DESIGN AND FABRICATION OF AUTOMATIC FLOOR

CLEANING MACHINE USING EXACT STRAIGHT LINE

MECHANISM
A PROJECT REPORT

Submitted by

LOGANATHAN M (921413114032)
MURUGARAJ N (921413114042)
MUTHUKUMAR N (921413114043)
MUTHUPANDI E (921413114044)

In partial fulfillment for the award of the degree

Of

BACHELOR OF ENGINNEERING
in

MECHANICAL ENGINEERING

R.V.S EDUCATIONAL TRUST’S GROUP OF INSTITUTION, DINDIGUL

ANNA UNIVERSITY: CHENNAI 600 025

APRIL 2016
 ANNA UNIVERSITY: CHENNAI 600 025

BONAFIDE CERTIFICATE

Certified that this project report “DESIGN AND FABRICATION OF

FLOOR CLEANING MACHINE” is the bonafide work of LOGANATHAN
M (921413114032), MURUGARAJ N (921413114042),
MUTHUKUMAR N (921413114043), and MUTHUPANDI E
(921413114044). Who carried out the project work under my supervision..

SIGNATURE SIGNATURE

Dr.S.SENTHILKUMARAN, M.Tech,Ph.D., Mr.P.RAMAKRISHNAN,M.E

HEAD OF THE DEPARTMENT SUPERVISOR

PROFESSOR ASSISTANT PROFESSOR

Department of mechanical Department of mechanical

Engineering Engineering

R.V.S Educational Trust’s R.V.S Educational Trust’s

Group of institutions Group of institutions

Dindigul-624005 Dindigul-624005

Submitted for viva-voice examination held on 21-04-2016

INTERNAL EXAMINER EXTERNAL EXAMINER

2
 ACKNOWLEDGEMENT

First and most thanks to almighty the great architect of universe who
blessed us to successfully purse our bachelor engineering and to successfully
accomplish our project.

We would like to express our thanks to Dr.K.V.KUPPUSAMY,

Honorable Chairman, of R.V.S ETGI for his endorsement of this project work

We are greatful to Dr.R.SARAVANAN,M.E.,Ph.D Director of RVS

ETGI for providing facilities to carry this project work successfully.

We are also greatful to Dr.S.SENTHILKUMARAN,M.Tech.,Ph.D,

Head of mechanical department ,for allowing us to work on this project and for all
the support and guidance he has provided us

We take pride in expressing our deepest gratitude to our guide

Mr.P.RAMAKRISHNAN,M.E., Department of mechanical engineering for his
invaluable and encouragement at every stage of this project.

We extend our thanks to all staff members and project coordinator of

mechanical engineering of their extend assistance and support.

3
 ABSTRACT
Hygiene is most important aspect of a healthy life. Many investment are
made for maintaing hygiene in public building. Cleanliness may be gifted with a
moral quality as indicated by the saying “cleanliness is next to godliness”, and is
regarded as contributing to good health and beauty. So it is important to keep the
surroundings neat and clean. On a practical level it can be said that cleanliness is
related to hygiene and disease prevention. Washing is one method of achieving
cleanliness, which is usually performed with mechanism . There are many types of
equipment which reduces the efforts of humans in cleaning. There are equipments
to clean with high cost. Here comes the scope of “AUTOMATIC FLOOR
CLEANING MACHINES” for house hold purpose. The project is to design and
fabricate such a machine at low cost for usage in houses. The power drive is
selected to be electric and to be driven by a single motor for achieving the desired
rpm's. The parts were procured as per the design done and were assembled in
workshop. During the assembly, it was taken care to provide necessary space and
ergonomics of handling.

