Mechanisms
Prof.dr.ing. Csaba Antonya
[email protected] DATR
Lectures, lab, project
Lectures 4h/2h:
Wednesday from 12.00/14.00, venue: G P 3/D
I5
Laboratory work / Project:
venue G P 3 / D I 5
Final grade:
Project – (33%)
Exam (theory and application) – (66%)
Group Emails: [email protected]
[email protected]
MECHANISMS
Lectures: soon on eLearning
2 Lecture 1
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Subjects - Lecture 1
Introduction.
Objectives of this course.
History of Mechanism and Machine
Science
Study of mechanisms: analysis and
synthesis
Study of mechanisms: structure,
kinematics, dynamics
Examples
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3 Lecture 1
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Definition of Mechanism
A device that transforms motion to some
desirable pattern
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3
B
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Oscillation motion of the piston translate to rotational motion
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of the crank shaft (engine)
Rotational motion of the crank shaft translates to Oscillation
motion of the piston (pump)
4 Lecture 1
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The main objectives of this course are:
To develop your understanding of the
fundamentals of kinematics and dynamics
of mechanisms.
Gain experience using computer software
to facilitate the design and analysis of
simple and complex mechanisms.
Gain practical working knowledge,
through design project of some common
linkages.
MECHANISMS
5 Lecture 1
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Course Objectives
In this course, we will study the motion of
mechanisms and machines (kinematics)
Linkages
Mobility (DOF – Degree of Freedom)
Displacement, velocity and acceleration
analysis
Understand the behavior of existing designs
Design of new mechanisms
Gears
Cams
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Machine elements are assumed to be rigid
6 Lecture 1
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Course Outline
• Introduction & Formal Definitions
• Linkage & Mobilities
• Kinematics: Position Analysis
• Velocity and Acceleration Analysis
• Forces. Dynamics
• Graphical and Analytical Linkage Synthesis
• Gears. Gear trains. Planetary gears.
• Geometry of Gears
Cam Design.
MECHANISMS
7 Lecture 1
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Mechanism Analysis and Synthesis
Analysis Synthesis
Analysis – given a mechanism, perform
kinematics and kinetics analysis
Establishing the structural, kinematic and
dynamic characteristics
Synthesis - design a new mechanism to
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perform a desired function
8 Lecture 1
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Literature
Talabă, D., Mecanisme articulate. Proiectare
asistată de calculator, Ed.Univ. Transilvania, 2004.
Alexandru, P. ş.a, Proiectarea funcţională a
mecanismelor. Editura Lux Libris. 1999
Antonya, Cs., Simularea grafică a sistemelor de
corpuri, Ed.Univ. Transilvania, 2004.
Erdman, A. G., Sandor, G. N., Kota, S., Mechanism
Design: Analysis and Synthesis, Prentice Hall,
2001.
Haug, J.E., Computers Aided Kinematics and
Dynamics of Mechanical System, vol. I. Allyn and
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Bacon, 1989.
Jalon, J.G., Bayo, E., Kinematic and Dynamic
Simulation of Multibody Systems – The real time
challenge, Springer-Verlag, 1994.
9 Lecture 1
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Literature
Uicker, J.J. Jr., Pennock, G.R. and Shigley
J.E. Theory of Machines and Mechanisms,
Oxford University Press, 2011
Myska, David H. Machines & Mechanisms:
applied kinematic analysis, 2nd Ed.,
Prentice Hall, 2002
Shabana, A. A., Dynamics of Multibody
Systems, Cambridge University Press,
2005
Waldron, Kenneth J. and Kinzel, Gary L.,
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Kinematics, Dynamics, and Design of
Machinery, John Wiley & Sons, Inc, 2004.
10 Lecture 1
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History of Mechanism and Machine Science
Archimedes (ca. 287–212
BC) systematized the design
of simple machines and the
study of their functions
Contributed greatly to the
theory of the lever, screw,
and pulley, although he did
not invent any of these
machines.
He is the founder of statics
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and of hydrostatics, and his
machine designs fascinated
subsequent writers
11 Lecture 1
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History of Mechanism and Machine Science
Heron of Alexandria (10–85
AD) wrote many books on
Mathematics, Geometry and
Engineering, which were in use
till the medieval times.
