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MACHINERY
Dr. G. Harinath Gowd
Professor,
Dept. of ME, MITS
Theory of Machines
The subject Theory of Machines may be
defined as that branch of Engineeringscience, which deals with the study of
relative motion between the various parts
of a machine, and forces which act on
them.
Importance: The knowledge of this subject
is very essential for an engineer in
designing the various parts of a machine.
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Purpose
The purpose of this course is to explore
the topics of kinematics and dynamics
of machinery in respect to the synthesis
of mechanisms in order to accomplish
desired motions or tasks, and also the
analysis of mechanisms in order to
determine
their
rigid-body
dynamic
behavior.
Synthesis is the process of combining
separate parts into a whole
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THEORY OF MACHINES
Branch of science that deals with the study of
relative motion between the various parts of a
machine, and forces which act on them.
KINEMATICS
DYNAMICS
Relative motion
Relative motion
KINEMATICS OF MACHINE
Deals with the study of relative motion between the various parts of
a machine, and various forces are not considered.
Ex:- Displacement , velocity and accelerations
Mechanisms, Belts, chains and Gear wheels etc
DYNAMICS OF MACHINE
Deals with the study of relative motion between the various parts of
a machine, and various forces are considered.
Ex:- Forces
Balancing, Flywheels, Governors, etc
KINETICS
Forces - moving
STATICS
Forces - stationary
Objective of Kinematics
The objective of kinematics is to develop
various means of transforming motion to
achieve a specific kind needed in applications.
For example, an object is to be moved from
point A to point B along some path.
The first question in solving this problem is
usually: What kind of a mechanism (if
any) can be used to perform this
function?
And the second question is:
How does one design such a mechanism?
Objective of Dynamics
The objective of dynamics is analysis of
the behavior of a given machine or
mechanism when subjected to dynamic
forces.
For the above example, when the
mechanism is already known, then
external forces are applied and its
motion is studied.
The determination of forces induced in
machine components by the motion is
part of this analysis
Machines and
Mechanisms
A mechanism is a device which
transforms motion to some desirable
pattern and typically develops very
low forces and transmits little power.
A
machine
typically
contains
mechanisms which are designed to
provide
significant
forces
and
transmit significant power.
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Mechanisms
Simple press
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Mechanisms
Moves packages from an assembly
bench to a conveyor
Rear-window
wiper
Mechanisms
Front loader
Lift platform
Lift platform
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Mechanisms
Machines
Food Blender
Automatic
Transmission
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Machines
Bulldozer
Spider Robot
Amusement
Park Ride
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Applications of Kinematics
Virtually any machine or device that
moves contains one or more kinematic
elements such as linkages, cams, gears,
belts, chains. Your bicycle is a simple
example of a kinematic system that
contains a chain drive to provide torque
multiplication and simple cable-operated
linkages for braking.
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Applications of Kinematics
An automobile contains many more
examples of kinematic devices. Its steering
system, wheel suspensions, and pistonengine all contain linkages; the engine's
valves are opened by cams; and the
transmission is full of gears. Even the
windshield wipers are linkage-driven.
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Applications of Kinematics
Figure (a) shows a spatial linkage used to control the rear wheel
movement of a modem automobile over bumps.
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Applications of Kinematics
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Applications of Kinematics
Another application using linkages is that of exercise equipment as
shown in Figure (c).
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Machine
Device to transfer or transform energy to do useful work
Combinations of Mechanisms
Examples : Watch, Washing machines, Refrigerator, IC Engines
Mechanism
Combinations of rigid body or restricted bodies (no deformation)/
negligible deformation)
type writer,
Machine
Machine is a device by means of which available
energy can be converted into desired form of useful
work.
It is the assembly of resistant bodies or links whose
relative motions are successfully constrained so that
available energy can be converted into useful work.
Machines are used to transform both motion and force.
Example: Scooter Converts available energy of petrol
into useful wrok which propels it along the road.
Resistant Body
A body is said to be resistant if it is capable of
transmitting the required force with negligible
deformation. These bodies are the parts of the
machines which are used for transmitting motion
and forces.
It is a theoretical concept which is accepted. Though
practically speaking, there is some deformation in
the body while transmitting the motion or force. A
link need not necessarily be a rigid body, but it must
be a resistant body. For Example Springs, belts and
oil used in hydraulic press are not rigid links; but
they are resistant bodies.
Mechanism
A mechanism may therefore be
defined as a combination of rigid or
resistant bodies, formed and
connected so that they move with
definite relative motions with respect
to one another
When one of the links of a kinematic chain
is fixed, it is known as mechanism. It is
used to transmit motion.
Mechanism - Types
Simple mechanism It has four
links
Ex: Slider crank mechanism
Compound mechanism More
than four links. It may be made
by adding two or more simple
mechanisms.
Some Definitions
Machine Device to transfer or transform
energy to do useful work.
Mechanism Device to transfer or transform
given input motion to specified output motion
Structure A single body with no motion /
combination of bodies with no relative motion
Structure
It is an assemblage of a number of resistant bodies
(known as members) having no relative motion
between them and meant for carrying loads having
straining action. A railway bridge, a roof truss, machine
frames etc., are the examples of a structure.
LINK / ELEMENT
KINEMATIC PAIR /
KINEMATIC JOINT
KINEMATIC CHAIN
MECHANISM
MACHINE
LINK / ELEMENT
KINEMATIC PAIR /
KINEMATIC JOINT
KINEMATIC CHAIN
MECHANISM
MACHINE
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Types of Links
In order to transmit motion, the driver and the follower may
be connected by the following three types of links :
1. Rigid link.
A rigid link is one which does not undergo any deformation
while transmitting motion. Strictly speaking, rigid links do
not exist. However, as the deformation of a connecting rod,
crank etc. of a reciprocating steam engine is not appreciable,
they can be considered as rigid links.