4
 LIST OF CONTENT
SL.NO CONTENTS P.NO
ABSTRACT iii
I INTRODUCTION 1
1.1 Introduction to the cleaning process 1
1.2 Source for cleaning 1
1.2.1 Reason for cleaning floors 2
1.2.2 Methods of floor cleaning 2
1.2.3 Wood cleaning 3
1.3 Exciting method 5
1.4 Drawback of exciting method 6
1.5 Reducing for floor cleaning 6
1.6 proposed methods 6

II CONSTRUCTION & COMPONENTS 8

2.1 Construction 8
2.2 Components & it design 8
2.2.0 Dc motor 9
2.2.1 Main frame 11
2.2.2 Wheel 12
2.2.4 L-Angle 13
2.2.5 Rivert 14
2.2.6 Circular disc 15
2.2.7 Rectangular mop 17

III SPECIFICATION OF COMPONENTS 20

3.1 Specification of single phase dc motor 20
3.2 Specification of wheel 21
3.3 Specification of metal & materials 21

5
IV POWER SOURCE 22
4.1 Power source of dc motor 23
4.2 mechanism movement 23
V DESIGN DRAWINGS 27
VI WORKING 28
6.1 Working procedure 30
6.2 working principle 30
VII ADVANTAGES 32
7.1 Disadvantage 32
7.2 result and discussion 33
VIII COST ESTIMATION 34
IX CONCLUSION 35
X REFERRENCE 36
PHOTOGRAPHY 37

6
 LIST OF FIGURES

FIG.NO CONTENTS P.NO

2.1 Single phase dc motor 10
2.2 Main frame 12
2.3 Moving wheel 13
2.4 L-angle 14
2.5 Revert 15
2.6 Circular disc 17
2.8 Rectangular mop 18
2.9 Flat plates 19
3.0 Nut& bolt 20
3.1 Peaucellier lipkin linkage 27

LIST OF TABLES
SL.NO CONTENTS P.NO

3.1 Specification of single phase dc motor 16

3.2 Specification of wheel 17
3.3 specification of metal & materials 18

7
 CHAPTER – I
INTRODUCTION

1.1 INTRODUCTION TO THE CLEANING PROCESS

Effective cleaning and sanitizing helps and protect the health of the
human beings directly and indirectly. Also, cleaning and sanitizing prevents the
pest infestations by reducing residues that can attract and support bees, pests etc. It
also improves the shelf life of the floor, walls etc due to regular cleaning and
maintenance. In recent years, most of the people prefer to use trains or buses for
commuting and hence these places are littered with biscuits covers, cold drink
bottles etc. Hence, it is necessary to clean the bus stands and railways stations at
regular interval. There is no one single cleaning method that is suitable for all
locations and occasions and effective cleaning depends upon type of cleaning
device, cleaning technique and also the equipment should be user friendly.
Cleaning work can be physically demanding and a need has been identified to
developed methods for systematic ergonomics evaluation of new products. In
recent years, floor cleaning robots are getting more popular for busy and aging
populations due to lack of workers. However in India, unemployment is more and
hence there is a need to develop less labor oriented cleaning machine. Hence, the
present work is aimed to design, development and evaluation of a manually
operated floor cleaning machine.

8
1.2 REASON FOR CLEANING

The principal reasons for floor cleaning are:

To prevent injuries due to tripping or slipping. Injuries due to slips

and trips on level floors are a major cause of accidental injury or
death. Bad practice in floor cleaning is itself a major cause of
accidents.
To beautify the floor.
To remove stains dirt, litter and obstructions.
To remove grit and sand which scratch and wear down the surface?
To remove allergens, in particular dust.
To prevent wear to the surface (e.g. by using a floor wax or protective
sealant).
To make the environment sanitary (e.g. in kitchens).
To maintain an optimum traction (e.g. for dance floors).

1.2.1 METHODS OF FLOOR CLEANING

The treatment needed for different types of floors is very different.[2]

Slipping is a common safety hazard for cleaning methods that involve

water or other liquids, especially if the floor is left wet.[3]

Sawdust is used on some floors to absorb any liquids that fall rather
than trying to prevent them being spilt. The sawdust is swept up and

9
 replaced each day. This was common in the past in pubs and is still
used in some butchers and fishmongers.

