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ME3481 Mechanical Engineering Lab I Study of Mechanisms: Mechanism

This document provides instructions for assembling and studying various mechanical linkage mechanisms using a mechanism assembly kit. It describes four mechanisms - the slider crank, pantograph, Geneva, and Peaucellier mechanisms. For each mechanism, it defines the links and joints, explains how to assemble it, and provides the degree of freedom calculation. It also discusses instantaneous centers, inversions, and properties like the linear motion produced by the Peaucellier mechanism. Students are asked to analyze properties of these mechanisms and draw scaled figures using the pantograph.

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Tejas Rao
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100 views

ME3481 Mechanical Engineering Lab I Study of Mechanisms: Mechanism

This document provides instructions for assembling and studying various mechanical linkage mechanisms using a mechanism assembly kit. It describes four mechanisms - the slider crank, pantograph, Geneva, and Peaucellier mechanisms. For each mechanism, it defines the links and joints, explains how to assemble it, and provides the degree of freedom calculation. It also discusses instantaneous centers, inversions, and properties like the linear motion produced by the Peaucellier mechanism. Students are asked to analyze properties of these mechanisms and draw scaled figures using the pantograph.

Uploaded by

Tejas Rao
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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ME3481 Mechanical Engineering Lab I

Study of Mechanisms

Aim

 To study different mechanisms that can be assembled using the mechanism assembly kit.

 To assemble the following mechanisms and study their output displacements.


 Pantograph mechanism
 Peaucellier mechanism

Mechanism

Mechanism is defined as a device that transforms input forces and movement into a desired set of
output forces and movement. A mechanism should have at least one fixed link.

Apparatus

Figure 1 shows elements for assembling mechanisms from tool kit.

Hinge Slider

Pins Link

Figure 1. Mechanical elements

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Degree of freedom

Degree of freedom is defined as the number of independent parameters required to define the state
of the system.

𝐷𝑂𝐹 = 3(𝑙 − 1) − 2(𝑗𝑙 ) − 𝑗ℎ

Where l=number of links, 𝑗𝑙 =number of lower pairs, and 𝑗ℎ number of higher pairs

Instantaneous Center (IC) of velocity in a mechanism

Instantaneous center of velocity between 2 links in a mechanism is a point on one link that has
zero relative velocity with respect to the other link in the mechanism.

Arhnold-Kennedy Theorem

If 3 bodies are in relative motion with respect to one another, the 3 ICs are collinear.

Mechanism to study and assemble

1. Slider crank mechanism

 The slider-crank mechanism is a four-bar mechanism. It is designed to convert rotary


motion to linear motion or convert linear motion into rotary motion.
 This mechanism consists of four links shown in the figure: 1-ground link, 2-crank, 3-
connecting rod, and 4-slider.

3
2
4

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Figure 2. Slider crank mechanism

DoF of slider crank mechanism

𝑙 = 4, 𝑗𝑙 = 4, 𝑗ℎ = 0 => DOF=3(4-1)-2(4) =9-8 =1

2
Inversions of slider crank

Some inversions of slider crank mechanism assembled in lab are shown in figures 3 and 4.

Figure 3. White worth quick return


Figure 4. Slotted crank mechanism
motion mechanism

2. Geneva mechanism

The Geneva mechanism is designed to convert continuous rotary motion into intermittent
rotary motion. The Geneva wheel in lab as shown in figure 5 and 6 has 4 slots.

Figure 5. Geneva mechanism (top view) Figure 6. Geneva mechanism (front view)

DOF of Geneva mechanism

𝑙 = 4, 𝑗𝑙 = 4, 𝑗ℎ = 0 => DOF=3(4-1)-2(4) =9-8 =1

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3. Pantograph mechanism

Pantograph is a mechanism designed such that one pin traces a figure, other pin traces the identical
scaled figure (increases or decreased size). This linkage has 5 links (including ground) and 5 joints.
Pantograph is used for reducing or enlarging engineering drawings and for guiding cutting tools
over complex paths.

Assembly procedure

 Choose the link OB any length and fix the hinge at O.


 Parallelogram sides are known (chosen AB such that it is equal to half of the length of OA)
𝑂𝐴 𝐴𝐷
 The length of the link BE is determined based on the equation 𝑂𝐵 = 𝐵𝐸 (OBE and OAD are

similar triangles)
 Connect the links CD and AD with pin joints such that AD=CD=AB=BC formulates the
parallelogram.

The scaling ratio of pantograph is 𝑂𝐴: 𝐴𝐵. The point E can be used to draw an image, the point D
traces same image with scaling ratio 2:1 (OA=2AB).

C
A

O
D

Figure 7. Pantograph linkage

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4. Peaucellier mechanism

Peaucellier mechanism is designed to convert rotary motion to linear motion in a given range. This
mechanism formulated with 8 links (Including ground) and 10 joints. This is the first planer
mechanism used to convert rotary motion to straight line motion (vice-versa). This mechanism is
used in cameras and robotics applications. The attraction is that it is not based on rack and pinion
or sliding parts (no backlash, wear, etc.).

Assembly procedure

 Take the links AC and AB of same length and fix with hinge joint at A.
 Formulate CPBQ parallelogram with pin joints (CP=PB=BQ=QC) as shown in the above
figure.
 Connect the crank QO with pin joint at Q and hinge joint at O (make sure AO=OQ).

The crank OQ rotates about O through a limited arc. P moves in a straight line perpendicular to
OA.

Q B

A O

Figure 8. Peaucellier mechanism

Report:
1. Using neat sketches explain the inversions of a slider-crank mechanism.
2. Derive and explain clearly the number of d.o.f.s in a pantograph mechanism.
Measure the figures drawn using the pantograph mechanism and find out the
scaling ratio.
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3. Derive and explain clearly the number of d.o.f.s in a Peaucellier mechanism. In the
Peaucellier mechanism prove that A, Q, P are collinear and (AQ)(AP) = constant.
Prove that if A and Q lie on a circle centered at O, then locus of P is a straight line
perpendicular to AO.

Figure 9. Triangle drawn using pantograph

4. Neatly derive and show in a diagram the instantaneous centers in a Peaucellier


mechanism.

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