Q1) Types of Instantaneous Centres = • This number of is taken as positive.

Ii) The direction of fcc will be changed

instantaneous centre in this mechanism having 4 links will with change in direction of either w or Vs or both. Iv) The
be, N = 4(4-1) /2 =6 direction of Coriolis component of acceleration can be
determined by rotating the velocity of sliding vector Vs
through 90° in the direction of rotation of angular velocity,
w. V) The direction of f = 2 w Vs for all the four possible cases
for given direction of w and Vs

i)Fixed instantaneous centres : 112 and 114 are the fixed

instantaneous centres since they do not change their
position in space with time. These centres 112 and 114 are
located at pin joint of links 1 and 2 and at pin joint of links 1
and 4 respectively.
ii)Permanent instantaneous centre: These are instant
centres for two links at joints which move in space when the
mechanism moves. For example 123 and 134 are
permanent instantaneous centres which are located at the
pin joints of links 2 and 3 and the links 3 and 4 respectively.
It should be noted that fixed and permanent Instantaneous
centres are located by inspection only. Q10) Buffer Storages = Automated assembly lines may also
iii)Neither fixed nor permanent instantaneous centres: contain storage buffers, which act as temporary storage for
These are also called as moving centres and they are parts that are traversing the assembly line, before being
obtained by using Kennedy’s theorem explained released from the buffer so that they may proceed to next
subsequently. These centres vary with the configuration of workstations. Ii) Storage buffers are either manually
mechanism. 113 and 124 in Fig. 3.8.4 are the examples of operated or automated. In automated versions, a
neither fixed nor permanent instantaneous centres. mechanism is used to accept parts from previous
workstations, •There are two main reasons for the use of
Q2) Velocity Image Principle = I) Velocity image in order to buffer storage zones in automated assembly lines. 1)The
find velocity of any point C on gid link. AB is as follows ii) first reason is to reduce the effect of individual station
Side ab of velocity triangle oab which represents VBA is breakdowns on the assembly line operation. The
alled velocity of image of link AB. Iii) A point C on link AB is continuous or intermittent transfer system acts as a single
said to have a velocity image in oint C on ab if c divides ab integrated machine. When breakdowns occur at the
in the same proportion as C oes on link AB. Iv) Therefore, individual Workstations or when preventive maintenance is
necessary condition for velocity image of oint C is, applied to the machine, assembly line must be halted. 2)
ac : cb = AC : CB or, ac : ab = AC : AB ….(I) The second reason for using storage is to smooth out the
i.e. ac = AC /AB ×ab ….(ii) Hence, the point c can be located assembly lines to compensate the variations in cycle times.
on the vector diagram as per Equation (ii) given above. These variations occur either between
Velocity of point C is given by,

Q3) method of finding the of coriolis component = I) In the

above expression, anticlockwise direction of wis taken as
positive and the outward direction of velocity of sliding, Vs
Unit 4 Q7) Dimensional Synthesis = I) Dimensional synthesis deals
Q1) Type Synthesis = I) Type synthesis refers to selection of with the determination of dimensions of links, angle
mechanism, i.e. type of mechanism to be used for a between links etc. of the mechanism to satisfy the motion
required output. It may be gear drive, or belt and chain characteristics. Ii) Both graphical and analytical methods are
drive or cam and follower mechanism. Ii) During selection available for dimensional synthesis. The choice of method
of type of mechanism one may have to consider design depends upon the type of problem to be solved.
aspects like manufacturing process, material selection, Q8) Precision positions = It is usually impossible to
space consideration etc. consideration, safety accurately produce the function y=f(x) at more than a few
Q2) Number Synthesis = I)Number synthesis refers to positions. The positions at which the generated function
determination of number of links and number of joint’s produced by synthesized linkage and required function
required for specified motion. It also includes the degree of agreed are known as precision positions or precision points
freedom required for specified motion.
Q3) Dimensional Synthesis = Dimensional synthesis refers Q9) Types of Errors in Synthesis of Mechanisms = A)
to find out the dimensions of mechanism required. This Structural error = Structural error is the difference between
includes length of links, the distance between pivot points the generated function and the desired function for a
on the links, angle between arms of bell-crank levers, cam certain value of input variable. Therefore, the precision
profile and diameter of roller of follower, gear ratios. points are spaced in such a way as to minimize the structural
Q4) Function Generation = I) It is frequently required in error of the linkage.
synthesis of mechanism that an output link must rotate, B) Mechanical errors = Mechanical errors are caused
oscillate, and reciprocate according to a prescribed function because of mechanical faults such as improper machining,
of time or function of input motion. This is called function casting error of components of the linkage, clearance in the
generation. Ii) A simple example Is that of a synthesizing of components because of rubbing, overloading of linkages,
four-bar mechanism to generate the function y = f (x). manufacturing tolerances on the link dimensions etc.
Where x would represent the motion or angle of input link C) Graphical Error = Graphical Error is caused because of
and mechanism is be designed such that the motion or incorrectness in drawing of perpendicular or parallel lines.
angle of output link would be the approximate function y It may occur because of wrong graphical construction and
=f(x) wrong choice of scale. Also, there may be human errors in
drawing work.

