Mechanisms and Machine Components Design - Do Van Hien -

MECHANISMS and MACHINE COMPONENTS DESIGN

Do Van Hien
Department of Fundamental of Machine Design
Faculty of Mechanical Engineering

COURSE AIMS:
1. To understand function of machines/mechanisms as a necessity for Machine Design

2. To compute machine elements, group of machine elements based on capacity of

working condition.
Dept: Fundamental of Machine Design
Faculty of Mechanical Engineering

Mechanisms and Machine Components Design - Do Van Hien -

Dept: Fundamental of Machine Design

2
Faculty of Mechanical Engineering

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 Mechanisms and Machine Components Design - Do Van Hien -

Chapter TENTATIVE COURSE SCHEDULE Weeks

01 Introduction to Mechanisms and Machines 01
THEORY of MACHINE 02 Planar Mechanisms with lower pairs 0204
03 Cam Mechanism 05
04 Fundamentals of Machine Element Design 06
05 Belt Drives 07
06 Chain Drives 08
07 Gear Drives
08 Gear Trains 0911
MACHINE ELEMENT DESIGN
09 Wormgear Drives
10 Shafts and Associated Parts 12
11 Rollering Contact Bearings 13
12 Welding Joints 14
13 Power Screws, Fasteners and Connections 15

Dept: Fundamental of Machine Design

3
Faculty of Mechanical Engineering

Mechanisms and Machine Components Design - Do Van Hien -

References: 1. Theory of Machines – R.S. Khurmi, J.K. Gupta

2. Mechanical Design of Machine Components - Ugural, Ansel C

Cơ học máy – Lại Khắc Liễm – ĐHBK TP.HCM

Nguyên lý máy – Bùi Xuân Liêm – ĐHSPKT TP.HCM

3. Nguyên lý máy
Bài tập Nguyên lý máy – Tạ Ngọc Hải

Cơ sở Thiết kế máy & Chi tiết máy – Trịnh Chất

4. Chi tiết máy
Cơ sở Thiết kế máy & Chi tiết máy – Nguyễn Hữu Lộc

Bài tập Chi tiết máy – Nguyễn Hữu Lộc

Dept: Fundamental of Machine Design
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Faculty of Mechanical Engineering

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 Mechanisms and Machine Components Design - Do Van Hien -

Chapter TENTATIVE COURSE SCHEDULE Weeks

Tentative Assessment: 01 Introduction to Mechanisms and Machines 01
02 Planar Mechanisms with lower pairs 0204
03 Cam Mechanism 05
04 Fundamentals of Machine Element Design 06
05 Belt Drives 07
06 Chain Drives 08
07 Gear Drives
08 Gear Trains 0911
09 Wormgear Drives
10 Shafts and Associated Parts 12
11 Rollering Contact Bearings 13
12 Welding Joints 14
13 Power Screws, Fasteners and Connections 15

Task Weighting Duration

5 Quizzes online 15% 75 minutes
Mid term Exam Midterm Exam 25% 75 minutes
Mini-Project 10% 50 minutes
Final exam Open Doc (2 sheets-A4) 50% 7590 minutes
Dept: Fundamental of Machine Design
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Faculty of Mechanical Engineering

Mechanisms and Machine Components Design - Do Van Hien -

Chapter 01: INTRODUCTION TO MECHANISMS AND MACHINES

I. Introduction 1.1 Machine and machine element
1.2 Link, kinematics chain and joint
1.3 Mechanism and kinematic diagrams of mechanism
II. Mobility (DOF-Degrees of Freedom) of mechanism 2.1 Definition
2.2 DOF for the planar mechanism
2.3 Redundant constraints and redundant DOF
2.4 DOF for the spatial mechanism

III. Inversion of Mechanism 3.1 Common planar linkage mechanisms

3.2 Four bar mechanism
3.2 Mechanism Inversions
IV. Grashof’s Criterion 4.1 Conditions to make full rotation of the link connected with frame
4.2 Grashof’s criteria for the four-bar mechanism
Dept: Fundamental of Machine Design
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I. Introduction
1.1 Machines and Machine elements
1.1.1 Machines:

 What is machine?

Dept: Fundamental of Machine Design

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Faculty of Mechanical Engineering

Mechanisms and Machine Components Design - Do Van Hien -

 Classification of machines: + Machines generating mechanical energy

+ Machines transforming mechanical energy
+ Machine utilizing mechanical energy (Máy công tác)

Modern machines are complex systems that consist of structural elements, mechanisms and
control units
2-

1-

3-
Dept: Fundamental of Machine Design
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 Mechanisms and Machine Components Design - Do Van Hien -

1.1.2 Machine element:

 Definition: Machine elements are basic mechanical parts and features used as the building
blocks of most machines. Each element is a separate part of the machine and it may have to
be designed separately and in assembly.

