Machines and Mechanisms by David Lectures PDF

Machines and Mechanisms: Applied
Kinematic Analysis, 4/e
Chapter 1
Chap 1 Introduction
Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
2
1.1 INTRODUCTION
 Determine appropriate movement

of the wipers
 View range
 Tandem or opposite
 Wipe angle
 Location of pivots
 Timing of wipers
 Wiping velocity
 The force acting on the machine
3
1.2 MACHINES AND MECHANISMS
 Machine
 Devices used to alter,
transmit, and direct forces
to accomplish a specific
objective
 Mechanism
 Mechanical portion of a
machine that has the
function of transferring
motion and forces from a
power source to an output
4
1.3 KINEMATICS
5
Dynamics
6
Kinematics
 Kinematics
 Deal with the way things move
 Kinematic analysis
 Determine
 Position, displacement, rotation, speed, velocity, acceleration
 Provide
 Geometry dimensions of the mechanism
 Operation range
 Dynamic analysis
 Power capacity, stability, member load
 Planar mechanism – motion in 2D space
7
1.4 MECHANISM TERMINOLOGY
Mechanism
 Synthesis is the process of developing mechanism to satisfy a set of performance requirements
for the machine.
 Analysis ensures that the mechanism will exhibit motion to accomplish the requirements .
 Linkage
 Frame
 Links– rigid body
 Joint
 Primary joint (full joint)
 Revolute joint (pin or hinge joint)– pure
rotation
 Sliding joint (piston or prism joint)– linear
sliding
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 Higher-order joint (half joint)
 Allow rotation and sliding
 Cam joint
 Gear connection
 Simple link
 A rigid body contains only two joints
 Crank
 Rocker
 Complex link
 A rigid body contains more than two
joints
 Rocker arm
 Bellcrank
 Point of interest
 Actuator
 A power source link
9
1.5 Kinematic Diagram
10
Kinematic Diagram
11
12
13
14
1.7 MOBILITY
1.7.1 Gruebler’s Equation
15
 Constrained mechanism
 one degree of freedom
 Locked mechanism
 Zero or negative degrees of freedom
 Unconstrained mechanism
 More than one degree of freedom
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17
18
19
Actuators and Drivers
 Electric motors (AC)
 Electric motors (DC)
 Engines
 Servomotors
 Air or hydraulic motors
 Hydraulic or pneumatic cylinders
 Screw actuators
 Manual
1.7.2 Actuators and Drivers
20
21
1.8 COMMONLY USED LINKS AND JOINTS
1.8.1 Eccentric Crank
1.8.2 Pin-in-a-Slot Joint
1.8.3 Screw Joint
22
23
1.9 SPECLAL CASES OF THE MOBILITY EQUATION
1.9.1 Coincident Joints
1.9.2
• One degree of freedom actually if pivoted links are the same size
24
25
1.10 THE FOUR-BAR MECHANISM
26
27
1.10.1 Degree-of-Freedom
s : short link
l : long link
p , q : intermediate link
28
29
1.11 SLIDER-CRANK MECHANISM
30
1.12 SPECIAL PURPOSE MECHANISMS
1.12.1 Straight-Line Mechanisms
31
1.12.2 Parallelogram Mechanisms
32
1.12.3 Quick-Return Mechanisms
33
1.12.4 Scotch Yoke Mechanism
34
Machines and Mechanisms: Applied Kinematic Analysis,
4/e
Chapter 4 Displacement Analysis
4.2 POSITION
4.2.1 Position of a Point
4.3 DISPLACEMENT
4.3.1 Linear Displacement
4.3.2 Angular Displacement
36
4.4 DISPLACEMENT ANALYSIS
 Locate the positions of all

