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Mechanisms of Machinery (Meng3071) : Credit Hours: 3 Pre-Requisites:Meng1062

The document discusses mechanisms of machinery and introduces basic definitions, types of motions, links, joints, kinematic chains, coordinate systems, and degree of freedom. It explains that the degree of freedom of an assembly can be used to classify it as a mechanism, structure, or preloaded structure, and provides Grubler's criterion and examples for calculating the degree of freedom.

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Nebiyou Korra
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34 views

Mechanisms of Machinery (Meng3071) : Credit Hours: 3 Pre-Requisites:Meng1062

The document discusses mechanisms of machinery and introduces basic definitions, types of motions, links, joints, kinematic chains, coordinate systems, and degree of freedom. It explains that the degree of freedom of an assembly can be used to classify it as a mechanism, structure, or preloaded structure, and provides Grubler's criterion and examples for calculating the degree of freedom.

Uploaded by

Nebiyou Korra
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Mechanisms of Machinery(MEng3071)

Credit hours: 3
Pre-requisites:MEng1062
Year: III Semester: I
CHAPTER ONE
Introduction to mechanisms of machinery
Contents
1.1 Basic Definitions
1.2 Types of Motions
1.3 Link ,joint and kinematic chain
1.4 Coordinate Systems
1.5 Degree of Freedom(DOF)
1.6 Determine the degree freedom
1.1 Basic Definitions
 Mechanism of machinery deals with the study of force and
motion in machinery devices.
Kinematics:
 The study of motion without regard to forces.it is the branch of
mechanics that describe the motion of points ,bodies (objects)
 And systems of bodies without considering the mass of each
or the forces that caused the motion.
 More particularly, kinematics is the study of position,
displacement, rotation, speed, velocity, and acceleration.
Kinetics: The study of forces on systems in motion
Mechanism
•Heart of a machine.
•It is the mechanical portion of the machine that has the function
of transferring motion and forces from a power source to an
output.
•It is a system of rigid elements (linkages) arranged and connected
to transmit motion or force in a predetermined fashion.
1.3 Mechanism consists of linkages, joints and kinematic chain
•Linkages are made up of links and joint
•A link is an (assumed) rigid body which possesses at least two
nodes which are points for attachment to other links.
• A kinematic chain is defined as:
• An assemblage of links and joints, interconnected in a way to provide a controlled output motion in response to a supplied input motion.
Kinematic chain

A kinematic chain is defined as:


• An assembly of links and joints, interconnected in a way to
provide a controlled output motion in response to a supplied
input motion.
• A kinematic chain in which at least one link has been
"grounded," or attached, to the frame of reference (which itself
may be in motion).
Types of links
joints
• A joint is a connection between two or more links (at their
nodes), which allows some motion, or potential motion,
between the connected links. Joints (also called kinematic
pairs) can be classified in several ways:
1. By the type of contact between the elements, line, point, or
surface.
2. By the number of degrees of freedom allowed at the joint.
3. By the type of physical closure of the joint: either force or
form closed.
4. By the number of links joined (order of the joint).
Machine
• Machines are mechanical devices used to
accomplish work.
• A collection of mechanisms arranged to
transmit forces and to do work.
Kinematic pair – Existing connection between
two elements of a mechanism that have a
relative motion between them.
• Kinematic pairs was classified in to two based
on area contact.
• Lower pair – two links having a surface
contact between them. pin and slider joints.
• Higher pair – two links having line or point
contact between them. gears, rollers, and
spherical join.
Example of Mechanism

Lift platform
Can crusher

Front loader
Bicycle

Plane Belt
Gear
Concrete mixer
Geneva mechanism

Rear dump truck


Steering mechanism
Watt’s indicator mechanism

Piston
Elliptical trammels
1.2 Motions
Plane Motion
• When the motion of a body is confined to only
one plane. The plane motion may be either
rectilinear or curvilinear.
Rectilinear Motion
• It is the simplest type of motion and when a
body moves is along a straight line path.
Curvilinear Motion
• It is the motion of body along a curved path.
TYPES OF MOTION
• Pure rotation
The body possesses one point (center of rotation)
which has no motion with respect to the
"stationary" frame of reference.
• Pure translation
All points on the body describe parallel
(curvilinear or rectilinear) paths
• Complex motion
A simultaneous combination of rotation and
translation. Any reference line drawn on the
body will change both its linear position and
its angular orientation.
Helical motion
• When a body moves at each point of the body
has motion of rotation about fixed axis and at the
same time has translational parallel to axis.
Example ball
Transmission of motions
Motion is transmitted from one member in three
ways
 By direct contact between two bodies
 Through an intermediate link or connecting rod
 By a flexible connector such as belt or chain
1.4 Coordinate Systems
Coordinates are mathematical ways that
describes the position and motion of a dynamic
system or mechanism.
There are two types of coordinates
1. Independent coordinates
2. Dependent coordinates
1.5 Degree of Freedom(DOF)/mobility of a mechanism
• It is the number of independent coordinates required to
describe the position of a body.
• Independent movement direction motion of body
GRUBLER’S CRITERION
To determine the overall DOF of any mechanism, we must
account for the number of links and joints, and for the
interactions among them.
F = 3(n-1)-2p1-p2. Where,
F = Degrees of freedom
n = Number of links in the mechanism.
p1 = Number of lower pairs,
p2 = Number of higher pairs
Examples – DOF

 F = 3(n-1)-pl-p2
 Here, n = 4, p1 = 4 & p2 = 0.
 F = 3(4-1)-2(4) = 1
 I.e., one input to any one link will result
in definite motion of all the links.
F = 3(n-1)-2pl-p2
Here, n = 5, p1 = 5 and p2 = 0.
F = 3(5-1)-2(5) = 2
I.e., two inputs to any two links are required to
yield definite motions in all the links.
MECHANISMS AND STRUCTURES

The degree of freedom of an assembly of links completely


predicts its character. There are only three possibilities . If
the DOF is positive, it will be a mechanism, and the links
will have relative motion. If the DOF is exactly zero, then
it will be a structure, and no motion is possible. If the
DOF is negative, then it is a preloaded structure, which
means that no motion is possible and some stresses may
also be present at the time of assembly.
Mechanism, structure and pre-load
• EXAMPLE 1
EXAMPLE 2
• Assignment
Calculate the DOF of the linkages and Identify the
items as mechanisms, structures, or preloaded
structures.

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