His most important invention
was the Aeolipile, the first
steam turbine.
Other inventions include
automated machines for
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temples and theaters,
surveying instruments, and
military machines and
weapons.
12 Lecture 1
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History of Mechanism and Machine Science
Agustin de Betancourt
(1758–1824), together with
Jose Maria de Lanz, is
known as co-author of
“Essai sur la composition
des machines” (1808),
considered to be the first
modern treatise on
machines and the first book
that contains a proposal for
the classification of
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mechanisms based on
criteria of transformation of
motion.
13 Lecture 1
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History of Mechanism and Machine Science
Franz Reuleaux
(1829-1905)
developed a system
for classifying
kinematic
mechanisms and
created hundreds
of models to
embody his basic
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machine elements.
14 Lecture 1
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Kinematics (History)
André-Marie Ampère (1775-1836) first
used the word Cinematique (French), from
the Greek word for motion, describes the
study of motion without regard to forces.
Later Cinematique anglecized to
kinematics and germanized to kinematik.
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15 Lecture 1
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Kinematics (History)
• Robert Willis (1800-1875), Prof. of
natural philosophy at the University of
Cambridge, England, summarized the
task of mechanical synthesis.
– Five different ways to obtain relative
motions between input and output links:
1. Rolling contact
2. Sliding contact
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3. Linkages
4. Wrapping connectors (belts, chains)
5. Tackle (rope or chain hoists)
16 Lecture 1
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Kinematics (History)
• Reuleaux (1829-1905), published
Theoretitiche Kinematik in 1875, translated
into English by Alexander Kennedy (1847-
1928)
– This text became the foundation of modern
kinematics.
• Reuleaux defined six basic mechanical
components.
1. The link
2. The wheel
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3. The cam
4. The screw
5. The ratchet (intermittent-motion devices)
6. The belt
17 Lecture 1
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http://www.iftomm.org
International Federation for the Promotion of
Mechanism and Machine Science
Technical Committee for Biomechanical Engineering
Technical Committee for Computational Kinematics
Technical Committee for Gearing and Transmissions
Technical Committee for Linkages and Mechanical
Controls
Technical Committee for Micromachines
Technical Committee for Multi-body Dynamics
Technical Committee for Reliability
Technical Committee for Robotics and Mechatronics
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Technical Committee for Rotordynamics
Technical Committee for Sustainable Energy Systems
Technical Committee for Transportation Machinery
Technical Committee for Tribology
Technical Committee for Vibrations
18 Lecture 1
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MECHANICS
Science dealing with motion
DIVISIONS OF MECHANICS
Statics – Deals with systems which
are not changing with time.
Dynamics – Deals with systems which
are changing with time.
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DIVISIONS OF DYNAMICS
KINEMATICS – Deals with Motion and Time
THE STUDY OF MOTION WITHOUT REGARD TO FORCES
(Kinema – Greek Word – Motion)
KINETICS (DYNAMICS) – Deals with Motion, Time and
Forces.
