SHORT Questions and Answers Chapter - 1 Ul pefine degree of freedom. Degree of freedom is defined as the number of independent relative ensrational and rotational) motions of a kinematic pair. wD What is Kutzbach criterion for planar mechanism? Kutzbach criterion is used to determine the number of degrees of freedom (or) movability (n) of a mechanism. This number of degrees of freedom can be determined directly from the number of links, number of joints and type of pair. Number of degrees of freedom n = 3 (I- 1) - 2-4 — Kutzbach Criterion where 1= number of links j= number of binary joints (or) lower pairs. h= number of higher pairs If there is no higher pair, then h 13 Define Grashoff’s law. It states that a four-bar mechanism has atleast one revolving link and te sum of the length of the largest and the shortest links should not be eater than the sum of the lengths of the other two links. 1 Enumerate the difference between a Machine and a Structure, a Modifies and transmits — the| Modifies and transmits forces only Mechanical work. Relative motion exists between the|No such relative motion between the links. ° links, =0fully cx jy or successfully constrained (ie; si Samet pi 5 ey Pane an) JOU IMETLION OF a sine sie, se four inversions of a single slider oh ‘rank chain? peat PUP chain are ng cylinder engine 15. List out the inversions of a double slider crank chain, the pai ‘al trammel ) Bl (2) Scotch yoke mechanism (3) Oldham's coupling 16. Sketch an exact straight line mechanism, with link proporti tions, Connecting rod otary internal combustion engine whitworth quick return motion mechanism 1 Define Transmission angle Comectn Rod z Frame & ceylinder(fixed) Linkt 17 Name the three types of instantaneous centres for a mechanism The three types are 1. Fixed instantaneous centres instantaneous centres ‘The angle (1) between the output link and the coupler (connecting rod) Isinown as transmission angle. What is higher pair? When the two elements of pair have a line or point contact when fatve motion takes place and the motion between the two elements is partly sing and partly sliding, then the pair is known as higher pair 2. Permanent 3, Neither fixed nor permanent instantaneous centres 18 Define a Kinematic link Each part of a machine which moves relative to some other part link or element. known as kinemati 1.9. Name any four types of kinematic pair. ‘The four types are What is an Inversion? 1. Sliding pair 2. Rolling pair 3. Turning pai 1.10 Define a Kinematic pair ‘The two links or elements of a machine, other, are said to form a pair. If the relative motion 4, Screw pail: We can obtain as many mechanisms as the number of links in a ie chain by fixing, in tum, different links in a kinematic ch This of obtaining different mechanisms by ing different links in a ic chain is known as inversion of a mechani h when in contact with between them © fe1.15 What is the purpose of a Scotch ~ Yoke mechanism? Scotch ~ Yoke mechanism is used for Converting rotary motion reciprocating motion LI6 Give the mathematical equation for the number of ins ; ay centres in terms of number of links Maneny ‘Number of instantaneous centres (N) _nn=1) Naame? where n —» Number of links 117 Name a few applications of @ four bar chain Few applications of a four bar chain are: 1. Beam engine 2. Coupling rod of a locomotive 3. Watt's indicator mechani: 1.18 Distinguish between kinematics and kinetics. Kinematics deal the ive motion between the various machine inertia forces which arise from the combined effect of the mass and motion of the machine parts. 1.19 What is a kinematic chain? Kinematic chain is defined as a combination of kinematic pairs, joine’ 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 1.20 Name the double slider inversions. The double slider inversions are 1. Elliptical trammels 2. Scotch yoke mechanism 3. Oldham’s coupling. in giving examples the term ine, splat }ematic link, f a machine, whi 7 fh part ol » Which moy Be ‘a Kinematic link. For example. Be ive to fod and crosshead Constitute one ling Some other part i pant is rocating steam engine. we on connecting rod with big and sma crank. erank shaft and flywheel a ok “sad main bearings a fourth link ‘one bearings cos link and the pefine velocity of rubbing at a joint? 1p ‘me rubbing velocity is defined as of the two links which are con, of the pin. o i i Define Mechanical Advantage, , ‘The mechanical advantage (MA) of a mechanism eput torque t0 the input torque at any instant. is the ratio of the he algebraic sum of the angular mected by pin joints, multiplied by 1m State Grubler’s criterion for spatial mechanism, The Grubler’s criterion applies to mechanisms with only single depree {freedom joints where the overall movability of the mechanism is unity. ssituting n= 1 and h=0 in Kutzbach equation, we get 1=3(1-1)-2j (on) 31-2j-4=0 where | - No J - No. of joints 25 Differentiate between a machine and a mechanism. ‘transforms the avail “Sey into some useful work. Example: Typewriter, Engine indicators.~~ i ~ Lower pair oa 126 Describe the working of Oldham’s coupling with a neat sky, Sketch, : ea In this mechanism, when one shaft rotates, the other shaft aig “ze and the surface of one lems ‘ACE Contact whey fat the same speed. os PT air formed is know, a " Felative motion oO line Pa! ™ 8S lower pair tary motion is given to link 1 ft cng. airs and SSIOW pair form be the same speed. Hence the , lower pairs, seen that sliding what is structure? Give an exampiyy pis am Ce Of number of esi tar ;ween them and meant for carries st Podties havi bridge iS a structu for canying loads having we 2 yay Fides re, aving straining act The Flange ion (Link 1) ™ c Tongues pifferentiate single and double stider eran ink, single slider crank consists of one slidin 4g double slider crank consists of two qo xample of single slider crank is pei crank is Seotch yoke mechanism, ® Pair and three turning pairs Pantin Pairs and two sling lulum pump and for a double Supporting frame Fig. Oldham’s coupling 127 Explain the term kinematic link. Give the classification of kinematic link Each part of a machine, which moves relative to some other part known as a kinematic link (or simply link) or element. Rigid link. A i is one which does not undergo any deformation wii transmitting motion. Strictly speaking, rigid links do not exist. However, the deformation of a connecting rod, crank etc. of a reciprocating steam engine is not appreciable, they can be considered as rigid links. Flexible link. A flexible link is one which is partly deformed in a mane not to affect the transmission of motion. For example, belts, ropes. chains and wires are flexible links, and they transmit tensile forces only. Fluid link. A fluid link is one which is formed by having a fluid in hi container (feceptacle) and the motion is transmitted through the fd by Pressure or compression only, as in the case of hydraulic presses, jas ss brakes.acceleration. 