It used to be common to use tea leaves to collect dirt from carpets and
remove odours. Nowadays it is still quite common to use
diatomaceous earth, or in fact any cat litter type material, to remove
infestations from floors.[citation needed]

There are also a wide variety of floor cleaning machines available

today such as floor buffers, automatic floor scrubbers and sweepers,
and carpet extractors that can deep clean almost any type of hard floor
or carpeted flooring surface in much less time than it would take using
a traditional cleaning method.

1.2.2 WOOD FLOORING

Different types of wood flooring may require completely different care

depending on whether they are waxed, oiled or have a polyurethane coating.
It is important to determine the type of finish of a wood floor and always
treat it in the proper manner, for instance it is difficult to clear wood floor
wax from a floor coated with polyurethane. Simple cleaning instructions:[6]

Clear the floor of any furniture that is easy to move.

Sweep or vacuum all loose dirt and debris.
Mop the floor, going along with the grain. For a polyurethane coated floor,
dampen a mop with water and a few drops of dishwashing liquid. Be sure to

10
ring out the mop thoroughly before using it on the floor. Run the mop back
and forth, going with the grain of the wood in smooth strokes. Do not use
water for lacquered or shellacked floors, as it can stain the wood and cause
buckling.
Buff the floor with a soft cloth to remove any soapy residue. Cloth diapers
work well for buffing since they are very soft and absorbent.
Tile and stone floors
Tile and stone flooring is common in kitchens, stairs, and bathrooms. Its
cleaning process can be divided into three steps:

Dirt or dust should first be removed with a vacuum cleaner or a broom.

Have a floor cleaning solution or spray bottle for the appropriate floor. If
you are cleaning stone floors (marble, granite, travertine, etc.), make sure the
cleaning agent states that it is for stones. An acidic tile cleaning solution can
be used on ceramic and porcelain floors
After spraying the tile or stone floors in a small area, use a mop to clean and
scrub floors.

11
1.3 EXISTING METHODS
To prevent from bacteria and diseases many types of cleaning process are
available for examples
Vacuum cleaning
Robot cleaning
Manual cleaning
These methods using on the present but it is very expensive too bought.

1.3.1. MECHANICAL PROJECT

In existing mechanical project many ideas had been found to cleaning
the floor automatically.
When the domestic robotics and cleaning robots are used to cleaning the
floor and washing the floor using detergents using these robots and the
robots having some protecting layer with them some times the layer will
damaged these cause some disadvantage with them.
Some keywords of worldwide using floor cleaning robots thus are named
as follows
Domestic robotics,
Cleaning robots,
Human factors in robotics,
Human-robot interaction

These are some methods to retrieve floor cleaning automatically when the
machines are not implemented in practical use due to its drawback.

12
1.4 DRAWBACK OF EXISTING METHODS
Other methods are implemented only in costlier methods but it does not
implemented in normal domestic families due to their cost wise.
When we come across those mechanical projects we could note some
drawbacks like wear of automatic robot, sometimes making injuries to legs
while actuating gears. Major drawback is it cannot use in all type of floors. So,
in order to solve this we thought and designed “SEMI AUTOMATIC
FLOOR CLEANING MACHINE” this system can be used in all type of
floors (Tiles, Marbles, Granites, and cement floor also.)

1.5 REDUCING FOR FLOOR CLEANING

Well maintained entrance matting can dramatically reduce the need for cleaning.
For public and office buildings about 80 to 90% of the dirt is tracked in from
outside. Installing a total of 15 feet of matting consisting of both indoor and
outdoor sections will remove about 80% .Thus about two-thirds of the dirt can be
removed at the entrance.