Q10) Explain the term Body guidance related to Synthesis

of mechanisms. = The graphical method for synthesis the
four bar chain mechanism considering body guidance or
motion generation for three specified positions of coupler
link is as follows. Consider the three positions of coupler link
which moves from B1C1 to B2C2 to B3C3 as shown in Fig
4.6.1(a) . Draw four lines connecting B1 to B2 ,B2 to B3, C1
to C2 and C2 to C3,
Q5) Path Generation = I) In path generation, a point on
Locate the centre of a circle which passes through the three
coupler link or floating link (link which is not connected
points B1, B2, B3 by drawing perpendicular bisectors of
directly to fixed link) is to trace a describe path with
B_{1}B_{2} and B2B3 Let these two bisectors intersects at
reference to fixed frame of reference. Ii) The path is
point A1 which is first pivot point of four bar chain
generally an arc of a circle, ellipse or a straight line. An
mechanism as shown in Fig. 4.6.1(b).
example of path generation is a four bar mechanism with
Similarly, locate the centre of a circle which passes through
coupler link, where a point on coupler link is required to
the three points C1, C2, C3 by drawing perpendicular
follow a path y = f (x), as input link rotates.
bisectors of C1C2 and C2C3 Let these two bisectors
Q6) Body Guidance (Motion Generation) = I) In body
intersects at point D1 which is second pivot point of four bar
guidance or motion generation the entire body is guided
chain mechanism as shown in Fig. 4.6.1(b).
through a pre selected sequence of motion. Such a body is
The complete linkage, A1B1C1D1 is shown in Fig. 4.6.1©
guided usually as a part of coupler link. For example, in
which guides the coupler link B₁C₁ through three specified
construction industry heavy parts such as buckets and
positions
blades of bull dozer must be moved through a series of
prescribed positions. Ii) It must be noted that, In path
generation one is concerned with the path of a trace point
on a coupler link, in body guidance or motion generation
the entire motion of the coupler link is of concern.
Unit 6 There is virtually no production time loss while
reprogramming the system for new configuration of
Q1) Need for Automation = I) The automation is needed in product
industry because of the following reasons: ii) The Advantages of flexible automation: I) Suitable for
automation of manufacturing operations increases continuous production of variable products; ii) Flexible in
production rate. Thus, increases productivity. Iii) The accommodating product design variations
automation reduces the labour cost. Thus reducing the cost Disadvantages of flexible automation = I)High initial
of production. Iv) The automation also improves the equipment; investment for custom-engineered ii) Medium
product quality v) In developed countries, where there is production rates;
shortage of labour, automated operations are used as a
substitute for labour. Vi) The automation reduces the time Q3) Methods of Work Part Transport = 1) Continuous
required for manufacturing the product. Transfer = In continuous transfer method, the work parts
are moved continuously at constant speed in production
Q2) Types of Automation = The automation of production line and completes its job during motion of the work part.
systems can be broadly classified into three types I) Fixed This requires the work stations or machine to move during
automation ii) Programmable automation iii) Flexible processing in order to maintain continuous action with the
automation work part. 2) Intermittent or Synchronous Transfer = In
I)Fixed (Hard) Automation : I) Fixed (hard) automation is an Intermittent transfer method the work parts are
automation system in which the sequence of operations is transported with an intermittent or discontinuous motion.
fixed by the layout of production equipment (machines). The workstations or machines are fixed in position and the
Ii)The fixed automation cannot be changed once it is parts are moved between work stations and then orient at
established, and hence, it is inflexible in accommodating the proper locations for processing.
the product variety. Iii) In fixed automation, the processing Q4) Type of Transfer Mechanisms= A)Linear transfer
or assembly steps and their sequence are fixed by the mechanism = These type of mechanisms are used to
equipment configuration. Advantages of fixed automation: provide linear travel work part for inline machines in
I) It is suitable for continuous flow type production systems between workstations. The linear transfer mechanism
and mass production systems; ii) High production rates; iii) consists of a series of automatic workstations located along
Cost of product is less due to mass production. Iv) No tool an inline transfer system. Inline transfer machines have a
set up time required, as tooling is fixed. load station at one end and an unload station at the other
Disadvantages of fixed automation = I) High initial end. The work parts are loaded manually or automatically
investment. For specialized equipment ii) Highly inflexible in onto the bed
accommodating product variety;
B)Programmable Automation = Programmable automation Q5) Rotary Transfer mechanism = These type of
is an automation system in which the production mechanisms are used to provide rotary motion for work
equipment are designed with a capability to change the part or machines in between workstations. There are
sequence of operations so as to accommodate the different several methods are used to index a circular table or dial at
product configurations. To produce a batch of new product, various equal angular positions corresponding to
a new program can be prepared for new parts, and the workstation locations. I) Rack and pinion = This mechanism
equipment or machine can read each program and execute is simple but is not considered especially suited to the high-
the encoded instructions speed operation often associated with indexing machines.
Advantages of programmable automation: I)Most suitable In this mechanism a piston is used to drive the rack, which
for batch production systems; ii)Flexible in accommodating causes the pinion gear to rotates and which cause to rotate
product variety; indexing table which is attached to pinion. Ii) Ratchet and