links as driver link is
displaced
 Configuration
 Positions of all the links
 One degree of freedom
 Moving one link will
precisely position all
other links
37
4.5 DISPLACEMENT:GRAPHICAL ANALYSIS
4.5.1 Displacement of a Single Driving Link
4.5.2 Displacement of the Remaining Slave Links
38
4.5.2 Displacement of the Remaining Slave Links
39
40
41
4.1 Vector Analysis of Displacement
Y Y1
r4
r2
r3 r3
r5
X1
r1
r4
X
(1) r 1  r 2  r 3  r 4  0
 r1s1   r2 c 2   r3c3   5.3 
  r c    r s    r s    3.2   0
 1 1  2 2   3 3   
r1  3,1  30,r2  4.9,r3  3.3
2 equations for 2 unknows  2 ,3
(2) r 3  r 4  r 5  0
 r3c3   r4 c 4   x1 
 r s    r s      0
 3 3   4 4  0.8
r1  10.1
2 equations for 2 unknows 4 and x1
42
43
Y
r1
r2 r4 X
r3
r 1 r 2 r 3 r 4  0
 1.6  3c 2   r3c3   2.3
 1.5   3s    r s    0   0
   2  3 3  
r3  (3.92  1.22 )1/2
solve for 2 and 3
44
Analysis of Mechanism Position
45
Y
r1
r2
X
r3
r 1 r 2 r 3  0
50c1   40c 2   d1 
50 s    40s      0
 1  2 0 
1  240,solve for 2 and d1
whenrotate15,1  255
50c1   40c 2   d 2 
50 s    40s      0
 1  2 0 
solve for 2 and d 2
d  d1  d 2
46
47
4.6.1 Closed-Form Position Analysis Equations for an In-Line
Slider-Crank
48
4.6.2 Closed-Form Position Analysis Equations for an Offset
Slider-Crank
49
50
Y
r2
r1 r3
X
r4
r 1 r 2 r 3 r 4  0
12c1   20c 2  15c3   25
12s    20s   15s    0   0
 1  2  3  
1  90,eqs.solve for 2 and 3
1  60,eqs.solve for 2 and 3
Calculate the difference of  2 inand 
51
52
Y
r1
r3
r2
r 1 r 2 r 3  0
0.5c1  1.75c 2  1 
0.5s   1.75s    y   0
 1  2  
for1   2 ,solve for1and  ymax 
for1   2   ,solve for1and  ymin
53
4.7 LIMITING POSITIONS:
54
Y
r1
X
r2
r 1 r 2 r 3 r 4  0
r4
r3 for1   2 ,solve for1and 3 )max 
for1   2   ,solve for1and 3 )min
55
Y
r1
X
r4
r2
r3
r 1 r 2 r 3 r 4  0
for 2  3 ,solve for1 max and  2 
for 2  3   ,solve for1 min 
56
4.9 TRANSMISSION ANGLE
57
Y
r3 X
r1
r2
r 1 r 2 r 3 r 4  0
0.5c1  lc 2   2.0
0.5s   ls    0   0
 1  2  
given1solve forland  2 
58
Y
r 1 r 2 r 3  0
r3  x 
r2 r1  30,r2  70,r 3   0
X   30 
r1
given1 solve for 2 and x
59
Machines and Mechanisms: Applied Kinematic Analysis,
4/e
Chapter 6 Velocity Analysis
6.2 LINEAR AND ANGULAR VELOCITY
6.2.2 Linear Velocity of a General Point
61
VA cos   VB along ABlink
wAB  VA sin  /(link length)
62
Y
X
r1
r2
r4
r3
r 1 r 2 r 3 r 4  0
 2 r 2  3r 3  4 r 4  0
eqs forunknowns3 and 4
63
6.6 GRAPHICAL VELOCITY ANALYSIS:RELATIVE VELOCITY METHOD
6.6.1 Points on Links Limited to Pure Rotation or Rectilinear Translation
6.6.2 General Points on a Floating Link
64
Y
X
r4
r1
r3
r2
r 1 r 2 r 3  0
0 
 1r 1  2 r 2     0
 