1.6 PROPOSED METHOD

Based on the working principle of single phase Dc motor, i.e. the power
is generated in the Dc motor and it transmits power to the Arm and makes it to
rotate. The arm transmits power to the exact links mechanism and makes the four
bar link to move up and down .This is the basic principle followed by the peacuiler
mechanism, based on this “automatic floor cleaning mechanism” is designed
because this system works by getting power from dc motor. This system consists

13
of four components, which is assembled as two set up which would be explained
briefly in construction and working part of this paper

SCOPE OF THE PROJECT

The machine can solve the problem of time consumption.
Waste of resources in face of labor cost is reduced.
The machine can be used in the industry where it is manufactured, at the
packaging sector.
4. And it is used as hardware in large quantity like in fabrication of
machine
It provide alternative for industries aiming toward reducing human effort
It generates sustainable and practical automation solutions for the future
industrial development.

14
 CHAPTER - II
CONSTRUCTION AND COMPONENTS

2.1 CONSTRUCTION

The whole construction of this system is simple and efficient. The

arrangement and position of components makes the system to function. The sector
circular disc attached to the center of dc motor. The sector disc is to connected on
the 3”inch connecting arm at rest condition. The small pin is welded to the sector
circular disc. Four bar linkage is attached to the connecting arm. Each and every
component has its own property and responsibility. The power obtained from the
motor drive is transmitted to the appropriate component without power loss. The
systematic design of system is made in order to consume only very low amount of
power initially for few seconds. Then the power consumption does not occurs after
Construction of the proposed “semi-automatic floor cleaning system” consists of
four major components. They are

2.1 COMPONENTS&ITS DESIGN:

Dc motor
Main frame
Rear wheel & rear axle
Front wheel & front axle
L-clams

15
2.1.1 SELECTION OF MOTOR:

DC motors provide excellent speed control for acceleration and

deceleration with effective and simple torque control. The fact that the power
supply of a DC motor connects directly to the field of the motor allows for precise
voltage control, which is necessary with speed and torque control applications. DC
motors perform better than AC motors on most traction equipment. They are also
used for mobile equipment like golf carts, quarry and mining equipment. DC
motors are conveniently portable and well suited to special applications, such as
industrial tools and machinery that is not easily run from remote power source.
A DC motor relies on the facts that like magnet poles repel and unlike magnetic
poles attract each other. A coil of wire with a current running through it generates
an electromagnetic field aligned with the center of the coil. By switching the
current on or off in a coil its magnetic field can be switched on or off or by
switching the direction of the current in the coil the direction of the generated

16
 Fig(2.1)
Magnetic field can be switched 180°. A simple DC motor typically has a stationary
set of magnets in the stator and an armature with a series of two or more windings
of wire wrapped in insulated stack slots around iron pole pieces (called stack teeth)
with the ends of the wires terminating on a commutator. The armature includes the
mounting bearings that keep it in the center of the motor and the power shaft of the
motor and the commutator connections. The winding in the armature continues to
loop all the way around the armature and uses either single or parallel conductors
(wires), and can circle several times around the stack teeth. The total amount of
current sent to the coil, the coil's size and what it's wrapped around dictate the
strength of the electromagnetic field created. The sequence of turning a particular
coil on or off dictates what direction the effective electromagnetic fields are
pointed. By turning on and off coils in sequence a rotating magnetic field can be