THE STUDY OF MOTION AND ITS CAUSES (forces, mass,
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inertia)
Statics Kinematics Dynamics
STRUCTURE MECHANISM MACHINE
21 Lecture 1
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Theory of mechanisms
Structure of mechanisms
Kinematics of
mechanisms
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Dynamics of mechanisms
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Examples
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IC Engine
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Engine Mechanism
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Suspension mechanism
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Suspension mechanism
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Suspension mechanism
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Suspension mechanism
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Suspension mechanism
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Suspension mechanism
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Suspension mechanism
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Steering mechanism (Ackerman)
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Curs Mecanisme Lecture 1
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Examples
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Curs Mecanisme Lecture 1
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Bike suspension
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35 Lecture 1
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Examples
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Quick return
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Linkage and gears
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Orientation
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Examples
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Landing gears
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42 Lecture 1
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Windshield wiper
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Gearbox
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Differential
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45 Lecture 1
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Cam mechanism
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46 Lecture 1
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Software tools
MSC Software: ADAMS (Automatic
Dynamic Analysis of Mechanical Systems)
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Software tools
SIMPACK – INTEC GmbH
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Software tools
LMS Virtual.Lab Motion
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50 Lecture 1
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Software tools
SimMechanics – MATLAB Mathworks
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Software tools
alaska Technical University of Chemnitz, Germany
AUTOLEV OnLine Dynamics Inc., United States
AutoSim Mechanical Simulation Corp., United States
AVL EXCITE AVL, Austria
CAMeL-View IXtronics GmbH, Germany
COMPAMM CEIT, Spain
Dynawiz Concurrent Dynamics International
Hyperview Motionview Altair Engineering, United States
MapleSim Maplesoft, Canada
MECANO Samtech, Belgium
MBDyn Politecnico di Milano, Italy
MBSoft Universite Catholique de Louvain, Belgium
NEWEUL University of Stuttgart, Germany
RecurDyn Function Bay Inc., Korea
RoboAnalyzer Avon Enterprises, India
Robotran Universite Catholique de Louvain, Belgium
SAM Artas Engineering Software, The Netherlands
SD/FAST PTC, United States
SimCreator Realtime Technologies Inc., United States
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SimMechanics The Mathworks, United States
SPACAR University of Twente, The Netherlands
TRUE True-World, France
Universal Mechanism Bryansk State Technical University, Russia
Working Model Knowledge Revolution, United States
52 Lecture 1
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Definitions - MACHINE
Mechanism and Machine Theory is the
science that studies the relationship
between geometry and the motion of
machine parts and the forces causing such
movement.
Machines are mechanical devices used to
accomplish work, to transfer or transform
energy to do useful work.
An assemblage of parts that transmit
forces, motion and energy in a
MECHANISMS
predetermined manner
modifies mechanical energy and transmits
it in a more useful form
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Definitions - MECHAMISN
A mechanism is a 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.
Mechanism is a system of rigid elements
(linkages) arranged and connected to
transmit motion and/or force in a
predetermined fashion.
Mechanism consists of links and pairs.
MECHANISMS
In contrast: Structure – a single body with
no motion / combination of bodies with no
relative motion
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Mechanism and machine parts or links
move with respect to one another,
because adjacent links are connected by
articulations called joints (kinematic pair)
A link is assumed to be completely rigid
MECHANISMS
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Classification of Mechanisms
Based on the nature of
output speed
Uniform motion
mechanism - equal
displacement for equal
time interval
All Gear Drives
Non-uniform motion
mechanism unequal
displacement for equal
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time interval examples :
Linkage Mechanisms
Cam Mechanisms
56 Lecture 1
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Components of Mechanisms
Link / element
Kinematic pairs / joints
Kinematic chain
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Four-Bar Linkage
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The Slider-Crank Mechanism
Input
link, Coupler link,
crank connecting
rod
Output
link,
piston
(slider)
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Categories of Mechanisms
Function generation mechanisms
Output is a specified function of input
Motion generation mechanisms
The orientation of the object is important,
rigid body guidance
Path generation mechanisms
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A point on a link moves on a specified path
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Function Generation Mechanisms
A function generator is a linkage in which
the relative motion between links
connected to the ground is of interest.
MECHANISMS
A four-bar hand actuated
wheelchair brake
mechanism
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Function Generation Mechanisms
Function Generation Mechanisms
MECHANISMS
A four-bar drive linkage for a lawn sprinkler
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Motion Generation Mechanisms
In motion generation, the entire motion of the
coupler link is of interest (rigid body guidance).
Moving
3 joints
Fixed pivot points
4
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Rollerblade brake system
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Motion Generation Mechanisms
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Four-bar automobile
hood linkage design
64 Lecture 1
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Motion Generation Mechanisms
5 Six bar
1
4
6 3 2
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Lift platform
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Motion Generation Mechanisms
Six bar
3 2
4
5
6
1
MECHANISMS
Microwave carrier
to assist people on
wheelchair
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Path generation mechanisms
In path generation, we are concerned only
with the path of a tracer point and not
with the motion (rotation) of the coupler
link.
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Crane – straight line motion
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Straight line Mechanisms
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Straight line Mechanisms
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Straight line Mechanisms
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