Dept: Fundamental of Machine Design

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Faculty of Mechanical Engineering

Mechanisms and Machine Components Design - Do Van Hien -

 Classification of Machine Elements:

+ General purpose elements: The elements which are common to various types of machines
serving different applications are called general purpose elements. Examples of these
elements are nuts, bolts, keys, axles, shafts, couplings, bearings etc.

+ Special purpose elements : The elements that are used only in

the specific type of machine are called as special purpose
elements

Dept: Fundamental of Machine Design

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1.2 Links, joints and kinematics chain

1.2.1 Links: Links (Khâu)
 Definition: A link, as shown in Fig , is an (assumed) rigid body that
possesses at least two nodes that are points for attachment to other links.

Dept: Fundamental of Machine Design

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1.2 Links, joints and kinematics chain

1.2.1 Links:
 Types of links:
+ Based on the ability of motion:

+ Based on material forming: rigid links, flexible links and fluid links

Rigid links:
pulleys,
cam,
Fixed link crank, etc.
or base link

Non-rigid link:
timing belt

Dept: Fundamental of Machine Design

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 Mechanisms and Machine Components Design - Do Van Hien -

+ Links can be also classified into binary, ternary and quartenary depending upon
their ends on which revolute or turning pairs can be placed

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1.2.2 Joints:

Joints also called kinematic pairs

Dept: Fundamental of Machine Design

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 Mechanisms and Machine Components Design - Do Van Hien -

1.2.2 Joints: (also called kinematic pairs) can be classified in several ways:

 Types of joints:

By the type of contact between the elements:

By the number of degrees of freedom constrained at the joint :

Dept: Fundamental of Machine Design

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Crank-slider mechanism

 Example: Determine the number of joints and its types in these mechanisms

Four bar mechanism

Dept: Fundamental of Machine Design

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We also classify the joints by the number of degrees of freedom allowed at the joint

Dept: Fundamental of Machine Design

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+ Joints can be also classified into binary joint, ternary joint and quaternary joint

• Binary joint:

• Ternary joint:

• Quaternary joint:

Dept: Fundamental of Machine Design

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 Mechanisms and Machine Components Design - Do Van Hien -

1.2.2 Kinematic chain:

 Definition: An assemblage of links and joints, interconnected in a way to provide a
controlled output motion in response to a supplied input motion.

 Classification:

+ Simple Kinematic Chains and Complex Kinematic Chains

+ Closed-Loop Kinematic Chains and Open-Loop Kinematic Chains

+ Planar kinematic chains and Spatial kinematic chains

Dept: Fundamental of Machine Design

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1.3 Mechanism and kinematic diagrams (Cơ cấu và lược đồ cơ cấu )

1.3.1 Mechanism:
 A mechanism is defined as:

 Types of mechanisms are the same as the types of kinematic chains

Dept: Fundamental of Machine Design

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Faculty of Mechanical Engineering

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 Mechanisms and Machine Components Design - Do Van Hien -

1.3.2 Kinematic diagram:  Link diagram (Lược đồ khâu)

slider
 Joint diagram (Lược đồ khớp động)

joints

 Mechanism diagram (Lược đồ cơ cấu) crank

Dept: Fundamental of Machine Design
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Mechanisms and Machine Components Design - Do Van Hien -

II. Mobility of Mechanisms(Bậc tự do của cơ cấu) Hip abduction angle ()

2.1 Definition
 Hip flexion angle ( )


3DOF leg
Knee flexion angle ( )

Degrees of freedom (also called the mobility M) of a system can be defined as:

Degree of Freedom
the number of inputs that need to be provided in order to create a predictable output;
also: the number of independent coordinates required to define its position.
Dept: Fundamental of Machine Design
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2.2 Degree of Freedom (Mobility) of Planar Mechanisms

- Assumed that a planar mechanism system has n movable links in connection with p5
joints of type 5 and p4 joints of type 4

- Each unconnected link has three DOF:  Total DOF before

connection:3n DOF

- When these links are connected by a full joint, we

have the constrainted DOF : (2p5 + p4 )

DOF of planar mechanism: W = 3n-(2p5+p4)

EX 01: Determine the DOF of mechanism shown as Fig

EX 02:
Dept: Fundamental of Machine Design
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Mechanisms and Machine Components Design - Do Van Hien -