17
created. These rotating magnetic fields interact with the magnetic fields of the
magnets (permanent or electromagnets) in the stationary part of the motor (stator)
to create a force on the armature which causes it to rotate. In some DC motor
designs the stator fields use electromagnets to create their magnetic fields which
allow greater control over the motor. At high power levels, DC motors are almost
always cooled using forced air. The commutator allows each armature coil to be
activated in turn. The current in the coil is typically supplied via two brushes that
make moving contact with the commutator. Now, some brushless DC motors have
electronics that switch the DC current to each coil on and off and have no brushes
to wear out or create sparks.
Different number of stator and armature fields as well as how they are
Connected provide different inherent speed/torque regulation characteristics. The
Speed of a DC motor can be controlled by changing the voltage applied to the
Armature. The introduction of variable resistance in the armature circuit or field
Circuit allowed speed control. Modern DC motors are often controlled by power
electronics systems which adjust the voltage by "chopping" the DC current into on
and off cycles which have an effective lower voltage.
A DC motor relies on the fact that like magnet poles repels and unlike
magnetic poles attracts each other. A coil of wire with a current running through it
generates an electromagnetic field aligned with the center of the coil. By switching
the current on or off in a coil its magnet field can be switched on or off or by
switching the direction of the current in the coil the direction of the generated
magnetic field can be switched 180°. A simple DC motor typically has a stationary
set of magnets in the stator and an armature with a series of two or more windings
of wire wrapped in insulated stack slots around iron pole pieces (called stack teeth)
with the ends of the wires terminating on a commutator. The armature includes the
mounting bearings that keep it in the center of the motor and the power shaft of the
18
motor and the commutator connections. The winding in the armature continues to
loop all the way around the armature and uses either single or parallel conductors
(wires), and can circle several times around the stack teeth. The total amount of
current sent to the coil, the coil’s size and what it’s wrapped around dictate the
strength of the electromagnetic field created. The sequence of turning a particular
coil on or off dictates what direction the effective electromagnetic fields are
pointed. By turning on and off coils in sequence a rotating magnetic field can be
created. These rotating magnetic fields interact with the magnetic fields of the
magnets (permanent or electromagnets) in the stationary part of the motor (stator)
to create a force on the armature which causes it to rotate.

19
2.1.2 MAIN FRAMES:

Axle is the metallic rod made up of mild steel. It connects the

lifting lever and centrally. The axle is welded centrally to the sprocket. The
axle is hold by a holder. The holder is welded with the frame. The holder is
used to prevent vibration and to provide support to the axle. The holder has
small metallic tube and a rectangular metal plate.

Fig 2.2 Axle with key way

The metal plate is welded perpendicular to the tube. The diameter of

tube is slightly greater than the axle diameter about 2 to 4mm. This is for
allowing the axle to rotate freely without friction with the tube.
The other end of the metal plate is welded at the frame. The whole
metallic members of holder are of mild steel. The one end of axle is welded
with sprocket and other end with lifting lever and thus the power is
transmitted from sprocket to lifting lever.

20
2.2.2 WHEEL
A wheel which is made up of iron is commonly used. It is mainly
used for locomotion. It can be rotated along 360”.
It supports about 50 kg of total load. It is frictionless function on the
floor enable its easy movement.

Fig.2.3 Moving wheel

21
2.2.4 L-ANGLE
It is used as supporting legs of the entire system and it is
made up of high graded cast iron hence it carry the entire weight of the
floor cleaner ,commonly used materials for L angle production are
It is differ from angle variations

fig 2.3 L angle plate

22
 Fig 2.3 angle plate
2.2.5 RIVERT
Rivert is connecting tool its used to join two different metal parts it
enable rotation at 360 its nonreusable with one end larger than the other.
It is available for all sizes ,it is made up cast iron.

Fig 2.4 revert

23
2.2.6 CIRCULAR DISC
A circular disc which is made up of iron .which is fixed on the
single phase dc motor. Which is fixed by the metallic bush with the motor shaft
and the disc is hole on center position of the disc .
Which is centerly fixed on the Dc motor shaft if the circular
disc is honing on the center.

Fig 2.5 A circular disc

24
2.2.7 RECTANGULAR MOP
It’s the most important of the floor cleaner. It comprises two parts namely
handle rod and crown .the handle rod is made up of metal and it is height
adjustable, flexible, rotatable.
Crown is made by cotton hairs its very soft and dustproof.

