed link called CRANK LINK.

3rd LINK: If it oscillates about the fixed link then it is called ROCKER ARM but if it rotates then it is called

CRANK LINK.

4th LINK: It is opposite to the fixed link and connects the two links (i.e. crank and rocker) called COUPLER

LINK.

Figure 1- Four Bar Linkage

The four bar linkage behave in different manner. And the behavior depends upon which the link is fixed.

The relation that study the different behavior is called GRASHOF LAW.

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Let,

“s” be the length of the shortest link,

“l” be the length of the longest link,

“p” be the length of the remaining one link,

“q” be the length of the remaining second link.

Figure 2- Links

Then according to the GRASHOF LAW,

“The sum of the length of the longest and shortest link is equal to or less than the sum of the other

two links“

Mathematically,

s+l ≤ p+q

The condition can be broken into two parts,

1) s + l < p + q
2) s + l = p + q

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But if s+l > p+q then no link will be able to make one complete revolution. And the mechanism obtained

is called TRIPLE ROCKER MECHANISM.

Figure 3- Triple Rocker Mechanism

For Condition 1 (s+l < p+q):

Case 1: When shortest link is adjacent to the fixed link the mechanism is CRANK-ROCKER MECHANISM.

No matter which link is fixed, it can be either of the two links.

Figure 4- Crank Rocker Mechanism

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Case 2: When shortest link is the fixed link then the mechanism is DOUBLE CRANK MECHANISM. The

position of the other three link doesn’t change the nature of mechanism.

Figure 5- Double Crank Mechanism

Case 3: When shortest link is opposite to the fixed link then the mechanism is DOUBLE ROCKER

MECHANISM. In this mechanism the shortest link rotates.

Figure 6- Double Rocker Mechanism

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For Condition 2 (s+l = p+q):

In this condition the links become collinear atleast once per revolution of input crank.

Case 1: Length of links are distinct i.e. s ≠ l ≠ p ≠ q. Then all the inversion obtained are same as in the

case of s+l < p+q. That are,

i. Crank-Rocker
ii. Double Crank
iii. Double Rocker

Case 2: Length of the two links are equal i.e. s=l=p=q. In this case the links can be connected in two

ways,

i. Equal links are connected opposite to each other called PARALLELOGRAM LINKAGE.

Figure 7- Parallelogram Linkage

ii. Equal links are connected adjacent to each other called DELTOID LINKAGE.

Figure 8- Deltoid Linkage

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All the inversions are either crank rocker or double crank this case. So when the links becomes collinear

both the linkage suffer from “change point condition” i.e. the output behavior becomes indeterminate.

The linkage may assume either double crank configuration or crank-rocker configuration at these

positions.

As the crank of parallelogram linkage rotates and achieve the first change point condition then the

motion of the inks becomes unpredictable.

Figure 9- First Change Point Condition

It may go either of the two ways,

Figure 10- Ways

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As the input link rotates further it again gets collinear say second change point condition,

Figure 11- Second Change Point Condition

And may go either of the two ways,

Figure 12- Ways

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 1.1. OBJECTIVE AND FUNCTION:

The main objective is to generate a mechanism which follows a desired relationship

between input and output motions. Desired functions of Four Bar Linkage mechanism are generated

precisely by adjusting four-bar linkages.

Main function of Four Bar Linkage mechanism is to produce rotating, oscillating and reciprocating

motion from rotation of crank and vice versa. The mechanism can be used to,

 Convert rotational motion to reciprocating motion, as in the case of lever.

 Convert reciprocating motion to rotational motion, as in the case of bicycle.
 Constrain motion, as in the case of knee joint and car suspension.
 Magnify force, as in the parrotfish jaw.

1.2. PRACTICAL APPLICATIONS:

The ubiquitous four bar linkage is a prodigious mechanism that is being used in vast range of

devices. Some of them includes,

 Locking pliers
 Bicycles
 Oil well pumps
 Loader
 Internal combustion engines
 Compressors
 Pantographs
 Human knee joint
 Fish jaws
 Windshield wiper
 Car suspension
 Beam engine mechanism
 Coupling rod of locomotive

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 1.3. PROJECT:

The mechanism we are designing is a cutter (slicer) and its is based four bar linkage crank rocker

mechanism. It has designed to serve the purpose for meat cutting in slaughter house. It can also be used

as a bread slicer by using multiple blade cutter.

1.4. MECHANALYZER:

The software we used to simulate our mechanism is Mechanalyzer.

MechAnalyzer aims to be a software platform that can be used to teach and learn the concepts related

to the kinematic and dynamic analyses of mechanisms and machines. As of now, only the kinematic

analysis has been implemented in it. An overview of the software is presented in this section.

The first version of the software was an attempt to check the usefulness of the software. It contained

forward kinematics of four-bar and slider crank mechanisms. Later five-bar mechanism and special

mechanisms were included and released as Version 2. Later the new Version 3 was introduced the idea

behind developing the new version of Mechanalyzer was to make it easy to add new mechanisms

through minimal input by the developers in the form of addition and/or modifications to the code-base.

2. BACKGROUND:

2.1. SIMULATION:

Simulations are performed using mechanalyzer. To obtained the desired path of the blade we have

selected crank rocker mechanism, for which the the sum for shortest and longest link should be less

than the sum of the intermediate links.