2.2. Explai ‘plain normal component of acceleration, vere eI centripetal or radial ndicular to the velo 'y of the point ven instant ig ti 7 c ‘Omponent of accelera 2.3 State and prove Kennedy's three centre theorem If three bodies mi love relatively to each rth instantaneous centres and lie in a straight = they have thee ine. 24 Draw a sketch to explain how total acceleration of a link is obta ined, en (Total accel 25. Explain instantaneous centre. Consider a link which executes both translational and rotational motion The translational and rotational motion can be combined and the motion of the link may be assumed to be pure rotation about some centre known % instantaneous centre of rotation. 26 Write down the expression for velocity and acceleration of the piston of @ reciprocating engine. Velocity of the piston =o | L aooeler ation of the piston = a? [ovso e222] p= angular velocity of the crank ‘of 300 mm length rotates about ‘0? with an angular velocity of tink i raaisee and angular acceleration 30 rad/s". Find the radial and ngertial component of acceleration of point ‘p’ with respect to ‘o” ; Given a: on oath of the link, 1=03m Angular velocity — @= 10rad/sec ‘Angular acceleration c= 30 rad/sec™ radial component a! = wo! = 10? x03 = 30 m/sec” Tangential component a@=al a’ =30x0.3 =9 m/sec? Radial component = 30 m/sec” 2 Tangential component =9 m/sec 1k What are the properties of the instantaneous centres? LA rigid link rotates instantaneously relative to another link at the instantaneous centre for the configuration of the mechanism. ‘ks have no linear velocity relative to each other at the id links have the same 2 The two rigid stantaneous centre. At this point the two rigi ar velocity relative to third rigid link. °9 Explain Motion of a Link? fe q.TH velocity of any point on a fink with respect to another point on Same link is always perpendicular to the line joining these points on the °° diagram.Motion of Link q Z RBC it, of o- angular velocity of link AB is tora Gs Vjg- Velocity of the poi earn 6 ration with respect to A. 7. Acceleration ig oe SHY for gy fname ¢ Component of analysis, then the system %celeation indy rani : will be dynamic name the AUTErEM PES of motion and exiy refer Page No. 23 and 2.4 “ it, 8 Angular velocity of connecting 10d. pe = Importance of Coriolis component of acceleration: @ Whenever the point on one fink, then there is a coincident point exi 210 Write down the expression for angular velocity and angula acceleration of connecting rod. " ©, cosd 2, 208 nm cosd _ 06038 Angular acceleration of connecting 10d = Ope 211 State the examples of coriolis component. Examples of Coriolis component formed (mechanism) Slotter lever mechanism 4 Whitworth quick return mechanism 4% Swivelling joint mechanism 2.12. State the importance of coriolis compo! nent of acceleration. ing along another 02008 sts in the mechanis™Chapter - 3 3.1 Define a cam 'A Cam is a rotating machine clement which gives reciprog, oscillating motion to another element known as follower, ine contact and constitute a higher pair. The Cams are yy rotated at uniform speed by a shaft, but follower motion is pre! determined and will be according to the shape of the cam. ~ 3.2. What pe of follower is suitable for high speed cam? Give reason, Roller follower is suitable for high speed cam. The rate of wear greatly reduced whi g roller followers. is atin The Cam 4” 3.3 Discuss the effect of pressure angle and under cutting in Cams, Pressure angle should be small in order to transmit more power ang to have less pressure on the bearings ‘The effect of undercutting is to avoid interference in cams, 3.4. Why is roller follower preferred to knife edge follower? In roller followers, the rolling motion takes place between the contacting surfaces, therefore the rate of wear is greatly reduced. 3.5 Classify various types of cams. Various types of cams are Plate cam or radial cam ‘A wedge cam 4, End or face cam. 3. 6 What are the different types of follower motions used in cam-follower ‘mechanisms? Types of Follower 1. Knife edge follower 2. Roller follower 3. Flat faced follower 4. Spherical faced follower ye Pressure angle of a cam m wressure angle, vf of te P wre angle: the angle between the direc 115 gyal to the pitch CU. This angle i pf hfe Hf the PTESSUE Ange isto large, er its bearings. Pressure angle values are 14.50 echanism and state the best value portant in desi 'procating follower will and 20° ne tangent cam and state its ‘applications, u Defi When the flanks of the cam are straight and tangent nd nose circle, then the cam is known as a tangent cam foually symmetrical about the centre line ofthe cam shat 25 are used for operating the inlet and exhaust valves sanbustion engines. Give an expression for maximum velocity and maximum acceleration of a follower moving with simple harmonic motion Maximum velocity of the follower on the outstroke to the base ‘These cams uch type of of internal oe v oS yee ° 20, Maximum acceleration of the follower on the outstroke rus a=5 (202) Maximum velocity of the follower on the return stroke nos Vp= oe 20) Maximum acceleration of the follower on the return stroke eos ag= 28%) Where S 5 Stroke of the follower and, 5 Angular displacement of the cam during Gut stroke and return stroke of the follower respectively in radians and > Angular velocity of the Cam in rad/sec310. Explain the term lift in Cams the follower from its lowest POSition ry the top most po ALL What is prime circle of a cam? What is the radial distance bety. the prime circle and base circle for a cam with knife edge foloya, Prime circle is the smallest circle that can be drawn fom the cen ‘of the cam and tangent to the pitch curve, For a knife edge follower, the prime circle and the base circle of , cam are identical. Therefore there is no radial distance between them, 3.12, What is a circular are cam? flanks of the cam connecting the base circle and nose are lar arcs, then the cam is known as circular are cam, Wher of convex ire 3.13 Define pitch curve of the cam. Pitch curve of a cam is the curve drawn by the trace point of the follower, by assuming the cam as fixed and the follower rotating around the cam. 3.14 Define Dwell period The period during which the follower remains at rest is called Dwell period. 