Fig 2.6 Rectangular mop

25
2.2.8 FLAT PLATE
It is made up of cast iron. It is used in every other parts like
arm, rectangular shape metal, connecting rod
Fig shows 2.7 1”inch flat bar

Fig shows 2.7 3”inch flat plate bar

26
2.2.8.1Length and width

Fig 2.7 L&W

27
2.2.9 BOLT & NUTS
Bolt and nuts are used to connecting and joining the links.its
importants of holding the load with them,The bolt and nuts having some properties
with them

Fig shows 2.8 bolt

28
 CHAPTER – III
SPECIFICATION OF COMPONENTS
3.1 SPECIFICATION OF SINGLE PHASE DC MOTOR;

Table 3.1
S.L.NO DESCRIPTION USAGE

1. VOLTAGE & HZ 230 &50

2. CURRENT 2.5amps

3. MOTOR SINGLE PHASE

4. SPEED 0.25HP

5. POWER 0.19KW

6. SPEED 1420RPM

29
 1.2 SPECIFICATION OF WHEELS

Table 3.2
SL.NO DESCRIPTION DIMENSION IN MM

1. Front wheel 40.23

2. Rear wheel 40.23

3.3 SPECIFICATION OF METALS & MATERIALS;

Table 3.3
S.L.NO DESCRIPTION DIMENSIONS IN MM
1. Revert 06

2. Circular disc 01

3. L angle 30 feet

4. 1”inch flat plate 12 feet

5. 3”inch flat plate 4 feet

6. Bolt & nut 06

7. Hollow bush 01

30
 CHAPTER - IV
POWER SOURCE

This chapter deals with the power source of the working component
and how the each component and assembly of component works is explained
below with flow chart.

240 v dc supply

Wire links

Single phase dc motor

Arm

Reciprocating occurs

Flow chart 4.1 Power source of component

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4.1 ELECTRICAL
Today electrical is mainly understood to means the application of as a working
medium in industry especially the driving and controlling of machines and
equipment. Electrical has for some considerable time between used for carrying
out the simplest mechanical tasks in more recent times has played a more
important role in the development of mechanical technology for automation.
Electrical systems operate on a supply of electrical power which must be made
available in sufficient quantity and at a pressure to suit the capacity of the system.
When the electrical system is being adopted for the first time, however it wills
indeed the necessary to deal with the question of electrical power supply.
The key part of any facility for supply of electrical power is by means using
reciprocating action. A moving sliding rod is a machine that takes in power.
Mechanization is broadly defined as the replacement of manual effort by
mechanical power to electrical power is an attractive medium for low Cost
mechanization particularly for sequential (or) repetitive operations. Many factories
and plants already have a electrical power system, which is capable of providing
the power (or) energy requirements and control system (although equally electrical
control systems may be economic and can be advantageously applied to other
forms of power).The main advantages of an all electrical system are usually
Economic and simplicity the latter reducing maintenance to a low level.

4.2 ELECTRICALPOWER:
electrical systems use pressurized load to transmit and control power.
electrical systems typically use power as the fluid medium because is safe, low
cost and readily available.

32
4.3 THE ADVANTAGE THE ELECTRICAL COMPONENTS
It is used in electrical systems can be directly exhausted back
In to the surrounding environment and hence the need of special reservoirs and no-
leak system designs are eliminated.
electrical systems are simple and economical
Control of electrical systems is easier

4.4 THE DISADVANTAGE OF ELECTRICAL COMPONENTS

Electrical ramming systems exhibit spongy characteristics due to compress power

low.
Electrical used in pressures are quite low due to compressor design limitations.
Electrical systems operate on a supply of roating in sliding bar which must be
made available. In sufficient quantity and at a pressure to suit the capacity of the
system. When electrical system is being adopted for the first time, however it wills
indeed the necessary to deal with the question of electrical power supply.
The key part of any facility for supply of electrical is by means using
reciprocating compressor.
4.5 THE ELECTRICAL MOTOR AND NEED FOR
ELECTRICAL POWER
Electrical motor impart a force by converting the potential energy of
compressed into kinetic energy. This is achieved by the compressed being able to
expand, without external energy input, which itself occurs due to the pressure
gradient established by the compressed being at a greater pressure than . This
electrical forces a sliding bar to move in the desired direction. Electrical system
use pressurized to transmit and control power as the name implies electrical
systems typically use electrical power medium because is a safe, low cost and
33
readily available fluid. It is particularly safe environments where an electrical
could ignite leaks from the system components.There are several reasons for
considering the use of electrical system instead of Therefore in electrical system
the weight of the oil is a potential problem. To design and development a material
handling system for automation or semi automation of industries by using
automatic ramming control system which is used for low cost automation.