2.3 Redundant constraints and redundant DOF

- Determine DOF of the articulated parallelogram

- Determine DOF of the cam mechanism with translating pusher 2 and intermediate roller 3

DOF of 2D mechanism:

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Dept: Fundamental of Machine Design
Faculty of Mechanical Engineering

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2.4 Mobility of spatial mechanisms

- Assumed that the 3D mechanism has n movable links connected with pk type of joints k
(with k=15)
- Each unconnected link has three DOF  Total DOF before connection:: 6n DOF

- After linking to generate mechanism, we have constrainted DOF: (5p5 +4 p4 +3 p3 +2 p2 +p1 )

DOF of the 3D mechanism: W = 6n-(5p5+4p4+ 3p3+2p2+p1)

EX : Determinte the number of DOF for 3D mechanism as shown in Fig

Dept: Fundamental of Machine Design

Faculty of Mechanical Engineering

Mechanisms and Machine Components Design - Do Van Hien -

III. Inversion of mechanisms

Whitworth Quick-
3.1 Common planar linkage mechanisms Return Mechanism

Slider – crank
mechanism

Four-link mechanism
3.2 Four link mechanism
Geneva Mechanism

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Faculty of Mechanical Engineering

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 Mechanisms and Machine Components Design - Do Van Hien -

Dept: Fundamental of Machine Design

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Faculty of Mechanical Engineering

Mechanisms and Machine Components Design - Do Van Hien -

 Application of the four bar mechanisms :

+ Double-Crank mechanism
+ Crank-and-Rocker mechanism

+ Double-Rocker mechanism

Dept: Fundamental of Machine Design

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Faculty of Mechanical Engineering

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3.3 Inversions of mechanisms  Các biến thể

Rule 1: RevoluteJoints  PrismaticJoints(Thay đổi kích thước khâu động)

Rule 2: Change the fixed link (Thay đổi giá)

Dept: Fundamental of Machine Design

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Faculty of Mechanical Engineering

Mechanisms and Machine Components Design - Do Van Hien -

Dept: Fundamental of Machine Design

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Faculty of Mechanical Engineering

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 Mechanisms and Machine Components Design - Do Van Hien -

Dept: Fundamental of Machine Design

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Faculty of Mechanical Engineering

Mechanisms and Machine Components Design - Do Van Hien -

IV. Grashof’s Criterion

4.1 Conditions to make full rotation of the link connected with frame
 Condition of link 1 is a crank:
+ Given a four bar mechanism:
 Link 1 is a crankjoint B?
Trajectory of B1 is a circle (A, l1)

+ Decompose the joint B B1 and B2

 the maximum distance of B2

 the minimum distance of B2 ?

+ Link 1 is a crank if the conditions is satisfied:
Dept: Fundamental of Machine Design
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Faculty of Mechanical Engineering

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4.2 Grashof’s criteria for the four-bar mechanism

 If we distinguish the lengths in a 4-bar mechanism as follow:

 s:

 l:

 p, q:

 The following relationship (Grashof’s criteria) must be satisfied in order to be able

to assemble the kinematic chain:
s+lp+q

Dept: Fundamental of Machine Design

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Faculty of Mechanical Engineering

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Class I Kinematic chain Class II Kinematic chain

s+l  p+q s+l > p+q

If s = fixed link
Then double - crank
(Fig. a)
If s = input link
Then crank-rocker The mechanism is rocker-rocker
(Figs. b+c) Fig. a

If otherwise
Then rocker-rocker
(Fig. d)

Fig. b Fig. c Fig. d

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Examples: Using Grashof’s Criteria

 If the following mechanism has the following dimensions what type of 4-bar mechanism has
been implemented ? a = 50 cm ; b = 20 cm ; h = 10 cm ; g = 5 cm

If a is the input link ?

What if: a = 10 cm ; b = 25 cm ; h = 20 cm ; g = 25 cm If a is the input link ?

If a is the base link ?

Dept: Fundamental of Machine Design

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Mechanisms and Machine Components Design - Do Van Hien -

PROBLEMS: Determine mobility, structural decomposition and classification of the

mechanism as shown in Fig:
E F
D

E D G
C
B
Fig 1.1 C A Fig 1.3
B

Fig 1.2 A Fig 1.4-Cơ cấu máy

A
D dập cơ khí
E

B
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Dept: Fundamental of Machine Design

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Faculty of Mechanical Engineering

Mechanisms and Machine Components Design - Do Van Hien -

Homework:

3d
3d

4d

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