In The Name Of Allah, The Most Gracious , The Most Merciful

October 30,2008

MECHANISMS
Presented To:- Miss Aysha Nayyer
Presented By:-
IMRAN AFZAL (07-MCT-41)

YAWAR ABBAS KHAN (07-MCT-34)

ABDULLAH MAQSOOD (07-MCT-53)

IMRAN ASLAM (07-MCT-19)

TANVEER RAOUF (07-MCT-54)

Department of Mechatronics & Control Engineering,

University Of Engineering & Technology, Lahore
 OVERVIEW

 Definition
 Applications
 Collection Systems
 Positioning Methods
 Linkages
 Tape Drive
 Robotics
 What is Mechanisms?
 A mechanism takes an input motion or force and
creates a desired output motion or force
 When any of the link of a Kinematic chain is fixed to
provide a relative motion between other links of the
Kinematic chain is called Mechanism
 A mechanism is an arrangement of parts in a
mechanical device or machine.
 Collection Systems

1. Intake Rollers
2. Conveyors
3. Claws
Intake Rollers
 Rotating cylinders
designed to contact and
move your game object
 Commonly used to pick
up balls from the floor
 Horizontal or vertical
Intake Rollers
 Intake Rollers
 Advantages  Disadvantages
 Lightweight  Works best for balls
 Pickup multiple objects  Conveyors difficult to
quickly stay on reliably
 Large room for driver  Can cause jamming
error  Requires chassis space
 Simple near floor
 Conveyors
 Effective with rollers at
picking up and
MOVING objects
 A flat, wide, moving
belt
 Series of smaller belts
in parallel
Examples
Claws

 Appendages which open

and close to grasp onto an
object
 “fingers” rotating to close
around an object
 “fingers” move towards
each other to clamp onto
an object
 Any orientation, can pick
up almost everything
Claws
 Claws
 Advantages  Disadvantages
 Lightweight  Work best with
 Grab very large objects pneumatics
 Grab strangely shaped  Take up large volume
objects often
 Easiest to build without  Require good drivers
machine tools and careful positioning
 Only pick up one object
at a time
Examples
Positioning Methods

1. Arms (rotating)
2. Telescoping lifts
Arms (rotational lift)
 Consist of one or
more points of
rotation
 Manipulator on the
end of an arm
 Versatile and
effective
 Lift objects high
simply
Arms (rotational lift)
Shoulder Joint
Adding a Wrist
 Arms (rotational lift)

 Advantages  Disadvantages
 Mechanically reliable for  Requires high
most heights strength parts
 A shoulder and wrist  Can raise CG too
provide excellent control high
 Can reach over robots and  Must fit into starting
still fold up size limit
 Multiple functions
Arms Examples
Telescoping

 Sliding sections that

move linearly
 Mostly powered by a
winch pulling on a
cable
 Similar to the front
of a forklift
 Telescoping
 Advantages
 Able to extend very far
with little space
consumed
 Stable linear path
 Less for driver to think
about
 Simply powered by a
winch
 Disadvantages
 Jamming, they jam,
and jamming too.
 Hard to repair
 Require being stored in
a long straight area
 Do not handle bending
loads well
Examples
 Linkages

 Crank Mechanism  Bell Crank Mechanism

 Lever, or Rocker  Four-Bar Linkage
Mechanism  Slider Crank Mechanism
 Rocker Arm Mechanism
 Combination Four-Bar
Linkage & Slider
Mechanism
 Linkages
 Linkages transmit motion or force to a desired
location
 Change direction
 Change length

 Split motion or force over multiple paths

 Bell Crank
 Changes direction of force 90 degrees
 Brakes on a bike
 Used to ring church bells
 Pulling down on a rope would swing bell
 Reversing Linkage

 Changes direction by 180 degrees

 Parallel Linkages

 Allows parts to move in a parallel

relationship
Crank and Slider
4-Bar linkages
(Images of four bar mechanism)
 4-Bar (rotational lift)
 Advantages  Disadvantages
 Controls orientation of  Limited range of
arm and object motion
 Complex motion from a  More moving parts
simple input  Over center toggling
 Simple to implement  Certain links can
require lots of torque
T10000 Tape Drive Model
T10000 Tape Drive Internals
 T10000 Major Mechanical Systems
Buckler Mechanism Machine Reel Tape Path Guides

Cooling
Fans

Loader Mechanism Read/Write Heads

Cleaner Mechanism
 Cartridge Loader, Guides and Deck Plate

Tape
Cartridge Path
Loader Guides

Coupler
Deck
Plate

Cartridge
Reel
Motor
Machine Reel Motor
 Two Mechanism in Tape Drive

Loader/Buckler Mechanism Head Cleaner Mechanism

Loader/Buckler Mechanism
Read/Write Heads and Cleaner Mechanism
 Cartridge Loader/Buckler
Assembly
Motor
Buckler

Lifter
Guides Gear
Train

Lifter

Leaf Springs Lifter Cam

 Cartridge Loader/Buckler Mechanism

Slide
Spring

Slide

Slide Cam
 Cartridge Loader/Buckler Mechanism

Slide/
Shuttle Buckler
Connection Cam
Path

Leader Shuttle
# of teeth in the gear
 Machines !
Crane…..

Foil & Stretch Rewinding Machine

Helicopter Swash Plate

Machines !
Thank You The End

Any Question…….

University of Engineering & Technology ,Lahore