34
4.6 POWER SOURCE ATTAIN FROM MECHANISM
MECHANISM:

In the Automatic floor cleaning machine the peacuiler exact straight line
mechanism used to operate the power source. If the power source is gaining from
the DC motor and the 240v.
240v Dc power supply is given to the linkage mechanism
and the linkage is moving reciprocating movement acting on the straightt line this
is known as linlage power source

35
 CHAPTER - V
5.1 DESIGN DRAWING

Fig 5.1 design drawing

36
 CHAPTER - VI
6.1
.1 WORKING PRINCIPLE

PEAUCEL
PEAUCELLIER LIPKIN LINKAGE MECHANISM
In the “AUTOMATIC
AUTOMATIC FLOOR CLEANING MACHINE “ is
working on following principle & mechanism.

When an electric current of 240v of 50 hz is applied on single phase

dc motor of 1420 rpm , the motor rotates hence the cross connected ,metal disc is
rotated on certain Rpm

37
 Which is connected by “connecting arm”. The motion of the circular
disc and the connecting arm is based on the peaucellier lipkin linkage mechanism
Peaucellier–Lipkin linkage:

The Peaucellier–Lipkin linkage (or Peaucellier–Lipkin cell, or

Peaucellier–Lipkin inversor), invented in 1864, was the first true planar straight
line mechanism – the first planar linkage capable of transforming rotary motion
into perfect straight-line motion, and vice versa. It is named after Charles-Nicolas
Peaucellier (1832–1913), a French army officer, and Yom Tov Lipman Lipkin
(1846–1876), a Lithuanian Jew and son of the famed Rabbi Israel Salanter.
Until this invention, no planar method existed of producing exact straight-line
motion without reference guideways, making the linkage especially important as a
machine component and for manufacturing. In particular, a piston head needs to
keep a good seal with the shaft in order to retain the driving (or driven) medium.
The Peaucellier linkage was important in the development of the steam engine.The
mathematics of the Peaucellier–Lipkin linkage is directly related to the inversion of
a circle.
Earlier Sarrus linkage Collinearity;

First, it must be proven that points O, B, D are collinear. This may be easily seen
by observing that the linkage is mirror-symmetric about line OD, so point B must
fall on that line.More formally, triangles BAD and BCD are congruent because
side BD is congruent to itself, side BA is congruent to side BC, and side AD is
congruent to side CD. Therefore angles ABD and CBD are equal.Next, triangles
OBA and OBC are congruent, since sides OA and OC are congruent, side OB is
congruent to itself, and sides BA and BC are congruent. Therefore angles OBA and
OBC are equal.

38
Finally, because they form a complete circle, we have
∠OBA + ∠ABD + ∠DBC + ∠CBO = 360°
but, due to the congruences, angle OBA = angle OBC and angle DBA = angle
DBC, thus
2 × ∠OBA + 2 × ∠DBA = 360°
∠OBA + ∠DBA = 180°
therefore points O, B, and D are collinear.