3.15 Give some applications of Cam Operating the inlet and exhaust valves of internal combustion engines, automatic attachment of machineries, paper cutting machines, feed mechanism 3.16 Compare roller and flat faced follower ‘When the contacting end of the follower is a roller, it is called @ cA le the contacting end of the follower is a perfectly flat face a_ ja Define trace point a reference point on the follower and is used to generate the pitch qurve. In case of knife — edge follower, the knife edge represents the point and the pitch curve corresponds to the Cam profile. In a roller follower the centre of the roller represents the trace point. 318 What are the different motions of a follower? Iris The different motions of a follower are 1, Uniform motion. 2. Simple harmonic motion 3. Uniform acceleration and retardation 4. Cycloidal motion 319 Define pressure angle and explain the effect of different pressure angle. Pressure angle is defined as the angle between the pressure line and ‘common tangent to the pitch circles. Pressure angle should be small in order to transmit more power and to have less pressure on the bearings. 20° pressure angle is standard one -results in stronger teeth. 3.20 Why sometimes the axes of translating roller followers in cam follower mechanisms are offset from the axis of rotation of cam? ‘When the motion of the follower is required away from the cam axis then it is offset from the axis of cam. Specially used in translating followers Where the follower is required to move fast and to very less distances. 321 Write an expression for velocity and acceleration of tranget cam when the roller contacts the cam on the straight flank. Velocity In this expression, when @ increases, the sin value increases and cos Value should be decreased. When (0=6), the roller lies on the highest Position, we get the maximum velocity of the follower, 's called flat faced follower. The roller followers are extensively used oS ble such as in stationary gas and oil engines and si space i ey ett ee flat faced followers are generally used where 5? as in Cams which operate the valves of automobile engi" sing mreAcceleration cos? aaa? (7, +7)| 2208 6 cos? @ When @=0° 46 hen @=0° (at the beginning) then 2-cos?@ is mi cos’ is i" is maximum, we get the minimum acceleration of the fom” lover, +r) When @ = 6 (the roller at end of straight flank), we acceleration of the follower. . Bet the maxinun 3.22 Write an expression for maximum velocity and maximum accelerain, and minimum acceleration for circular cam with flat faced follove, ‘The maximum velocity of the follower, Vmax = @ (R- 7) sin Maximum acceleration of the follower, Minimum acceleration of the follower, 3.23 State the advantages of polynomial cam. ‘Advantages of polynomial cam ° In polynomial cam function, it is possible 10 control the s and final velocity. discontinuity in polynomial cam function. @ No dis y ee During motion, the jerk produced is comparat cycloidal cam. 4 at! write the fundamental law of potynomigt car a lesign. ame" the intal Law of Cam Design cam function must be inuous through the first and second Gervatives of ISPIRCEMEnt aro55 the entre iterva ihe jerk function must be * * * ite across the et re interval” In any cam, the cam motion program ca annot be defined by a sing functions, each of which defines the follower behavior over one segment, or piece of the cam. These expressions are called piecewise functions, ‘These functions must have third-order continuity (the function plus two derivatives) at all boundaries. ty and acceleration functions must haveChapter - 4 ™ undercutting in Gears, 41 Define Portion of the pit tHe ear is known asunder 42 Define interference of gears. Meshin, B Of Wo non-invo because of m: te leshing of the two tet binding occurs, — m teeth which ay Portion of teeth is known 3 j will not be proper and rough nce on ay 43 Differentiate diametrat pitch and circular Diametral pitch: pitch of a friction Wheel diameter in mm. is, the ratio of number of testh to the Pitch cine Diametral pitch, py=Z=% Where T = Number of teeth D = Pitch circle diameter; P, = Circular pitch, 44° Define module of gears and its relation to circular pitch. Module is defined as the ratio of the pitch circle diameter to te number of teeth. ald -. Modul 45 What is axial pitch of a helical gear? It is the di ‘Axial pitch of helical gear: Tt | the axis em similar faces of adjacent teeth. pitch. nce measured pal the same as ci ia , gore te tam of searing “ on normal the point of contact between a pair of teeth point oy a wnat is the significance of contact ratio in gears? 1 “ ann lO ‘The contact ratio or the number of pairs of teeth in contact is defined tp ratio the length of the are of contact 1 the circular pitch 6 ‘the contact ratio, usually, is not a whole number. ‘The theoretical minimum value for the contact ratio is one, that is there must always be atleast one pair of teeth in contact for continuous action. 4, Larger the contact ratio, more quietly the gears will operate. 4s What are the reasons for choosing cast iron for the manufacturing of gears? ‘The cast iron is widely used for the manufacture of gears due to its geod wearing. properties, excellent machinability and ease of producing complicated shapes by casting methods. 