TITLE :- WATT'S MECHANISM

                               GROUP NUMBER : 20

                                      GROUP MEMBERS :-
                               ASHFAK                         2019MEB1245
                              MD ATHAR HASSAN         2019MEB1278
                              CHETAN KUMAR               2019MEB1254
                              RAM LAXMAN                   2019MEB1285
                                           INTRODUCTION

Watt's linkage (also known as the parallel linkage) is a form

of mechanical linkage invented by James Watt; in which
the linkage's central moving point is forced to move in a
nearly straight line. 

It is an example of a four bar linkage.

Watt's linkage is made up of three bolted-together bars that
form a line. Two end bars and a center bar make up the
chain of bars. Each end of the middle bar is bolted to one of
the ends of each outer bar. The two outer bars are the same
length as the middle bar and are longer. About the two nuts,
the three bars will pivot. The long bars' outer endpoints are
fixed in place relative to each other, but the three bars will
pivot freely around the two joints where they meet.
APPLICATION

1) It's used in vehicle suspensions to allow a

vehicle's axle to travel vertically while  preventing
sideways movement.

Watt's linkage is much better at simulating vertical

 straight-line motion, and it does so by keeping the
axle center at the vehicle's longitudinal centerline,
 rather than to one side of the vehicle.

2) It is also uses in steam engine and the wheel of

locomotive engine.

3) It is also used in the  double-acting pistons steam

engine. The piston of the engine is connected to the
central point of the linkage using Watt's
mechanism, allowing it to work both pushing and
pulling on the two outer beams of the linkage. 
           VELOCITY ANALYSIS

In this diagram two points O2 ,O4 are fixed

and other two points A,B are moveable
In watt's mechanism two end links are in
equal length which is O2A and O4B.
Let the length of links O2A,O4B = L1, O2O4 =    
L0, AB = L2.        VELOCITY DIAGRAM
And the w be the angular velocity of link
O2A.
Then with the help of graphical analysis we
find:-
Angular velocity of link AB = 0.56wL1/L2
Angular velocity of link O4B = 0.57w
Velocity of mid-point P on link AB =
                Displacement Analysis
The Watt linkage consists of two fixed points A and B of distance 2 units apart and two moveable points P and Q. Rigid
bars with moveable joints are connected so that the distances |AP|, |BQ|, and |PQ| are all one.
                               RESULT
How the point M is moving is shown in this figure by taking
different – different length of the link.

        Path of M point

    P=2, R=1, S=1, A=1

      P=4, R=2, S=2, A=1               P=5, R=2, S=2, A=4              P=6, R=2, S=2, A=3
                                     Simulation of Watt's Mechanism
clear all Cx(i) = L0;
close all     Cy(i) = 0;
    
L0 = 4;     r = [ L2*cosd(theta3(i)),  -
L1 = 2; L1*cosd(theta4(i)); L2*sind(theta3(i)), -
L2 = 1; L1*sind(theta4(i))];
    v = [-L1*W*cosd(theta2(i)); -
W = 5; L1*W*sind(theta2(i))];
    
theta2 = -30:2:30;     w(i,:) = inv(r)*v;
for i=1:length(theta2)     om2(i) = w(i,1);
    AC(i) = sqrt(L0^2 + L1^2 -     om4(i) = w(i,2);
2*L0*L1*cosd(theta2(i)));     V_Px(i) = -L1*sind(theta2(i))*W
    beta(i) = acosd((L0^2 + AC(i)^2 - L1^2) / - (L2/2)*sind(theta3(i))*om2(i);
(2*L0*AC(i)));     V_Py(i) =
    pai(i) = acosd((L2^2 + AC(i)^2 - L1^2) / L1*cosd(theta2(i))*W + (L2/2)*cosd(theta
(2*L2*AC(i))); 3(i))*om2(i);
    lamda(i) = acosd((L1^2 + AC(i)^2 - L2^2) /
(2*L1*AC(i)));     plot( [Ox(i) Ax(i)], [Oy(i)
    theta3(i) = pai(i) - beta(i); Ay(i)], [Ax(i) Bx(i)], [Ay(i) By(i)],
    theta4(i) = 180 - (lamda(i) + beta(i)); [Bx(i) Cx(i)], [By(i) Cy(i)], 'LineWidth',
    Ox(i) = 0; 3 );
    Oy(i) = 0;     grid on;
         axis equal;
    Ax(i) = Ox(i) + L1*cosd(theta2(i));     axis ([-2 5 -2 2]);
    Ay(i) = Oy(i) + L1*sind(theta2(i));     drawnow;
    hold off;   
    
    Bx(i) = Ox(i) + Ax(i) + L2*cosd(theta3(i)); end
    By(i) = Ox(i) + Ay(i) + L2*sind(theta3(i));
figure(2)
plot(theta2, om2, 'Linewidth', 3);
title('Angular velocity of link AB')
xlabel('\theta2')
ylabel('Joint AB Coordinates')

figure(3)
plot(theta2, om4, 'Linewidth', 3);
title('Angular velocity of link O4B')
xlabel('\theta2')
ylabel('Joint AB Coordinates')
figure(4)
plot(theta2, V_Px, 'Linewidth', 3);
title('X component of the velocity of point P')
xlabel('\theta2')
ylabel('Point P velocity')

figure(5)
plot(theta2, V_Py, 'Linewidth', 3);
title('y component of the velocity of point P')
xlabel('\theta2')
ylabel('Point P velocity')
Conclusion: 
 
Watt's linkages consists of three bars, bolted together, in a chain.

Linkage does not generate a true straight line motion. Rather, it traces out Watt's curve, figure eight shaped curve.

Watt's linkage is being used at many places like Vehicle suspensions , double-acting pistons etc...

We had done velocity & displacement analysis for watt's linkage.

References:
1) https://en.wikipedia.org/wiki/Watt%27s_linkage 
2) https://youtu.be/4O-XPJ7flLU 
3) https://youtu.be/QGEXEREeAZA 
4) https://matlab.mathworks.com/