Inverse points:

Let point P be the intersection of lines AC and BD. Then, since ABCD is a
rhombus, P is the midpoint of both line segments BD and AC. Therefore length BP
= length PD.
Triangle BPA is congruent to triangle DPA, because side BP is congruent to
side DP, side AP is congruent to itself, and side AB is congruent to side AD.
Therefore angle BPA = angle DPA. But since angle BPA + angle DPA = 180°,
then 2 × angle BPA = 180°, angle BPA = 90°, and angle DPA = 90°. (due to the
Pythagorean theorem)
Pythagorean theorem:

Since OA and AD are both fixed lengths, then the product of OB and OD is
a constant and since points O, B, D are collinear, then D is the inverse of B with
respect to the circle (O,k) with center O and radius k.
Inversive geometry

Thus, by the properties of inversive geometry, since the figure traced by

point D is the inverse of the figure traced by point B, if B traces a circle passing

39
through the center of inversion O, then D is constrained to trace a straight line. But
if B traces a straight line not passing through O, then D must trace an arc of a circle
passing through O. Q.E.D.

A typical driver

Slider-rocker four-bar
acts as the driver of the Peaucellier–Lipkin linkage
Peaucellier–Lipkin linkages (PLLs) may have several inversions. A typical
example is shown in the opposite figure, in which a rocker-slider four-bar serves as
the input driver. To be precise, the slider acts as the input, which in turn drives the
right grounded link of the PLL, thus driving the entire PLL.

Historical notes

Sylvester (Collected Works, Vol. 3 Paper 2 ) writes that when he showed a model
to Kelvin, he 'nursed it as if it had been his own child, and when a motion was
made to relieve him of it, replied "No! I have not had nearly enough of it—it is the
most beautiful thing I have ever seen in my life"'.

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WORKING PROCEDER

240 Volt Dc supply

Electric Motor

3”inch flat plate

Four bar linkage

Reciprocating Movement

Cleaning mop

Flow charts 6.1 Working methods.

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 CHAPTER – VII
7.1 ADVANTAGES
Simple mechanism.
No need external source.
Accuracy in cleaning
Human work can be retrieve
Easy to handling
No skill labor are required

7.2 DISADVANTAGES
It is not used on the sand surfaces
Required electricity to operate

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7.3 RESULTS AND DISCUSSION:
It can be handled by an operator without feeling uneasiness. No separate
skill is required to operate this floor cleaning machine. The operation is quick and
hence it is a time saving one. The operation is easy and consumes less cost. Due to
the above reasons it finds its extensive application in manufacturing industries.
It has an extensive application in both large scale and small scale industries
because of its economy and easy handling. Strength Uniform in cleaning is
obtained by this machine. The time consumption for floor cleaning is reduced
greatly.

Skilled labor is not required.

Easy operation
It can be transported easily from one place to another
Since dismantling and assembling is simple.
It reduces more labor for ramming operation.
Maintenance is easy.

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 CHAPTER –VIII
COST ESTIMATION
Table 8.1
S.I NO MATERIAL QUANTITY PRICE
1. Dc motor 01 1100
2. Flat plate 05 500
3. L angle 06 1000
4. Wheel 04 300
5. Revert & bolt 06 250
6. Circular disc 01 200
7. Labor charge _ 1500

TOTAL 4850

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 CHAPTER – IX
CONCLUSION
“Automatic floor cleaning system” will definitely good retrieve system.
Uniform cleaning of floor is obtained by this machine. The time consumption for
cleaning is reduced considerably. It eliminates more labour for cleaning operation
and hence the labour cost is reduced. Skilled labour is not required to operate this
machine. Transportation of this machine is easy. Maintenance is also easy, The
reduction of production time and elimination of more labour for cleaning operation
reduce production cost, thereby the economy is greatly achieved.

45
 CHAPTER -X
REFERRENCE

R.s.khurmi “DESIGN OF MACHINE ELEMENTS”

(14th revised edition).
(PSG college of engineering) “DESIGN DATA BOOK”.
(Jalaludheen) “DESIGN OF MACHINE ELEMENTS”.
Jayapaul “DESIGN OF TRANSMISSION SYSTEM”.
Google “WORLD WIDE WEB SERVICES”.

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 PHOTOGRAPHY
RESTING CONDITION

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