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 2.1.1 PATH TRACED BY THE CUTTER:

using above conditions, we have obtained our desired path

Figure 13- Path of cutter

2.1.2 LENGTH OF THE LINKS:

Length of the links to obtain the above path are as:

Figure 14- length of links

Where

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2.2. MATERIAL SELECTION:

We have selected Aluminum 7075-T6 for our project as link material because for its higher strength

and low density.

We have following advantages of aluminum 7075-T6 over cast iron and steel

2.2.1 7075-T6 ALUMINIUM vs. ASTM A36 CARBON STEEL:

For each property being compared, the top bar is 7075-T6 aluminum and the bottom bar is ASTM

A36 carbon steel.

CHART 1-7075-T6 ALUMINIUM vs. ASTM A36 CARBON STEEL MECHANICAL PROPERTIES

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 2.2.2 7075-T6 ALUMINIUM vs. GREY CAST IRON:

7075-T6 aluminum belongs to the aluminum alloys classification, while grey cast iron belongs to the iron

alloys. For each property being compared, the top bar is 7075-T6 aluminum and the bottom bar is grey

cast iron.

CHART 2-7075-T6 ALUMINIUM vs. GREY CAST IRON MECHANICAL PROPERTIES

2.2.3. SELECTION:

If we compare the tensile and shear strength of both materials with aluminium alloy it would be

preferable to use aluminium alloy according to our requirement. Since power tansmission is not our

objective therefore fatigue strength we obtain using Aluminium 7075-T6 is reasonable.

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 2.3. CALCULATIONS:

2.3.1 FORMULA

L1 = 0.46m

L2 = 0.16m

L3 = 0.5m b
L4 = 0.3m

L5 =0.45m a

L6 = 0.05m

Assuming rectangular cross-section,

b = 0.8m c = 0.5m

Mass Moment of Inertia for rectangular cross section :

Where m is the mass of link and can be obtained by multiplying density and volume of links.

Where Density for 7075-T6 Aluminum is:

And volume for rectangular cross is given by :

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2.3.2 MASS AND MASS MOMENT OF INERTIA OF THE LINKS:

Mass and Moment of inertia using above condition are calculated as:

Figure 15- Mass and Mass Moment of Inertia of ground link

Figure 16- Mass and Mass Moment of Inertia of Link 2

Figure 17-Mass and Mass Moment of Inertia of Link 3

Figure 18-Mass and Mass Moment of Inertia of Link 4

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 Figure 19-Mass and Mass Moment of Inertia of Coupler

2.4. GRAPHS

Figure 20-Joint Position graph

Figure 21-Joint Velocity graph

Figure 22-Joint Acceleration

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 Figure 23-Force/Torque

2.5. GEAR AND PINION:

The maximum torque and speed achieved through graph is ,

T1= 13.684 N.m & n1= 720

To convert into rpm,

n1= 720 x x x 60 = 120 rpm

n1 = 120 rpm

Assume, gear ratio= 4: 1 (Pinion is driver and gear is driven)

Using relation,

n2 = 480 rpm & T2 = 3.421 N.m

For over-loading,

T= 1.5x3.421=5 N.m

T=5 N.m

2.6. NUMBER OF TEETHS:

In order to void interference, we have calculated number of teeth on pinion by using following relation:

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 )

Where

Therfore Np is calculated as 16 which will mesh with gear having 64 teeths without interference.

3. METHODOLOGY:

This motive of the design is to establish a low weight mechanism which acquires less power for its

operation. The mechanism is based on four bar linkage mechanism. To simulate our design, we have

used MechAnalyzer software. It is a tool through which we achieved our desired length of the links for

our required path of the cutter. It also provide us with torque and speed of the input link through which

pinion of the motor was designed which further helped us to select a suitable motor.

For gear designing we have we have selected a pressure angle of 20° because load carrying capacity and

tooth strength increases with higher pressure angle and a smaller number of teeth can be adopted

without undercutting.

The material we have selected for the links is Aluminum 7075-T6. The merits of aluminum over cast iron

and steel is that it has low density and high tensile and shear strength. If cast iron or steel had been

chosen, then our project would have more weight and high power would be required to operate the

mechanism which would ultimately increase our working cost and power optimization.

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Aluminum 7075-T6 is costly when we compare it with cast iron or steel, but in a long term use it will

reduce our power requirement to a noticeable extend, and since it is a high strength material and it is

operating at low rpm, it will increase the life of the project.

4. RESULTS AND DISCUSSION:

The details of the motor selected for our design are as:

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Page 25 of 27
 Chart 3 Motor Specifications and Model

5. CONCLUSIONS:

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6. REFERENCES:

This is the last section of the report. The references should not be double-spaced, but single-

spaced. For this technical report, use the IEEE or APA style of referencing.

[1] Reference 1 information.

[2] Reference 2 information.
[3] Reference 3 information.

https://m.made-in-china.com/product/Low-Speed-60rpm-Gear-Motor-DC-Reduction-Gearbox-
736434152.html
https://www.makeitfrom.com/material-properties/ASTM-A36-SS400-S275-Structural-Carbon-Steel
https://www.makeitfrom.com/compare/7075-T6-Aluminum/Grey-Cast-Iron

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