4 What is the condition to be satisfied to avoid interference? Interference may only be prevented if the addendum circles of the two ‘ating gears cut the common tangent to the base cit of tngency les between the points 40 The equation for the minimum number of teeth on pinion to avoid interference is given by Minimum number of teeth on pinion ne Vi+GG+2 sin") -1 Me Ap fraction by which the standard addendum of one module for the ie ion should be multiplied to avoid interferenceG = Gear ratio ° Pressure angle 4.11 Define length of are of contact. Length contact to c ine of the pressure angle. Length of are of contact = Length of path of contat are of contact is defined as the ratio of length o cos @ F ath og 4.12 What are the non ~ metallic materials used in gear manufacty ve? ‘The non — meti 1. Wood 2. Raw hide 3. Compressed paper and 4, Synthetic resins ce nylon 4.13 Give the expression for the length of path of contact in a gear dri Length of path of contact (Ra)? — R cos? Radius of pitch circle of wheel 6 — Pressure angle 4.14 Define pitch point of a gear set? Radius of addendum circle of wheel Radius of addendum circle of pinion of pinion ‘materials used in gear manufacture are @ + Vir =F cos” @ - (R +P) sing It is a common point of contact between two pitch circles. 4.15 Define arc of contact. ‘The path traced by a point on the pitch circle from t the end of engagement of a given pair of teeth is Ki mown as, Ze he. begin are of const ate piteh circle diameter of g US -ateulate the number of teeth SPUr gear is 17 0 On the gear mm, module = 4 mm, Given sav pitch circle diameter D= 199 mm Module m=4 mm Therefore number of teeth = 39 State any !w0 properties of involute profile toothed gears in mesh. ‘The properties of involute prof toothed gears in mesh are The centre distance for a pair of involute gears can be varied within its without changing the velocity ‘The pressure angle from the start of the engagement of teeth to the end of the engagement remains constant. ‘The basic rack has straight teeth and the same can be cut with simple tools State the conditions of correct gearing. The common normal at the points of contact between a pait of teeth ‘mst always pass through the pitch point. This is the fundamental condition h must be satisfied for correct gearing, 419 Distinguish between diametrical pitch and circular pitch Diametrical pitch is the ratio of number of teeth, to the pitch circle ameter whereas circular pitch is the distance measured on the circumference ‘the pitch circle from a point on one teeth to the corresponding point on Se next tooth, Distinguish between gear ratio and velocity ratio Gear ratio diy the ratio of speed of the driven or to the speed of the er ratio is the ratio of the speed of the driver to thespeed of t v ni he driven, It may be noted that gear rao IS the inverse or loci 421 Classify gears. Gears are ied as (a) According to position of the axes of the shape: 1. Parallel 2. Intersecting 3. Non-intersecting and Non para (b) According to the pheripheral velocity of the gears: 1. Low velocity 2. Medium velocity 3. High vel ity (©) According to the types of gearing: 1, External gearing 2 4.22, What are known as mitres? Internal gearing 3. Rack and pinion, When equal bevel gears connect two shafts whose axes are mu perpendicular, then the bevel gears are known as mitres 423, Explain briefly about external gearing? In external gearing, the gears of two shafts mesh externally with exh other. The larger of the two wheels is called spur wheel and the smal wheel is called pinion. In an external gearing, the motion of the two wheels briefly about internal gearing? In internal gearing, the gears of shafts mesh internally with each other. The larger of the two wheels is called annular wheel and the smaller wheel is called pinion. In an intemal gearing, the motion of the two wheels is in the same 425° What is Backlash? It is the difference between the tooth space and the tooth thickness as measured along the pitch circle. Theoretically, the backlash should be 210 but in actual practice some backlash must be allowed to prevent jamming 0 the teeth due to tooth errors and thermal expansion. 426 What is working depth? It is the radial distance from the addendum circle to the clearance circle. It is equal to the sum of the addendum of the two meshing sea yg What is addendi ‘ 1 bist the SOUT SYStEmS Of gear teh commonly used? used? ‘The four systems of gear teeth commonly used ae 14 Va degrees composite system 1 14 Va degrees full depth invotute system 20° full depth involute system 20° stub involute system and dedendum? Addendum: It is the radial distance of a if the tooth the top oF Dedendum: It is the radial distance of a toot the bottom of the tooth, tooth from the pitch circle th from the pitch circle 409 What is addendum circle and dedendum circle? Addendum circle: It is the circle drawn through the top of the teeth nnd is concentric with the pitch circle Dedendum circle: It is the circle drawn through the bottom of the teeth and concentric with pitch circle. It is also called the root circle 430. Define tooth thickness and face width Tooth thickness: It is the width of the tooth measured along the pitch circle Face width: It is the width of the gear tooth measured parallel to its axis, 431 What are the methods to avoid interference? Methods to Avoid Interference In certain spur gear designs if interference exists, it can be overcome (a) Removing the cross hatched tooth tips Le. using stub teeth. (©) Increasing the number of teeth on the mating pinion. (©) Increasing the pressure angle. (@) Tooth profile modification or profile shifting. (©) Increasing the centre distance.Chapter - 5 51 Define Gear train. toothed wheels. 