Scribd
Upload
20 views

Machine Design Lecture 2

Uploaded by

shielaclarissesera
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
20 views

Machine Design Lecture 2

Uploaded by

shielaclarissesera
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 15

MACHINE DESIGN FOR

AB PRODUCTION
LECTURE 2: KINEMATIC FUNDAMENTALS
OBJECTIVES
INTRODUCTION TO KINEMATICS

• Kinematics is the branch of science which deals with


motion without considering the forces which cause
the motion.
• On the other hand, kinetics is the branch of science
which also takes forces that causes motion as well as
weight and inertia effects in the study
KINEMATIC LINK AND KINEMATIC PAIR
• Link
➢ Defined as a machine element having relative motion with respect to
other parts of the machine element.
• Kinematic pair
➢ Defined as a joint of two links that permit relative motion between
elements or links.
➢ Constituted when there is mechanical contact between them and
having an arrangement of mechanism.
➢ Lower pair is said to be constituted when two elements have surface
contact between them.
➢ Higher pair is said to be constituted when two-element has a point of
contact between them.
KINEMATIC CHAIN

Kinematic chain is one in which number of links are so connected


that relative motion of any point on a link with respect to any
other point on the other link follows a governing law:

L = 2/3 (J + 2) or J = 3/2 (L) -2


where:
L = Number of links
J = Number of Joints
KINEMATIC CHAIN

The criterion for a chain to be constrained:

J + H/2 = 3/2 (L) -2


where:
L = number of links
J = number of binary joints in the chain
H = number of higher pairs
If RHS = LHS, chain is said to be locked
MECHANISM

• If the one of the links of constrained kinematic


chain is fixed, it results into 'Mechanism’
• A mechanism with four links is called simple
mechanism. Mechanism with single degree of
freedom are having only even number of links.
• Real life example is automobile propelling system
which contains links in form of piston, connecting
rod and cranks shaft to which flywheel and rear
tire is attached
GRASHOF’S LAW

• Grashof’s Chain
A four-bar mechanism is considered as a Grashof’s
chain if it satisfies:
Lmin + Lmax < L’ + L“
Where:
Lmin = length of shortest link
Lmax = length of longest link
L’ and L” = lengths of two remaining link
GRASHOF’S LAW

• Non-Grashof’s Chain
A four bar mechanism is considered as a Non-Grashof’s
chain if it satisfies:
Lmin + Lmax > L’ + L”
Where:
Lmin = length of shortest link
Lmax = length of longest link
L’ and L” = lengths of two remaining link
In a Non-Grashof’s chain, there is no link capable of
rotating in full rotation, therefore it is not useful for motor
driven application.
GRASHOF’S LAW

• Transition Chain
A four bar mechanism is considered as Transition chain if
satisfies:
Lmin + Lmax = L’ + L”
Where:
Lmin = length of shortest link
Lmax = length of longest link
L’ and L” = lengths of two remaining link
A transition chain is similar with Grashof’s chain, except
that in some configurations all links become collinear. This
particular form is known as uncertainty configuration.
INVERSION OF KINEMATIC CHAIN

• The different mechanism obtained by fixing one of the


links of kinematic chain is called inversion of
kinematic chain
• Four bar mechanism and single slider mechanism if
inverted; they give following inversion for different
application in real world
INVERSION OF KINEMATIC CHAIN

• Inversion of Four Bar Chain


➢Beam Engine (Crank & lever mechanism)
➢Connecting rod of locomotive (Double crank
mechanism)
➢Watt's Indicator mechanism (Double lever mechanism
INVERSION OF KINEMATIC CHAIN

• Double Slider Crank Chain


➢Elliptical trammels
➢Scotch yoke mechanism
➢Oldham's coupling
OTHER BASIC CONCEPTS IN KINEMATICS

• The center which goes on changing from one instance


to another is called instantaneous center.
• In order to find the location and number of location of
instantaneous center of rotation of body,
body/mechanism must follow this law/theorem,
➢ Kennedy's Theorem : If three bodies have plane
motions, their instantaneous center lie on a straight
line.
Number of instantaneous center = n(n-1)/2
where n=number of links
REAL LIFE APPLICATIONS OF KINEMATICS OF
MACHINES

• Piston and Cylinder assembly of an automobile


• Fuel system combined with the accelerator in
automobile
• Pantograph
• Heavy earthmoving machinery
• Railway engine and its supporting flywheel motions
• Steering of an automobile
• Scissor
• Jack

You might also like