Applied Mechanical

Systems
ADVANCED MECHATRONICS SYSTEMS
Basic Types of Mechanical
Systems
Translational
◦ Linear Motion

Rotational
◦ Rotational Motion

2
Translational
Mechanical
Systems
PART-I

3
Basic Elements of Translational Mechanical Systems

Translational Spring
i)

Translational Mass
ii)

Translational Damper
iii)
Translational Spring

Translational Spring
i)

Circuit Symbols
Translational Spring
 Translational Spring
• If F is the applied force
x1
x2

• Then x1 is the deformation if x 2 = 0 F

• Or ( x1 − x2 ) is the deformation. F

• The equation of motion is given as

F = k ( x1 − x2 )
• Where k is stiffness of spring expressed in N/m
Translational Spring

(1) Parallel (2) Series

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 Translational Mass
Translational Mass
ii)

F = Mx

x(t )

F (t )
M
Translational Damper
Translational Damper
iii)
 Common Uses of Dashpots
Door Stoppers
Vehicle Suspension

Bridge Suspension
Flyover Suspension
 Translational Damper

F = Cx F = C ( x1 − x 2 )

• Where C is damping coefficient (N/ms-1).

 Translational Damper
• Translational Dampers in series and parallel.

C1C 2
Ceq = C1 + C 2 Ceq =
C1 + C 2
 Modelling a simple Translational System
Example-1: Consider a simple horizontal spring-mass system on a
frictionless surface, as shown in figure below.

mx = −kx
or
mx + kx = 0

13
Rotational
Mechanical
Systems
PART-I

14
 Basic Elements of Rotational Mechanical Systems

Rotational Spring

1
2

T = k (1 −  2 )
 Basic Elements of Rotational Mechanical Systems

Rotational Damper

C
1
2 T

T = C (1 − 2 )
 Basic Elements of Rotational Mechanical Systems

Moment of Inertia


J T

T = J
Mechanical
Linkages
PART-III

18
Gear

19
Fundamental
Properties
Gearing Up
and Down
Why Gearing is
necessary?
• A typical DC motor operates at speeds that are far too high to be
useful, and at torques that are far too low.

22
Gear Trains
23
 Gear Ratio
Driver You can calculate the gear ratio by using the number of teeth
of the driver divided by the number of teeth of the follower.

Follower
We gear up when we increase velocity and decrease torque.
Ratio: 3:1

We gear down when we increase torque and reduce velocity.

Ratio: 1:3
Example
of Gear
Trains
A M O ST CO M M O N LY
U S E D E X A M PLE OF G EA R
T R A I NS I S T HE G EA RS OF
A N AU TOM OBI L E.

25
 Mathematical Modelling of Gear Trains
Gears increase or reduce angular velocity (while simultaneously decreasing or
increasing torque, such that energy is conserved).

Energy of Driving Gear = Energy of Following Gear

N11 = N 2 2

N1 Number of Teeth of Driving Gear

1 Angular Movement of Driving Gear

N2 Number of Teeth of Following Gear

2 Angular Movement of Following Gear

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 Mathematical Modelling of Gear Trains
In the system below, a torque, τa, is applied to gear 1 (with number of teeth N1, moment
of inertia J1 and a rotational friction B1).
It, in turn, is connected to gear 2 (with number of teeth N2, moment of inertia J2 and a
rotational friction B2).
The angle θ1 is defined positive clockwise, θ2 is defined positive clockwise. The torque
acts in the direction of θ1.
Assume that TL is the load torque applied by the load connected to Gear-2.

N2
N1
B1

B2
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Law of superposition of
forces
“The principle of superposition states that every
charge in space creates an electric field at point
independent of the presence of other charges in that
medium. The resultant electric field is a vector sum of
the electric field due to individual charges.”