5.2. Define velocity ratio. speed of the driver to the of no. of teeth on fi is the ratio is equ and it on the driver. Velocity mat Speed of driver _Ni_ To (or) = Speed of driven Ny Ty Speed re M_T d ratio = === Speed ratio= 5 = 72 N= Speed; T= Number of Teeth 5.3 List out the applications of epicyclic gear train. Epicyclic gear trains are used in the (i) Back gear of lathe (ii) Differential gears of automobiles Gil) Hoists (iv) Pulley blocks (v) Wrist watches etc. 54 What are the advamages of epicyclic gear train? Advantages of Epicyclic gear trains * The epicyclic gear trains are useful for transmitting high velocity atios with gears of moderate size in a comparatively lesser SP % Large Speed redu fixed wheel is annul: ions are possible with epicyclic gears and if lar, a more compact unit could be obtained watches etc. wnat is ePicylic BeAr train? Give a pra g a simple epicyclic gear train is where a gear A and the ‘a common axis at Q, abo n Fi 2 ave sey can rotate, The gear B otic ith gear A and has its axis on oe ‘at Op, about which the gear B Wr ate. If the arm is fixed, the gear a simple and gear A can drive gear sain eeversa, but if gear A is fixed Ste arm is rotated about the axis of a (ie. 0). then the gear B is forced rotate upon and around gear A. Such ‘ notion is called epicyclic and the gear fains arranged in such a manner that one «« more of their members revolve upon and around another member are \nown as epicyclic gear trains. The epicyclic gear trains are useful for transmitting high velocity ratios th gears of moderate size in a comparatively lesser space. The epicyclic fa trains are used in the back gear of lathe, differential gears of the tutomobiles, hoists, pulley blocks, wrist watches etc. 46 What is the use of Differential in automobile? In automobiles and other wheeled vehicles, the differential allows the iving roadwheels to rotate at different speeds. This is necessary when the Whicle turns, making the outer wheel that is travelling around the outside of e tuming curve roll farther and faster than the other inner wheel 5 7 Name the various gear trains? The various gear trains are 1 Simple gear train 2. Compound gear train 3. Reverted gear train 4. Epicyclic gear train.58 What is gear train? Two or more gears are made to mesh with each oth, er power from one shaft to another, Such a combination is calle ey Mean 59 How epicyclic gear train differs from the other types of 3" tain Sear trey 1 gear, - the eg 5.10 What are externally applied torques used to keep the ge C2Ch oi equilibrium? Sear train i, Input torque on the driving member Resisting (or) load torque on the driven member In epicyclic gear trains, the axes of the shafts on which mounted may move relative to a fixed axis. But in other t ‘ the shafts over which the gears are mounted are fixed relative 0 8 ate Holding (or) braking torque on the fixed member. IL Give notes on final drive using differential. Refer Page No. 5.55, 5.56 Write the mobility of differential mechanism. The differential of an automobile requires that angular velocity of wo ‘order to know the velocity of remaining elements have two degrees of freedom. Pepe 5.12 elements can be fixed it The differential mechanism is said to . Chapter . 6 a whet is Kinematic Synthesis? atic analysis i Kinematic. analysis is the study of aetoieS the performance of given mech, ign a mechanism t0 satisfy the mo eae ey and acceleration-either in of mechanism and it bm. Kinematic sms is used characteristics like displacement, (6) combined Designing a cam profile to achieve diffe ; filerent types of follower je SHIM, Uniform velocity and Cyctia Soe ern Finematc synthesis: and so on is called .ce kinematic syn 7 Hence Kinematic thesis is the reverse problem of kinematic analysis. iris the design of mechanism to produce desired outpt motion fora given faut motion. 1n otherword, synthesis mechanism determines the proportions tg mechanism for the given input and output mation 42 What are the tasks of kinematic synthesis? ‘Tasks of kinematic synthesis can be completed by taking deisions on ‘The type of mechanism Type synthesis -The number of links and the nature of -> Number synthesis connections required to permit necessary movability Gi) The proportional length necessary to complete the speci ied. of ‘links —» Dimensional synthesis motion 63 Define structure and mechanism. of different links to con i called as mechanism aks, certain requirements for The combination mee obiaining, specified moti lative motion between then it is called structure If there is no rel &4 Define degree of freedom so yeaeien ‘num freedom (n) is the The ber of degrees of i : vaiableg neoded to define comer) the condition of the s1s*™6S State Grashof's law. Grashof"s law states that the sum of the shortest and lon length should not be greater than the sum of the remaining two line i dear c ie o be continuous relative motion between the Wo 66 Define dimensional synthesis and the uses of it? Ks Teng Ie is used to determine the dimensions of parts - lengths and ang necessary to generate mechanism to obtain desired motion, es Generating a cam profile to obtain follower motion is dimension n% synthesis, x represents motio! Dimensional synthesis determines y represents motion of output link & The distance between hinge pins Length of links (9 Define precision points. & Angle between adjacent links In any mechanism, the © Cam profile dimension ctual path is known as Precision ps @ Radius of roller follower (10 Write the Chebyshey's spac Gear ratios Eccentricities 67 Name the problems which can be accomplished by dimensional synthesis. 411 Define coupler curves. is a curve (oF) path traced 1k. Coupler link conn put link rotates, any Coupler curve Plane of the coupler though turing pairs. When the in fmerates a path (or) curve called coupler a 412 Name the various shapes of coupler curves. The coupler curves have variety cof shapes like * Ellipse * Circle © Straight line Dimensional synthesis is used to solve the following problems ina scientific way. ing along a specified path with 1. Path generation = prescribed 2, Function generation - Coordinating the positions of input inks. 3. Motion generation (Rigid — ing the rigid body through * body Guidance) umber of prescribed positions: 68 Briefly explain function generation. Generally, the output link may either ® Banana Arcs * Cusps613 State Roberts Chebychev's theorem of Cognate linkages, Roberts Chebychev’s Theorem of Cognate linkages states 44, same coupler curve can always be generated by three different linkages Cognates. SHORT QUESTIONS anp ANSWERS a. .0c—c&Sa—SSSSeS Module 4 - Annexure Chapter 1: Stati ic Force Analysis What are the forces considered sé 6:14. Write the general four bar coupler-curve equation. | i mechanisms? ‘or sate force analysis of ‘The general four-bar coupler-curve equation, is nee aaa ‘components, the following forces are considered 442 sin? a. sin? B sin? y [x (xp) —y—Py Coty? Pog Forces - due to - weight of pans 6.15 Write the expression for Freudenstein’s equation and position @ Forces of assembly ‘output link, 4 ‘Forces from applied loads 008 4 ~ kp 608 8 + kz = cos (0-9) 4 Forces of friction This equation is known as Freudenstein’s equation. & Spring forces From this equation, we can find the posit & Impact forces 6) if the length of the links and position of the input link ( 4 Forces due to temperature changes ae 12, What is the difference between Static and Dynamic forces analysis? gens] 2a | For static force analysis, the inertia forces due to acceleration are 2A neglected. 616 State the condition of a dead point to occur. I} For dynamic force analysis, the inertia forces are taken into account. Paaond) point omars een the Coulee | hethreathat alr /} In most of the cases, machine component weights are small when prior to reversing its direction of rotation. 6.17 State the expression for time ratio of quick return mechanism. ‘ompared to other static forces and hence these forces are neglected in static ‘orce analysis. 13. What is Static Equilibrium? ‘Time ratio (Tg) defines the degree of quick-return of the linkage. a. B 8=|180 - a = [180 -B| Tr= =; a+B=360 A body is in static equilibrium, if A body is in static equil in rest and tends to remain at rest rium, if it is in motion and tends to keep ‘self in motion, 1.4, What is the condition for equilibrium of a body under the action of 2 forces? A body under action of two forces will be in equilibrium when the forces Fy and F, are same in magnitude and opposite in direction.15, What is the condition for equilibrium of a body under the — 3 forces? eon gy '@ A body under the action of three forces will be in equitiy these forces are concurrent forces and their resultant jg rium, 2er0, it (2) Body under forces 1.6. What is the condition of equilibrium of a body under 4 forces? @ A body under four forces will be in eq of all forces is zero in such a way that resultant of first two forces (F, and F;) and remaining two forces (F, and F,) are collinear a ium if the vector sum shown in Fig. 1.3. @ A body under several forces will be in equilibrium, if the vector sum of all forces is zero and the vector sum of all couples and moments is zero. Ur 1m under the Action of Four Forces . yh 18 the conditic What ae ‘ondition equilibrium of a beam under for) more parallel forces? Mp A beam under three of more parallel forces will be in equilibrium if the algebraic sum of forces and moments js zero (Fig, 14), EF=F\-F,+F,=0 EM,=FyXI-Fyxh=0 are the condition oj ish c a yorces and an applied 2 nui of tink under the aon of @ A link under the action of two forces and an applied couple be in equilibrium if the forces’ are equal in magnitude (b) parallel in direction and in opposite sense and (c) the couple formed by them (by these 2 forces F, and F,) should be equal in magnitude and should act opposite t the applied torque (Fig. 1.5). Equilibrium conditions are: Fahy Fig. Link wih Two Forces 8a Couph| and Couple; T= Fy Xh=FyXh What are the forces acting om piston and the co equilibrium? 3 forces are acting on piston. Normal reaction force is acting by cylin Gas force is acting on piston Fe oa Force by connecting rod is ‘acting on piston. Fay, Acting on a concurrent point of piston. ‘The cmeurent this concurrent point. Hence, @ polygon drawn by be closed. for this piston to be in equlibinm. ndition for der on piston. Fg as these 3 forces are force pass through 3 forces should110. What are the forces acting on connecting rod and condi, tiong Jin ‘equilibrium? Here, the connecting rod is hinged hence it is a two force at two ends and system. 4 forces are acting on connecting rod hinges. 1. Fag Force by piston (4) is acting ‘on connecting rod (3) 2. Faq Forse by connecting rod (3) | Fla-17 (0) Forces on Gone ng is acting on piston (4). Rod (Link 3 %@ Both forces are equal in magnitude but opposite in direction, Faq= Fag, & And force Fay is acting on crank as Fy9, So Fay Fx 1.11. What are the forces acting on crank and conditions for equilibrium Since crank shaft is acted by Fay (ie Fag) at C, the fixed end O is acted upon by Fy in opposite direction and Fyy=Fiy. Hence the crank is in equilibrium. But these forces Fs) and Fyz are equal and opposite in direction and hence form a couple. And this couple is balanced (cancelled) by the torque tans by the crank shaft. Torque = Fy % all what are the conditions for (2. 4 member under the action of 2 forces lied to i and a9? rque, 10 be in equilibrium? Conditions are: : 4 The 2 forces should be equal and op posite These 2 forces sho to applied torque td form a couple which is equal and opposite 1g. How friction in machine i clasidt Friction in machine is classified as 1, Sliding friction 2, Pin friction (Turing fiction) 14, What is Sliding Friction? Sliding friction is generated when a link psn) is sliding on another ink inde. ta) In a sliding fiction if gas force is ating rowards left, then friction force (WR,) will be acing towards right side. Refer Fig. 19. @ Normal reaction R, is acting upward. oyinder & Vectorial sum of HR, and Ry is Fie & Fy is acting at an angle of | yn Friction for gton Moving rorce polygon closes 908 9 Free Body Diagram ° Fig.& 6 is called friction angle and Fyg= VR, +R, = coefficient of friction yt. what are the forces acting on stider. jder a e ‘crank mechanism? Consider a slider-crank mechanism, (shown in Fig.t. me , -11) acted upon by Rn and tang=—R =H n Sliding friction is acting in sliding pair. 115. What is pin friction and friction axis? Pin Friction (Turning friction) ‘The tuming pair is used to allow tuming (or) revolving motion links. betwee 4 The external piston force F 4 The external crankshaft torque T and 4 The force at the bearings. Fig. 1.10 the links for revolving (oF) roy i, the friction force does the friction circle of te to the friction ctcles The friction between the pin and motion is called turing friction. In this tuning pai not pass through the pin centre but it is tangent to Pin. The line of action of the force is common tangent of two pins. It is called friction axis. 1.16, State principle of virtual work. ae ‘The principle of virtual (imaginary) work states that ‘the se ; during a virtual displacement from the equilibrium is equal 10 27 te displacement is defined as an imaginary infinitesimal eisplacement Ys system, By applying this principle, an entire mechanism can be exam a whole and not as individual links._ Module 5 - Annexure Chapter 4: Balancing of Rotating LL. What is meant of by balancing? Mase, When mass ‘m’ attached t0 a rotating shaft, it produces. ge y. This force will bend the shaft and create vibration & ince) the unbalanced force F,,. This process of introdyci,! i Ng ney mass to counteract the effect of centrifugal force of existing mass 1S Called cing of rotating masses. 12, An unbalanced mass m, attached 10 a rotating shaft may be bale by a single mass m, attached in the same plane of rotation as thy of m, such that (my ry = my 79) 43. What is static balancing? For static balancing of shaft, the net dynamic force acting on the sh is made to zero 44, What is dynamic balancing? For dynamic balancing of shaft, The net dynamic force acting on the shaft is made zero. The net couple due to dynamic forces acting on the shaft is made zo What is complete balancing? The dynamic balancing also called complete balancing. In dynamic balancing, both the resultant force and couple are made to zero. 46, State the necessary conditions to achieve static balancing and dynamic balancing. ‘The net dynamic force acting on the shaft is equal to 2eT0. ‘This requires that the line of action of the centrifugal forces must be the sam In other words, the centre of the masses of the system must lie on the = of rotation. This is the condition for static balancing. The net dynamic force acting on the shaft is equal to zero. THe"! couple due to the dynamic forces acting on the shaft is equal 10 ‘ = er sum of the moments about any point in the BaP is the condition for dynamic balancing. Module 5 - Annexure Chapter 5: Reeiprocating tans: Balancing of what are the primary and secon si V iprocating masses. mdary unbalanced forces of Total unbalanced force F)=m w* r[or Primary unbalanced force = ma? eos 0 cos 26 Secondary unbalanced force =m? r 52. Define Variation in tractive effort? ‘The resultant unbalanced force due to the two cylinders, along the line of stroke, is known as variation in tractive effort. 53. What is partial balancing of reciprocating masses? ‘The primary unbalanced force is acting along the line of stroke before balancing. While balancing, this force acts along the perpendi cular to the line of stroke. So complete balancing of the force is not possible, As @ comprot ‘a fraction of reciprocating masses are balanced. This is known 48 partial balancing of reciprocating, masses. 54. Define Swaying couple. ‘The unbalanced forces along the line of stroke for the two cylinders form a couple about the centre axis between the two cylinders. This couple creates swaying effect about the vertical axis and it tends to sway the engine alternately in clockwise and anticlockwise directions. This couple is known as swaying couple 5S. Define Hammer blow. ‘The maximum amount of unbalanced force along the perpendicular to e of stroke is known as Hammer blow Hammer blow =Ba"b Where B= Balancing mass at radius b.56. What is the limiting condition in order that the wheet yin ~ n from the rails. 8 i oy Net pressure between the wheel and the rail =W+ Bo b[{ W= wt of the wheel When W- Bw" b is negative, the wheel will be lifted off rails from the 5.7. How can we reduce the effect of Hammer blow in a loco motiver By decreasing speed and by using two or three pairs of Wheel together. ace 5.8, How can we minimise the effect of secondary forces? ! By keeping n value (»=7} as very large, we can minimise the secondary forces. 59. The primary unbalanced force is maximum when the angle of inclination of the crank with the line of stroke is (0° and 180°) 5.10. What is the cause for swaying couple? Primary unbalanced force. 5.11 Reciprocating masses are partially balanced in a single cylinder engine - Justify. The unbalanced force due to reciprocating masses (mar cos® and 2 ; ' ‘moor cos 26/n) varies in magnitude because of , but constant in direction while due to the revolving masses, the unbalanced force is constant if magnitude but varies in completely balanced. rection, Hence reciprocating masses cannot be 5.12. How does firing order affect the balancing of inclined multi cyindt engines? " le With respect to firing order, unbalanced primary and secondary card will vary in its magnitude and direction. Because, firing order rope Position of an engine in plane position diagram, If position changes: oP" «3 Draw sketch pivoted Cradle Balancing Machine of pivoted indicated. Sraile balancing machine with parts we refrence indicator Ct 1 pivot Pivoted cradle balancing machine Tractive Force of stroke is known as tractive force. 5.15. Complete balancing of reciprocating mass in a possible. Justify. ‘The primary unbalanc balancing. While balancing, this force acts perpendicul: So complete balancing of the force is not possible fraction of reciprocating masses can be balanced. Right amplitude indicator 5.14 Name the efforts caused by the unbalanced primary force acting along the line of stroke due to partial balancing of locomotives. ‘The resultant unbalanced force due to the two cylinders along the line single cylinder is not ed force is acting along the line of stroke before ar t0 the line of stroke. ‘As a compromise, aModule 4 - Annexure Chapter 6: Gyroscope What is Centripetal acceleration and its magnitude? 61. ‘The acceleration of a particle at any instant moving alon, path in a direction normal to the tangent at th a8) the center of the circular path is called cent a,=0rr Total acceleration a = V(a,) + (a,)" where a, = Normal acceleration and 4a, = Tangential accele 6.2. What is active force? When a body moves along a curved path velocity, a force in the direction of centripetal acceleration has to be applied externally over the body, so that it moves along the required path. This external force is known as e force. 6.3. What is Reactive force? When a body itself is moving with uniform linear veloci circular path, it is subjected to the centrifugal force radially outw: centrifugal force is called reactive force. 6.4. Centrifugal force is __ to centripetal force but __- ‘Ans: Equal in magnitude, Opposite indirection. 6.5. Define axis of precession, as ais of ~ ingular velocit yf she ane! i ofthe se remains cons The axis of Spin, then ant at all positions of 3 — and = Bis zero cis 2e0 ga, Define gyroscopic acceleration If the angular velocity of the disc changes the direction but remains constant in magnitude, then angular acceleration of the disk is given by a0 Gee Ox =0-ap ‘The angular acceleration ae is known as gyroscopic acceleration 69. What is Reactive gyroscopic couple? ‘When the axis of spin itself moves with angular velocity «, the disk is subjected to reactive couple. This reactive couple to which the disc is subjected, when the axis of spin rotates about the axis of precession is known as Reactive gyroscopic couple. 610. What are the applications of gyroscopic couple? ‘The gyroscopic couple is usually applied through the bearings which 0 support the shaft. iment oF toy known as (i) ‘The gyroscopic principle is used in an Instrut gyroscope. Gi) They are installed i effects of waves. (iv) They are used in aeroplanes, monorail cas, gyrocompasses ete 6.1. Write down the expression for gyroscopic couple acting on the aeroplane? in ships in order to minimise the rolling and pitching C=100p ‘The axis, about which the axis of spin is to turn is known precession. The axis of precession is perpendicular to the plane in w! axis of spin is going to rotate. nich the 6.6. Define precessional angular motion. F io ‘The angular motion of the axis of spin about the axis of Pe“ is known as precessional angular motion. ___,.....____, Where = Mass moment of inertia ity of the engine = Angular ve v cap Angular veloity ofthe precession =p ras7 i Her rotates in anticlockwise di When the engine or propel wise direea, oa ited from the rear or tail end and aeroplane takes q ‘nec The epfect of reactive gyroscopic couple will be tu ” When then ans; To dip the nose and raise the tail of the aeroplane, 613. The front end of the ship is called known as ‘Ans; Bow, (Stern or aft) and the rear eng is 6:14. The left hand and the right hand sides of the ship when vieweq the stern is called and By from ‘Ans: Port and starboard. 615. What are the different types of motions of a naval ship, while considering gyroscopic couple? 7 (Steering Pitching 6.16, Define Steering. Steering is the turning of a complete ship in a curve towards left or right while it moves forward. 6.17. Define pitching. Pitching is the movement of a complete ship up and down in a vertical plane about transverse axis. The pitching of the ship is assumed to take place with SHM i.e, the motion of the axis of spin about transverse axis is ‘simple harmonic, 6.18. Write down the expression for maximum angular velocity f precession and maximum gyroscopic couple? @ ®pmaa=9 04 = x2 'p Gi) Cag = @- Oymax during 619. The maximum gyroscopic couple tends to shear the ——— pitching. ‘Ans; Holding - down bolts. meetin ce or 1, The angular acceleration durin », a a0 Ning pitching is given by ost a= 727 Py sina, gah, The angular acceleration i maximum g joss sincoyt=T —— faximum angular a oo 2 ‘acceleration during pitching is max =~ 9 (@) Amst 423. Write the effect of gyroscopic couple during rolling of « ship? In case of rolling of a ship, the axis of precession is parallel to the axis of spin for all positions. Hence there is no effect of the gyroscopic couple acting on the body of the ship. 624, What is the condition for the effect of gyroscopic couple t0 occur? ‘The axis of precession should always be perpendicular to the axis of sin. 625, What is the effect of centrifugal force acting on a four wheel drive? Since the vehicle moves along a curved path, the centrifugal force will act outwardly at the centre of gravity ‘of the vehicle. The effort of this centrifugal force is to overtum the vehi 626. Define angle of heel. It is the inclination of 627, What is balancing couple? Balancing couple =™m-8° hsin® the vehicle to the vertical for equilibrium. ‘The balancing couple acts in clockwise direction when seen from the front of the vehicle. eo , ns oabt 628. A dise is spinning with an angular velocity ont a ae Of spin. The couple applied 10 disc causing Pre hes Tove,in tates in clockwise direction when The engine of an aeroplane rot om a from feat tail end and the aeroplane takes a turn to left. The effect of gyroscopic couple on the aeroplane will be : Ans: To raise the nose and dip the tail. 6.30. A motor car moving at a certain speed takes a left turn in a curved path, If the engine rotates in the same direction as that of wheels due to centrifugal force Ans: The reaction on the outer wheels increases and on the inner whee] decreases. 6.31. Define kinematics of machines, It is that branch of theory of machines which deals with the relative motion between various Parts of the machines. 6.32. Define Dynamics of machines. It is that branch of theory of machines which deals with forces and their effects while acting upon the machine parts in motion, 6.33. Define Kinetics. It is that branch of theory of machines which deals with the inertia forces which arise from the combined effect of the mass and motion of the machine parts. 6.34. Define statics. It is that part of theory of machines which deals with the forces and their effects while the machine Parts are at rest. 6.35. The three vectors in a are (i) (ii) (i) axis of precession Syroscope which are mutually perpendicular (ii) eee (ii) axis of spin (iii) axis of reactive gyroscopic couple. 6.36. There will be no effect of Gyroscopic-couple acting on the body of a ship due to rolling. why? Since the axis of the precession becomes parallel to the axis of spin, there will be no effect of the gyroscopic couple acting on the body of the e1 ship, during rolling.