2. Flexible link.
A flexible link is one which is partly deformed in a manner
not to affect the transmission of motion. For example, belts,
ropes, chains and wires are flexible links and transmit tensile
forces only.
3. Fluid link.
A fluid link is one which is formed by having a fluid in a
receptacle and the motion is transmitted through the fluid by
pressure
or compression only, as in the case of hydraulic
*
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presses, jacks and brakes.
LINK/ELEMENT
Link is a resistant body / combinations of
resistant bodies having relative motion with
resistant or combinations of resistant bodies.
Rigid Link
Fluid Link
Flexible Link
LINK / ELEMENT
It is the name given to any body which has motion relative to
another. All materials have some elasticity. A rigid link is one,
whose deformations are so small that they can be neglected in
determining the motion parameters of the link.
KINEMATIC PAIR
NATURE OF
CONTACT
LOWER
PAIR
Surface Contact
HIGHE
PAIR
Point Contact
RELATIVE
MOTION
MECHANICAL
CONSTRAIN
Sliding pair
Turning pair
Rolling Pair
Screw pair
Spherical Pair
Closed pair
Unclosed
pair
Kinematic Pair
The two links or elements of a machine,
when in contact with each other, are
said to form a pair. If the relative
motion between them is completely or
successfully constrained (i.e. in a
definite direction), the pair is known as
kinematic pair.
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Lower Pairs
A pair is said to be a lower pair when
the connection between two elements
is through the area of contact. Its 6
types are :
Revolute or Turning Pair
Prismatic or Sliding Pair
Screw Pair
Cylindrical Pair
Spherical Pair
Planar Pair
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Sliding pair
Sliding pair. When the two elements of a pair are connected in such a way that
one can only slide relative to the other, the pair is known as a sliding pair.
Or
Sliding pair allows only a relative translation between
elements 1 and 2, which can be expressed by a single
coordinate 'S'.Thus a Sliding pair pair has a single degree of
freedom.
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Screw Pair: If the two links has a turning sliding motion between them.
A screw pair allows only a relative movement between elements 1 and 2,
which can be expressed by a single coordinate angle 'theta' or 'S' .Thus a
screw pair has a single degree of freedom.
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TURNING
SLIDING
PAIR
SCREW
CYLINDRICAL
PAIR
PAIR
SPHERICAL PAIR
ROLLING
PAIR
PAIR
MACHINES
(a) Self closed pair. When the two elements of a pair are connected together mechanically
in such a way that only required kind of relative motion occurs, it is then known as self
closed pair.
OR
Elements of pairs held together mechanically due to their geometry constitute a closed
pair. They are also called form-closed or self-closed pair.
The lower pairs are self closed pair.
(b) unclosed or Force - closed pair. When the two elements of a pair are not connected
mechanically but are kept in contact by the action of external forces, the pair is said to be a
force-closed pair.
OR
Unclosed or force closed pair. Elements of pairs held together by the action of external
forces constitute unclosed or force closed pair .Eg. Cam and follower.
The cam and follower is an example of force closed pair, as it is kept in contact by the
forces exerted by spring and gravity.
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Kinematic Chain
When the kinematic pairs are coupled in such a way that
the last link is joined to the first link to transmit definite
motion (i.e. completely or successfully constrained
motion), it is called a kinematic chain.
In other words, a kinematic chain may be defined as a
combination of kinematic pairs, joined in such a way that
each link forms a part of two pairs and the relative
motion between the links or elements is completely or
successfully constrained.
Two equations for lower pairs are available to determine whether the
assemblage of links and pairs are formed the kinematic chain or not.
If each link is assumed to form two pairs with two adjacent links, then the
relation between the number of pairs ( p ) forming a kinematic chain
and the number of links ( l ) may be expressed in the form of an
equation :
L=2P-4 Eq (1)
Since in a kinematic chain each link forms a part of two pairs, therefore
there will be as many links as the number of pairs.
Another relation between the number of links (l) and the number of
joints ( j ) which constitute a kinematic chain is given by the expression :
j=(3/2)L 2
Eq (2)
The equations (i) and (ii) are applicable only to kinematic chains, in
which lower pairs are used.
Note: It above two equations are satisfied, the links form a kinematic chain.
1
2
3
4
:
:
:
:
Frame
Slider
Con rod or Coupler
Crank
Inversions
Four bar or
quadratic
Single slider
crank
mechanisms
Double slider
crank
mechanisms
I
N
V
E
R
S
I
O
N
S
Four bar
or
quadratic
Single slider
crank
mechanisms
Double slider
crank
mechanisms
Beam Engine
( Crank and lever Mechanism)
Beam Engine
( Crank and lever Mechanism)
Beam engine is consist with 4
links . These are
Link 1: Frame, Link 2: Crank,
Link 3 : Con rod, Link 4: Lever
when the crank rotates about the
fixed centre A, the lever oscillates
about a fixed centre D.
The end E of the lever CDE is
connected to a piston rod which
reciprocates due to the rotation of
the crank.
The purpose of this mechanism is
to convert rotary motion into
reciprocating motion.
The link 1 corresponds to the frame of the engine, which is fixed. The link 2
corresponds to the crank ; link 3 corresponds to the connecting rod and link 4
corresponds to cross-head. As the crank rotates, the cross-head reciprocates in the
guides and thus the piston reciprocates in the cylinder.
Yoke
3rd
3rd