Disadvantages of programmable automation: pawl = A ratchet Is a device that allows linear or rotary
I)Lower production rates than fixed automation; ii) Tool motion in only one direction, while preventing motion in
setup time varies from batch to batch. Iii) High initial the opposite direction. Ratchet is a set of teeth on wheel
investment in general purpose equipment that can be which allow the motion in one direction on.
reprogrammed Iii) Geneva mechanism = Geneva indexing mechanism is
used when intermittent rotary motion is required to rotate
C)Flexible Automation : Flexible automation is an turret or work table. indexing mechanism called as Geneva
automation system capable of producing products of design mechanism which consist of driving wheel carrying a pin
variations, continuously with virtually little or no time loss which engages in a slot of the driven member.
for changeovers from one product to the other. Flexible
automation is an extension of programmable automation.
Q6) Automated Assembly-Line = Definition: Assembly current solutions. For instance, if an issue comes under an
involves the joining of two or more separate parts to form a intelligent automation system and human involvement
new entity which may be called as assembly or comes into play to resolve it, the next time system will
subassembly. Iii) Automated assembly refers to the use of automatically follow the procedure used by a human. 3)
mechanized and automated devices to perform the various Natural Language Processing: Where machine vision works
functions in an assembly line. Iii) Automated assembly on the visuals, Natural Language Processing (NLP) does the
system performs a sequence of automated operations to same to understand human voice and text inputs
combine multiple parts in to a single entity which can be Advantages Of AI Automation= I) The use of artificial
called a final product or assembly or sub assembly iv) intelligence in automation makes it a lot easier for industry
Automated assembly technology preferred in the following to execute routine operations and growing fast in market. Ii)
condition. • High product demand • Stable product design Automates the Processes: Artificial Intelligence allows
• The assembly consists of a limited number of robots to develop repetitive, routine and process
components. • The product is designed for automated optimization tasks automatically and without human
assembly. intervention. Iii) Reduces Cost: The cost of training a human
is reduce to deal with employee turnover iv) Improve
Q7) Automated Assembly Line For Car Manufacturing = In Efficiency: No matter how efficient people are they will
recent days, now most of the automobile companies are always make mistakes v)Enhance creative tasks: Artificial
heavily investing in robotic innovations, to improve its Intelligence makes frees people from routine and repetitive
vehicle quality and production efficiencies. Now tasks and allows them to spend more time on creative
organizations use the various new system, which includes functions. Vi) Provides Precision: The application of Al is
robotic vision in order to create a digital model of each car capable of providing greater precision than humans, for
in the final assembly line to analyse the paint quality and example in industrial automations,
imperfections in the surface by comparing with a perfect Disadvantages = Data availability: Often, the data of Al is
model. 1) Press Shop: This is the first step where the presented in isolation across industry or is inconsistent and
production process starts, with most of the metal parts of low quality, presenting a significant challenge for
getting pressed out of steel sheets. The extremely heavy industries seeking to create value from Al at scale ii) Lack of
rolls of steel and aluminum sheet, the so-called coils are qualified professionals: Another disadvantage of the
initially cut to form boards and then pulled with the most adoption of Al is the scarcity of profiles with skills and
modern, fully automated high-speed servo presses in experience in this type of implementations. Iii)The cost and
several steps, bent and punched. 2) Weld Shop: The weld implementation time of Al automation. The cost of
shop or body shop is typically the place where the implementation and maintenance is a very important factor
automobile is born. In this step precise assembly of several in choosing to execute this type of project based on AI
hundred individual parts made of steel and aluminum of
different sizes and thickness to a precision body. 3) Engine Q9) Assembly Line Balancing = I) Assembly line
Shop: The hart of car manufacturing is the Engine and along balancing(ALB) is to know how work is to be assigned to
with it the Transmission Axle. The birth of the Engine for a each workstations, so that the predetermined goal is
car, typically happens when the vehicle is in the paint shop. achieved. Ii) Minimization of the number of workstations
and maximization of the production rate are the most
Q8) Artificial Intelligence in Automation = Artificial common goals. Iii) The main objective of line balancing is to
intelligence (AI) has become the slogan in the industrial distribute the task evenly over the work station so that idle
community because it use software to reduce human effort time of man of machine can be minimized. Iv) Assembly line
in entire process of manufacturing Industry. balancing aims at grouping the facilities or workers in an
Now a day most of the industries are focusing on applying efficient pattern in order to obtain an optimum or most
artificial intelligence with automation processes to existing efficient balance of the capacities and flows of the
process to gain the new heights of efficiency and quality. production or assembly processes.
Major Components of AI in Automation = 1) Machine
Vision : It refers to the potential of a program to understand
visual input. The machine uses the training data (images) as
a base for a classification or identification mechanism. The
best example of machine vision is the face recognition in the
iPhone X 2) Machine Learning: Machine learning is the
ability of the machine to learn from the data fed, outcomes
of decisions and environment variables to improve itself.
Using machine learning we can improve the efficiency of