KLE Society's

KLE Technological University

SCHOOL OF MECHANICAL ENGINEERING

MACHINE & MECHANISMS LAB

(15EMEP204)

A REPORT ON

OPEN ENDED EXPERIMENT

Submitted by

Name USN

KIRAN A R 01FE17BME074

KIRAN KATTI 01FE17BME075

KIRAN R MELINAMANI 01FE17BME076

KIRAN SHAMBHULINGA RAGI 01FE17BME077

KIRAN U ANNIGERI 01FE17BME078

KIRANKUMAR V MANDAKKI 01FE17BME079

KOUSTUB 01FE17BME080

KOUSTUBH SHRIPAD ANNIGERI 01FE17BME081

RAJAT DANDOTI 01FE17BME145

PROBLEM STATEMENT (PART A)

Approach

➢ Kinematic Diagram
➢ Velocity and Acceleration Diagram
➢ ADAMS solution
➢ MAKIT kit built up model (images)
➢ Comparison table(ADAMS sol &Theoretical solution)
➢ Discussion of Results & Conclusions

PROBLEM STATEMENT (PART B)

Approach

➢ Kinematic Diagram
➢ Mobility
➢ Explanation through Kinematic Approach
➢ Images of built up model
➢ Batch Members photo with models
PROBLEM STATEMENT (PART A):

A crank and slotted lever mechanism has a crank rotating counter clockwise at 120 rpm.
Determine the angular velocity and angular acceleration of the slotted lever. Also find the
velocity and acceleration of the ram.

1) KINEMATIC DIAGRAM:

Given: N=120 rpm, O1 O2=80mm, O1C= O1B=30mm, O2D=130mm, DR=40mm, theta=45°

To find: 1) W (o2d) =? 2) α (o2d) = ?, 3)Vr =?, 4) Ar =?

Solution: (O2C/O2D) = (o2c/o2d)

=> o2d = (3.15*130)/103.5 = 395 mm/s

Now,

W(o1c)= 2πN/60 = 12.57 rad/s

V(o1c)= [ W(o1c)*O1C]= [12.57*30]= 377.1 mm/s

2) a) VELOCITY DIAGRAM:

From velocity diagram,

V (o2d) =404mm/s

• Angular velocity of the slotted lever(Wo2d)= [V(o2d)/O2D]= 404/130= 3.07 rad/s

= 174.04 degrees/s

• Linear velocity or the ram= O1R= 435 mm/s

2) b) ACCELERATION DIAGRAM:

O1C = 9.47 cm= 4737.41 mm/s

BC = 2*Vbc*Wo2d= 2.54 cm= 1272.6 mm/s

O2B = 1.85 cm= 928.5 mm/s

DR= 0.605 cm= 302.5 mm/s

From acceleration diagram,

• Acceleration of the ram=o1r=1050 mm/s^2

• Angular acceleration of the slotted lever= 13.076 rad/s

=749.25 degrees/s
3) ADAMS SOLUTION:
Angular velocity:

Angular acceleration:
Velocity of the ram:

Acceleration of ram:
4) CRANK AND SLOTTED LEVER MECHANISM:
 5) COMPARISON TABLE (ADAMS &THEORETICAL SOLUTION):

SR LINK OR TYPE VELOCITY % ACCELERATION %

NO PART ERROR ERROR
ADAMS THEORETICAL ADAMS THEORETICAL
1 RAM LINEAR 422.6456 435 mm/s -2.923 1100.7367 1050 mm/s^2 -4.609
mm/s mm/s^2

2 SLOTTED ANGULAR 167.2216 174.09 4.1 731.2191 749.25 2.465

LEVER degrees/sec degrees/sec degrees/sec^2 degrees/sec^2

6) DISCUSSION AND RESULTS:

The angular acceleration & angular velocity of the slotted lever and the linear velocity & linear
acceleration of the ram has been determined both theoretically as well as by using ADAMS
software tool and are found to be equal.
PROBLEM STATEMENT (PART B):

Create a model of four legged mechanism:

1) KINEMATIC DIAGRAM:

2) MOBILITY:

A leg mechanism (walking mechanism) is an assembly of links and joints (a linkage) intended to
simulate the walking motion of humans or animals. Mechanical legs can have one or more
actuators, and can perform simple planar or complex motion. M=3(n-1)-2j1-j2

n= 5 , j1= 4 , j2= 3

Hence, mobility (m) =3(5-1)-2(4)-(3) = 1

3) EXPLANATON THROUGH KINEMATIC APPROACH:

In kinematic approach we count the number of links, higher and lower pairs.

This is substituted in the mobility equation and the mobility of the mechanism is found out.

Mobility is also known as the degree of freedom, it tells the number of independent parameters
which determine the state of the physical system.

(Up/down), (left/right), (forward/backward), (left/right), (forward pitching/backward pitching),

(pivot side to side)
❖ IMAGES OF THE BUILT MODEL ALONG WITH THE BATCH MEMBERS: