MEC 623

SYSTEM IDENTIFICATION

MINI PROJECT : SCOTCH YOKE

LUQMAN HAKIM BIN KHAIRUDDIN (2019207086)

MOHAMAD HASIF BIN JUBRI (2019294514)
IRFAN HAZWAN BIN MAZMAN (2019405284)
IRFAN SYAHMI RUSYAIDI BIN AMIRUDIN (2019871594)
MOHAMAD AZRYL NAZMIN BIN MOHAMAD (2019268378)

Class:

EM220 - 7F1

Lecturer:

Assoc. Prof. Ts. Dr. Zulkifli Mohamed

School of Mechanical Engineering College of

Engineering
Universiti Teknologi Mara (UiTM)

AUGUST 2022

0
Table Of Content

1.0 INTRODUCTION 1
1.1 Literature Review 3
1.2 Problem statement 3
1.3 Objectives 3
1.4 Scope and limitations 4
2.0 DETAILED PRODUCT 5
2.1 List of components 5
2.2 List of Materials and Costing 8
4.0 MODEL DEVELOPING 13
4.1 3D Model Design 13
4.2 Final Assembly Design 14
4.2 Detail Drawing for Fabrication Process 15
5.0 ARDUINO CODING 22
6.0 RESULTS 27
6.1 Theoretical calculation 27
6.2 Experimental result 28
7.0 DISCUSSION 30
8.0 CONCLUSION 32
9.0 REFERENCES 33
10.0 APPENDIX 34
List of Figures

Figure 01: Scotch Yoke Mechanism…………..……………………………………………………1

Figure 02: Variables in Scotch Yoke Mechanism…..……………………………………………..2
Figure 03: Flowchart of Project Management… ……………….………………………………..12
Figure 04: First Design of Scotch Yoke Mechanism……………………..……………………...15
Figure 05: Final Design of Scotch Yoke Mechanism …………………………………………..16
Figure 06: Shaft 1…………………………………………………………………………………...17
Figure 07: Shaft 2…………………………………………………………………………………...18
Figure 08: Disk Knob………………………………………………………………………………. 19
Figure 09: Disk………………………………………………………………………………………20
Figure 10: Shaft Support…………………………………………………………………………...21
Figure 11: Motor Stand…………………………………………………………………………….. 22
Figure 12: Base…………………………………………………………………………………….. 23
Figure 13: Horizontal Shaft………………………………………………………………………...24
Figure 14: Assemble Product…………………………………………………………………….. 25
Figure 15: Front View of Disk…………………………………………………………………….. 29

List of Tables

Table 01: List of Components and its function…………………………………………………….5

Table 02: List of purchased components…..……………………………………………………....9
Table 03: Maximum acceleration result………...……………….………………………………..30
Table 04: Angular velocity result…………………….……………………..……………………...31
1.0 INTRODUCTION
Scotch Yoke is a reciprocating system that converts rotational motions to reciprocating motions
or vice versa. It can either convert the translational motion of a slider to the rotational movement
of a crank or the rotational movement of a crank to the linear motion of a slider. The crank,
sliding pin, sliding yoke with slot, fixed link, connecting rod, or piston are the main components
of the Scotch Yoke mechanism which produces the output reprocessing motion.

Figure 1: Scotch Yoke mechanism

In the Scotch Yoke mechanism, as the cranks spin, the pin or slider connected to the crank starts
to slide into the yoke causing the yoke to move. When the crank's pins are at the top and the
crank rotates clockwise, the yolk will be displaced forward. The maximum displacements of the
yoke will be equivalent to the crank lengths. When the crank has completed one-quarter of its
revolution, the yoke reverses its movement and begins to move backward, continuing to move
backward until the crank is at its most left position.

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 Figure 2: Variables in Scotch Yoke mechanism

Displacement formula for slider:

𝑟 + 𝑑 = 𝑟 𝑐𝑜𝑠𝛳 + 𝑑 + 𝑥
𝑋 = 𝑟 − 𝑟 𝑐𝑜𝑠𝛳

Velocity formula for slider:

𝑑𝑥
𝑉= 𝑑𝑡

Differentiate displacement formula,

𝑋 = 𝑟 − 𝑟 𝑐𝑜𝑠𝛳
𝑑𝛳
𝑉 = 0 − 𝑟 (− 𝑠𝑖𝑛𝛳)( 𝑑𝑡
)
𝑑𝛳
Where, 𝑑𝑡
= ⍵

𝑉 = 𝑟⍵𝑠𝑖𝑛𝛳

Acceleration formula of slider

2
 𝑑𝑣
𝐴= 𝑑𝑡

Differentiate velocity formula,

𝑉 = 𝑟⍵𝑠𝑖𝑛𝛳
𝑑⍵
𝐴 = 𝑟⍵. 𝑐𝑜𝑠𝛳. ⍵ + 𝑟( 𝑑𝑡
)𝑠𝑖𝑛𝛳
2
𝐴 = 𝑟⍵ 𝑐𝑜𝑠𝛳 + ⍺𝑠𝑖𝑛𝛳

1.1 Literature Review

The Scotch Yoke Device is a very simple mechanism for converting a slider's linear motion into
motility motion or vice versa. The Scotch Yoke Mechanism moves in such a way that it
generates pure simple harmonic motion when it is driven by a crank or eccentric (Shanmugam et
al., 2019). In the real application of high-pressure gas and oil pipelines, scotch yoke is the crucial
mechanism that is being utilized in the control valve actuators as well as in different internal
combustion engines like in Bourke engine and SyTech engine. The major benefits of utilizing a
scotch yoke are reduced friction, vibration, piston wear and decreased engine dimensions since
the lateral force on the piston is not created in this mechanism (Arakelian et al., 2016).

1.2 Problem statement

To design and fabricate a working model of scotch yoke application with integration of arduino
in order to determine the angular velocity of disk, and acceleration of slider.

1.3 Objectives

● To determine the value of angular velocity of crank and acceleration of slider from
experimental procedure and compare them with the theoretical values.
● To develop a Scotch Yoke system that can be integrated with the Arduino system for
automatic mechanism and data collection.
● To provide a conclusive summary and conclusion of the system model

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1.4 Scope and limitations

The scope of this project is to fabricate a scotch yoke mechanism that can be integrated with the
Arduino system to generate a value of angular velocity of disk and acceleration of slider. The
results obtained from the experimental procedure then are compared with the theoretical values.
Components of the scotch yoke mechanism like a crank, slider, sliding pin, base and other
support parts will be printed from PLA filament using a 3D printer with FDM technology at
SEA-IC lab. However, the availability to use the 3D printer is limited because many students
also use that machine for their project. Since the printing process is executed in the
air-conditioned laboratory, common issues such as warping happen during the process.

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2.0 DETAILED PRODUCT

2.1 List of components

Table 1: List of components and its function

No. Components Function

1 N20 Mini DC Motor With GearHead - Used to rotate the shaft.

30RPM DC12V

2 Resistor (10 kΩ) Used to restrict or control the electrical

current flow in a circuit.

3 Arduino Encoder Sensor Measure the speed of the motor used in

this project in revolution per minute.

4 Encoder Disc Giving input of rotation to encoder sensor

5
5 Wire Jumper (Male/Male & Male/Female) Enables the connection of distant electric
circuits used to the breadboard.

6 Coupling Link two shafts at their ends for the

purpose of power transmission

7 Screw & Nut To apply a compressive force while

preventing axial movement.

8 IMU Module 9250 To measure acceleration, angular velocity

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 and magnetic field along the x, y and z
axes.

9 Bearing flange Assist the rotation of the shaft.

10 Breadboard Platform for the temporary circuit.

11 AG-003 GY-521 MPU-6050 Assists in measuring displacement,

velocity, acceleration and other
motion-related characteristics.

12. AC to DC Adaptor It will convert the main electricity

(100V-240V AC) to 12 volts (DC) that
you need.

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8
2.2 List of Materials and Costing

In order to reduce the cost of spending to produce the scotch yoke mechanism, some electronic
components do not need to be purchased because they can be obtained from the last semester
project design in MEC532 subject. However, only several electronic and other components listed
in the table below are required to be purchased.
Table 2: List of purchased components

No Component/Material Quantity Unit Price (RM) Cost (RM)

1 N20 Mini DC Motor With 1 19.80 19.80

GearHead - 30RPM DC12V

2 AG-003 GY-521 MPU-6050 1 15.50 15.50

3 Aluminium Shaft Coupling 1 5.60 5.60

Flexible Coupling

4 KP KFL Pillow Block Ball 2 4.40 8.80

Bearing Mounted

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5 M4, 10 mm Philip Round Pan 2 0.22 0.44
Head Phillips Cross Screw
Thread Metric Machine Bolt
Stainless Steel 30

6 M4, 16 mm Philip Round Pan 8 0.26 2.08

Head Phillips Cross Screw
Thread Metric Machine Bolt
Stainless Steel 30

7 M5, 16 mm Philip Round Pan 4 0.36 1.44

Head Phillips Cross Screw
Thread Metric Machine Bolt
Stainless Steel 30

8 PLA Filament 1 55 55

10
9. Adaptor 12V 3A 1 14.80 14.80

123.46
Total Price

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3.0 METHODOLOGY
3.1 Flowchart

Figure 3: Flowchart of the project management

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A. Project selection
Find and choose several project titles that have correlation with the System Identification
subject such as scotch yoke, robotic arm, damping force and geneva wheel through
Google and Dynamic textbook. Scotch Yoke is chosen after several considerations and
discussions are made between team members and lecturer.

B. Identify problem statement and objectives

Problem statements and objectives for the Scotch Yoke project need to be identified first
because it is important to identify the problem and suggest a method for investigating a
solution or it demonstrates why more knowledge is required for a solution to become
feasible.

C. Design process for Scotch Yoke

Before the design process in Catia V5 is started, team members are proposing some
design ideas for Scotch Yoke modeling and mechanism then make a discussion to select
the final design. After the final design is selected, two members are assigned to design
the Scotch Yoke modeling by using Catia V5 and compile into CAT. file format.

D. Purchase electronic components

All the electronic components such as arduino board, DC motor, arduino encoder,
breadboard, wire jumper, etc that will be used in Scotch Yoke model are listed
beforehand and purchased on Shopee or Arduino shop.

E. Catia simulation
After the design process of Scotch Yoke is finished, this model is going through a
simulation in Catia application to analyze the motion of the disk, sliding yoke and
connecting rod in order to get more reliable outcomes by accounting for a part's
compliance during the simulations.

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F. 3D printing
Some parts of the Scotch Yoke model such as disc, disc knob, base, sliding pin and slider
support are decided to be produced by using 3D printing at SEA-IC lab. One member is
assigned to handle the parts that are required to be printed.

G. Design assembly
After all the individual parts have been completely produced by 3D printing, the next step
is to assemble those parts into a complete Scotch Yoke model. The process to assemble
those individual parts can be done by using screws and nuts.

H. Coding process
Two members are assigned to carry out the coding for the Scotch Yoke mechanism using
Arduino software. This coding is written to identify the value of angular velocity of disc
and acceleration of slider.

I. Experiment and data collection

Experiments or testing processes are conducted several times to test and check whether
the Scotch Yoke model that integrated with the Arduino system is functioning properly or
not. If the mechanism is fully functional, all related data will be collected in order to
obtain the objectives of this project.

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4.0 MODEL DEVELOPMENT

4.1 3D Model Design

First Design of Scotch Yoke Model (Isometric View)

Figure 4: First design of Scotch Yoke mechanism

15
Final Design of Scotch Yoke Model (Isometric View)

Figure 5: Final design of Scotch Yoke mechanism

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4.2 Detail Drawing for Fabrication Process

A 3D printer with FDM technology is used to print some parts for the Scotch Yoke model. The
parts are produced from PLA materials. Shaft 1, shaft 2, disc, disc knob, slider and shaft support
are set to have a 100% infill while the base only has 30% infill. All the parts that need to be
printed are presented in the detail drawing as below:

Figure 6: Shaft 1

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Figure 7: Shaft 2

18
Figure 8: Disc knob

19
Figure 9: Disk

20
Figure 10: Shaft support

21
Figure 11: Motor stand

22
Figure 12: Base

23
Figure 13: Horizontal Shaft

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4.3 Final Assembly Design

Parts that have been printed are going through the finishing process to remove all the support
structures. The support structures are removed using pliers and the surface of parts are
smoothened using sandpaper. Then, those parts are assembled using screws and glue according
to the blueprint. Whereas the Arduino components are placed and attached using double sided
tape in the base area.

Figure 14: Assembles product

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5.0 ARDUINO CODING

#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

Adafruit_MPU6050 mpu;
float ax, ay, az, gx, gy, gz;
float initial_ax, initial_ay, initial_az;

//Motor driver
int enA = 8;
int in1 = 6;
int in2 = 7;

//Encoder sensor
int sensor = 10;
unsigned long start_time = 0;
unsigned long end_time = 0;
int steps=0;
float steps_old=0;
float temp=0;
float RPS=0;
float RPM=0;

void setup(void) {
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
analogWrite(enA, 255);
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);

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 Serial.begin(115200);

mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
Serial.print("Accelerometer range set to: ");
switch (mpu.getAccelerometerRange()) {
case MPU6050_RANGE_2_G:
Serial.println("+-2G");
break;
case MPU6050_RANGE_4_G:
Serial.println("+-4G");
break;
case MPU6050_RANGE_8_G:
Serial.println("+-8G");
break;
case MPU6050_RANGE_16_G:
Serial.println("+-16G");
break;
}
Serial.println("");
delay(100);
}

void loop() {
start_time=millis();
end_time=start_time+1000;

while(millis()<end_time)
{
if(digitalRead(sensor))
{

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 steps=steps+1;
while(digitalRead(sensor));
}
}

temp=steps-steps_old;
steps_old=steps;
RPS=(temp/20);
RPM=(RPS*60);
/* Get new sensor events with the readings */
sensors_event_t a, g, temp;
mpu.getEvent(&a, &g, &temp);

/* Print out the values */

Serial.print("Acceleration Z: ");
Serial.print(a.acceleration.z);
Serial.print("RPM: ");
Serial.print(RPM);
Serial.println("");
delay(500);
}

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6.0 RESULTS

The parameters that we measured and calculated are the maximum acceleration of the piston and
the angular velocity of the disk. The result will be compared with both theoretical and
experimental value. The percentage error will be calculated using the formula below.

𝑇ℎ𝑒𝑜𝑟𝑒𝑡𝑖𝑐𝑎𝑙 𝑣𝑎𝑙𝑢𝑒−𝐸𝑥𝑝𝑒𝑟𝑖𝑚𝑒𝑛𝑡𝑎𝑙 𝑣𝑎𝑙𝑢𝑒 |

𝐸𝑟𝑟𝑜𝑟 = || 𝑇ℎ𝑒𝑜𝑟𝑒𝑡𝑖𝑐𝑎𝑙 𝑣𝑎𝑙𝑢𝑒 |✕100%

6.1 Theoretical calculation

The calculation of the theoretical value of the maximum acceleration for the piston is shown
below.

Figure 15: Front view of disk

The distance between the center of disk and disk knob center is 33mm. The angular acceleration
is zero since the motor’s angular velocity is theoretically constant. 30 RPM is equivalent to
3.1415 rad/s. So the theoretical maximum acceleration of the piston will be,
2
𝐴 = 𝑟⍵ 𝑐𝑜𝑠θ + α𝑠𝑖𝑛θ, α = 0
2
𝐴 = 0. 033(3. 1415 )𝑐𝑜𝑠0
2
𝐴 = 0. 3257𝑚/𝑠
For the angular velocity, we used the dc motor that has a fixed 30 rpm.

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6.2 Experimental result

The maximum acceleration of the piston is measured using the MPU6050. The data were taken
10 times.
Table 3: Maximum acceleration result

No of data Maximum acceleration, a (m/s2)

1 0.42

2 0.39

3 0.30

4 0.42

5 0.30

6 0.40

7 0.34

8 0.32

9 0.39

10 0.40

Average maximum acceleration,

0.42+0.39+0.3+0.42+0.3+0.4+0.34+0.32+0.39+0.4
𝑥𝑎𝑣𝑔 = 10

2
𝑥𝑎𝑣𝑔 = 0. 368𝑚/𝑠

Error percentage,
0.3257−0.368
𝐸𝑟𝑟𝑜𝑟 = || 0.3257 ||✕100%

𝐸𝑟𝑟𝑜𝑟 = 12. 98%

30
The angular velocity of the disk is measured 10 times using an encoder sensor module.

Table 4: Angular velocity result

No of data Angular velocity, ⍵ (RPM)

1 27

2 27

3 24

4 27

5 30

6 27

7 27

8 30

9 27

10 27

Average angular velocity,

27+27+24+27+30+27+27+30+27+27
ω𝑎𝑣𝑔 = 10

ω𝑎𝑣𝑔 = 27. 3𝑅𝑃𝑀

Error percentage,
30−27.3
𝐸𝑟𝑟𝑜𝑟 = || 30 ||✕100%

𝐸𝑟𝑟𝑜𝑟 = 9%

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7.0 DISCUSSION

The Scotch Yoke Device is a simple mechanism that converts linear motion into rotary
motion or vice versa. It is widely used in high-pressure gas and oil pipelines control valve
actuators and internal combustion engines. The main advantage of using this mechanism is that it
generates a simple harmonic motion which reduces friction and vibration.

This project aims to design and fabricate a working model of a Scotch Yoke mechanism
with integration of an Arduino microcontroller. The objectives of the project are to determine the
angular velocity and acceleration of the disk and slider through experimental procedures and
compare them with the theoretical experimental value.

The maximum acceleration for the piston was calculated theoretically, with the
distance between the center of the disk and the disk knob being 33 mm. Theoretically, the
angular acceleration is zero as the motor's angular velocity is constant. The 30 RPM obtained is
equivalent to 3.1415 rad/s, resulting in a theoretical maximum acceleration of the piston of
0.3257 m/s2. In comparison, the experimental results, which were taken 10 times, gave an
average maximum acceleration of 0.368 m/s2. This resulted in an error percentage of 12.98%.
Several factors can contribute to error in the measurement of acceleration of the slider in the
Scotch Yoke mechanism. One potential factor is friction between the sliding pin and the slot in
the yoke, which can lead to error in the measurement. The amount of friction can vary based on
the surface finish and lubrication of the components. Another factor could be manufacturing
tolerance, where the components of the mechanism may not have been manufactured to exact
specifications, leading to variations in the motion of the slider. Additionally, an inaccurate
sensor, such as the MPU used to measure the acceleration of the slider, can also contribute to
error if it is not accurate or has a limited range.

Next, angular velocity of the DC motor was fixed at 30 RPM, but the results obtained
from the MPU were slightly lower, the average angular velocity of 27.3 RPM. This resulted in an
error percentage of 9%. One possible factor that could contribute to this error is noise in the
measurement, such as vibrations and electromagnetic interference from the motor to the shaft,
which can greatly affect the accuracy of the angular velocity measurement. Next, alignment also
could contribute to error with the misalignment of the yoke with the disk and knob. If the yoke

32
is not properly aligned with the disk and knob it can cause variations in the motion of the slider
and result in inaccuracies in the measurement of angular velocity and acceleration. Additionally,
friction between the bearing and shaft of the disk can also lead to error in the measurement of
angular velocity.

In order to improve the results of this project, several steps can be taken. One is to
properly design and select materials for the components, as using materials with low coefficients
of friction and high wear resistance can reduce errors caused by friction. Another is to optimize
the design, as in this project, high frequency vibrations from the motor greatly impacted the
experimental data and caused fluctuations in angular velocity measurements. To prevent this, a
bracket can be added to reduce vibrations and reduce errors. Using high precision sensors, such
as encoders with high resolution and accelerometers with high accuracy, can also improve the
accuracy of the measurements. Next, in order to minimize the error due to alignment issues, it is
important to properly design and manufacture the components of the Scotch Yoke mechanism
Proper alignment, regular maintenance and calibration of the mechanism can help to ensure that
the components remain properly aligned over time. Additionally, repeating the measurements
several times to obtain an average value can reduce errors caused by noise or unexpected
fluctuations. By implementing these methods, it is possible to greatly improve the accuracy of
the measurements and reduce errors in the project results.

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8.0 CONCLUSION

In conclusion, the project aims to design and fabricate a working model and the project
objective to determine the angular velocity and acceleration of the disk and slider through the
experiment procedures compared with the theoretical experimental procedure is achieved.

The maximum acceleration for the piston was calculated theoretically, with the distance
between the center of the disk and the disk knob being 33 mm. Theoretically, the angular
acceleration is zero as the motor's angular velocity is constant. The 30 RPM obtained is
equivalent to 3.1415 rad/s, resulting in a theoretical maximum acceleration of the piston of
0.3257 m/s2. In comparison, the experimental results, which were taken 10 times, gave an
average maximum acceleration of 0.368 m/s2. This resulted in an error percentage of 12.98%.

Next, angular velocity of the DC motor was fixed at 30 RPM, but the results obtained
from the MPU were slightly lower, the average angular velocity of 27.3 RPM. This resulted in an
error percentage of 9%.

In order to improve the results of this project several aspects have been proposed to
improve the result and reduce the error. The first is to properly design and select materials for the
components, as using materials with low coefficients of friction and high wear resistance can
reduce frictional errors. Another option is to optimize the design, as high frequency vibrations
from the motor greatly impacted the experimental data and caused fluctuations in angular
velocity measurements in this project. A bracket can be added to reduce vibrations and errors to
prevent this. The use of high precision sensors, such as encoders with high resolution and
accelerometers with high accuracy, can also improve measurement accuracy. Furthermore,
repeated measurements to obtain an average value can reduce errors caused by noise or
unexpected fluctuations. By implementing these methods, it is possible to greatly improve
measurement accuracy and reduce errors in project results.

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9.0 REFERENCES

Arakelian, V., Baron, J. P. le, & Mkrtchyan, M. (2016). Design of Scotch yoke mechanisms with
improved driving dynamics. Proceedings of the Institution of Mechanical Engineers, Part
K: Journal of Multi-Body Dynamics, 230(4), 379–386.
https://doi.org/10.1177/1464419315614431

Shanmugam, R., Srivigneesh, R., Raghav, S., & Santhosh, S. (2019). Design and Fabrication of
Motorised Scotch Yoke Mechanism. In International Journal of Engineering and
Techniques (Vol. 5).

Fedorov, D. S., Ivoilov, A. Y., Zhmud, V. A., & Trubin, V. G. (2015). Using of measuring system
MPU6050 for the determination of the angular velocities and linear accelerations.
Automatics & Software Enginery, 11(1), 75-80.

Arduino, S. A. (2015). Arduino. Arduino LLC, 372.

Fedorov, D. S., Ivoilov, A. Y., Zhmud, V. A., & Trubin, V. G. (2015). Using of measuring system
MPU6050 for the determination of the angular velocities and linear accelerations.
Automatics & Software Enginery, 11(1), 75-80.

InvenSense. (2013). MPU-6050 Datasheet.

Sawyer, W. G., Diaz, K. I., and Hamilton, M. A., & Micklos, B. (2003, July 1). Evaluation of a
Model for the Evolution of Wear in a Scotch-Yoke Mechanism. Retrieved January 27,
2023, from
https://asmedigitalcollection.asme.org/tribology/article/125/3/678/463961/Evaluation-of
-a-Model-for-the-Evolution-of-Wear-in

Kim, S., Song, H. G., Lee, D. C., Lee, K. B., & Jeong, H. (2018, December 5). Torque Analysis of
Scotch Yoke Type Hydraulic Actuator | E3S Web of Conferences. Retrieved January 27,
2023, from
https://www.e3s-conferences.org/articles/e3sconf/abs/2018/47/e3sconf_ceege2018_02005/
e3sconf_ceege2018_02005.htm

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10.0 APPENDIX

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