5
eqs for1and 2
r  r 1 r 4
r   1r 1  2 r 4
65
Y
r1
r2
X
r3
r 1 r 2 r 3  0
solve forand  
 1r 1  2 r 2  r2  0
vc 2 
1  5rad min,r 2   
vs 2 
eqs forunknowns2 and v
66
Y
X
r1
r2
r3
r 1 r 2 r 3  0
 1r 1  2 r 2  r2  0
0 
r 2  
50 
eqs forunknowns1and 2 
67
r2
r1
Y
r3
r 1 r 2 r 3  0
 1
r2  6, 2  340 r 3   
 3
eqs forunknownsr1and 1
 1r 1  2 r 2  r 2  0
8c 2 
r 2  
8s 2 
eqs forunknowns1and 2
68
6.9 ALGEBRAIC SOLUTIONS
6.9.1 Slider-Crank Mechanism
69
6.9.2 Four-Bar Mechanism
70
6.10 INSTANTANEOUS CENTER OF ROTATION
71
6.11 LOCATING INSTANT CENTERS
6.11.1 Primary Centers
72
6.12 GRAPHICAL VELOCITY ANALYSIS:
INSTANT CENTER METHOD
73
Y
r1
r4 r2
r3
r 1 r 2 r 3 r 4  0
 1r 1  2 r 2  3r 3  0
given3 solve for1and 2 
74
Y
r3
r2 r4
r1 r 1 r 2 r 3 r 4  0
X
r4  2 r 2  3r 3  4 r 4  0
2  60rpm.solve for3 and 
r6 r5 r 4  r 5  r 6  0
0 
 4 r 4  5 r 5     0
 v
eqs forunknowns5 and v
75
Y
r2 r1
r3
X
r4
r 1 r 2 r 3 r 4  0
 1r 1  2 r 2  3r 3  0
given 1 find 2 and 3 
76
Machines and Mechanisms: Applied Kinematic Analysis, 4/e
Chapter 7 Acceleration Analysis
7.2 LINEAR ACCELERATION
7.2.1 Linear Acceleration of Rectilinear Points
78
Y
r1
r2
r4
r3
r 1 r 2 r 3 r 4  0
 1r 1  2 r 2  3r 3  0
given 1 find 2 and 3
 1  1r 1    2  2   2 r 2    3  3  3r 3   0
solve for2 and 3
79
r5
rp
rp  r 1  r 2  r 3  r 5  0
rp   1r 1  2 r 2  3  r 3  r 5 
rp 
80
Y
r1 X
r2 r3
r 1 r 2 r 3  0
0 
 1r 1  2 r 2     0
 
v
solve for2 and v
0 
 1  1  1r 1    2  2   2 r 2      0
a  
solve for2 and a
81
82
7.8 ALGEBRAIC SOLUTIONS
7.8.1 Slider-Crank Mechanism
83
7.8.2 Four-Bar Mechanism
84
Y
r3
r2 X
r1
85
7.10 ACCELERATION IMAGE ( Useless! )
86
7.11 CORIOLIS ACCELERATION
87
Y
r2 r3
r1
r 1 r 2 r 3  0
solve for1and  2
 1r 1  r 2  2 r 2  0
vc 
1  400,r 2   2  ,solve for2 and v
vs 2 
 ac 
 1  1r 1    2  2   2 r 2    2   0
 as 2 
solve for2 and a
88
7.12 EQUIVALENT LINKAGES
89
Chapter 9 Cams
9.1 INTRODUCTION
91
Plate cam
Cylindrical cam
Linear cam
92
9.2 TYPES OF CAMS
Follower motion
93
Follower position
94
9.3 TYPES OF FOLLOWERS
95
9.11 THE 4-STATION GENEVA MECHANISM
Constant rotation producing index motion
96
Chapter 13 STATIC FORCE ANALYSIS
13.3 MOMENTS AND TORQUES
98
13.5 FREE-BODY DIAGRAMS
13.5.1 Drawing a Free-Body Diagram
13.5.2 Characterizing Contact Forces
99
13.6 STATIC EQUILIBRIUM
100
13.7 ANALYSIS OF A TWO-FORCE MEMBER
101
102
Chapter 14 DYNAMIC FORCE ANALYSIS
104
105

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Machines and Mechanisms: Applied

Kinematic Analysis, 4/e

 Determine appropriate movement

1.8.2 Pin-in-a-Slot Joint

1.8.3 Screw Joint

4.3.2 Angular Displacement

 Locate the positions of all

4.5.2 Displacement of the Remaining Slave Links

6.2.2 Linear Velocity of a General Point

6.6.2 General Points on a Floating Link

6.9.1 Slider-Crank Mechanism

7.8.1 Slider-Crank Mechanism

13.5.2 Characterizing Contact Forces

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