ME 8511 KINEMATICS AND DYNAMICS LABORATORY

SRMTRPEC

SRM TRP ENGINEERING COLLEGE

Irungalur, Tiruchirappalli, Tamil Nadu 621105

DEPARTMENT OF MECHANICAL ENGINEERING

ME 8511 KINEMATICS AND DYNAMICS LABORATORY

NAME :

REG NO. :

REGULATION : 2017

DEPARTMENT : MECHANICAL

YEAR/SEM : III / V

SEC :
 ME 8511 KINEMATICS AND DYNAMICS LABORATORY
SRMTRPEC

SRM TRP ENGINEERING

COLLEGE
Irunga lur, Tiruchirappalli, Tamil Nadu 621105

DEPARTMENT OF MECHANICAL ENGINEERING

ME 8511 KINEMATICS AND DYNAMICS LABORATORY

PREPARED BY VERIFIED BY APPROVED BY

SIGN

NAME

DATE
 ME 8511 KINEMATICS AND DYNAMICS LABORATORY SRMTRPEC

TABLE OF CONTENTS

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1.a) STUDY OF GEAR PARAMETERS

b) EXPERIMENTAL STUDY OF VELOCITY RATIOS OF SIMPLE,

COMPOUND, EPICYCLIC AND DIFFERENTIAL GEAR TRAINS

KINEMATICS OF FOUR BAR, SLIDER CRANK, CRANK ROCKER,

2.a) DOUBLE CRANK, DOUBLE ROCKER, OSCILLATING CYLINDER
MECHANISMS

b) KINEMATICS OF SINGLE AND DOUBLE UNIVERSAL JOINTS

3.a) DETERMINATION OF MASS MOMENT OF INERTIA OF FLY

WHEEL AND AXLE SYSTEM

b) DETERMINATION OF MASS MOMENT OF INERTIA OF

AXISYMMETRIC BODIES USING TURN TABLE APPARATUS

c) DETERMINATION OF MASS MOMENT OF INERTIA USING

BIFILAR SUSPENSION AND COMPOUND PENDULUM

4. MOTORIZED GYROSCOPE – STUDY OF GYROSCOPIC EFFECT

AND COUPLE

GOVERNOR - DETERMINATION OF RANGE SENSITIVITY,

5. EFFORT ETC., FOR WATTS, PORTER, PROELL AND HARTNELL
GOVERNORS

6. CAMS – CAM PROFILE DRAWING, MOTION CURVES AND STUDY

OF JUMP PHENOMENON

SINGLE DEGREE OF FREEDOM SPRING MASS SYSTEM –

7.a) DETERMINATION OF NATURAL FREQUENCY AND
VERIFICATION OF LAWS OF SPRINGS – DAMPING COEFFICIENT
DETERMINATION
MULTI DEGREE FREEDOM SUSPENSION SYSTEM –
b) DETERMINATION OF INFLUENCE COEFFICIENT
DETERMINATION OF TORSIONAL NATURAL FREQUENCY OF
8.a) SINGLE AND DOUBLE ROTOR SYSTEMS -UNDAMPED AND
DAMPED NATURAL FREQUENCIES

b) VIBRATION ABSORBER – TUNED VIBRATION ABSORBER

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9. VIBRATION OF EQUIVALENT SPRING MASS SYSTEM –

UNDAMPED AND DAMPED VIBRATION

10. WHIRLING OF SHAFTS – DETERMINATION OF CRITICAL SPEEDS

OF SHAFTS WITH CONCENTRATED LOADS

11.a) BALANCING OF ROTATING MASSES

b) BALANCING OF RECIPROCATING MASSES

12.a) TRANSVERSE VIBRATION OF FREE-FREE BEAM – WITH AND

WITHOUT CONCENTRATED MASSES

b) FORCED VIBRATION OF CANTILEVER BEAM – MODE SHAPES

AND NATURAL FREQUENCIES

c) DETERMINATION OF TRANSMISSIBILITY RATIO USING

VIBRATING TABLE
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ME 8511 KINEMATICS AND DYNAMICS LABORATORY

OBJECTIVES:
To supplement the principles learnt in kinematics and Dynamics of Machinery and to understand
how certain measuring devices are used for dynamic testing.
LIST OF EXPERIMENTS:
1.a) Study of gear parameters.
b) Experimental study of velocity ratios of simple, compound, Epicyclic and differential gear
trains.
2.a) Kinematics of Four Bar, Slider Crank, Crank Rocker, Double crank, Double rocker,
Oscillating cylinder Mechanisms.
b) Kinematics of single and double universal joints.
3.a) Determination of Mass moment of inertia of Fly wheel and Axle system.
b) Determination of Mass Moment of Inertia of axisymmetric bodies using Turn Table
apparatus.
c) Determination of Mass Moment of Inertia using bifilar suspension and
compound pendulum.
4.Motorized gyroscope – Study of gyroscopic effect and couple.
5.Governor - Determination of range sensitivity, effort etc., for Watts, Porter, Proell,
and Hartnell Governors.
6.Cams – Cam profile drawing, Motion curves and study of jump phenomenon
7.a) Single degree of freedom Spring Mass System – Determination of natural
Frequency and verification of Laws of springs – Damping coefficient
determination.
b) Multi degree freedom suspension system – Determination of
influence coefficient.
8.a) Determination of torsional natural frequency of single and Double Rotor systems. -
Undamped and Damped Natural frequencies.
b) Vibration Absorber – Tuned vibration absorber.
9.Vibration of Equivalent Spring mass system – undamped and damped vibration.
10.Whirling of shafts – Determination of critical speeds of shafts with concentrated loads.
11.a) Balancing of rotating masses.
b) Balancing of reciprocating masses.
12.a) Transverse vibration of Free-Free beam – with and without concentrated masses
b) Forced Vibration of Cantilever beam – Mode shapes and natural frequencies.
c) Determination of transmissibility ratio using vibrating table.
TOTAL: 60 PERIODS
OUTCOMES
Upon the completion of this course the students will be able to
Explain gear parameters, kinematics of mechanisms, gyroscopic effect and working of lab
equipments. Determine mass moment of inertia of mechanical element, governor effort and range
sensitivity, natural frequency and damping coefficient, torsional frequency, critical speeds of
shafts, balancing mass of rotating and reciprocating masses, and transmissibility ratio.
 ME 8511 KINEMATICS AND DYNAMICS LABORATORY SRMTRPEC

Ex. No: 1. a Date:

STUDY OF GEAR PARAMETERS

Pitch Circle:

It is an imaginary circle concentric to a toothed wheel, along which the pitch of the teeth is measured.

Addendum:

The addendum is the height by which a tooth of a gear projects beyond (outside for external, or inside

for internal) the standard pitch circle or pitch line; also, the radial distance between the pitch diameter and the

outside diameter.

Addendum angle:

Addendum angle in a bevel gear, is the angle between face cone and pitch cone.
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Addendum Circle:

The addendum circle coincides with the tops of the teeth of a gear and is concentric with the standard

pitch circle and radially distant from it by the amount of the addendum. For external gears, the addendum

circle lies on the outside cylinder while on internal gears the addendum circle lies on the internal cylinder.

Pitch line:

The pitch line corresponds, in the cross section of a rack, to the pitch circle (operating) in the cross

section of a gear.

Pitch point:

The pitch point is the point of tangency of two pitch circles (or of a pitch circle and pitch line) and is

on the line of centers.

Pitch surfaces:

Pitch surfaces are the imaginary planes, cylinders, or cones that roll together without slipping. For a

constant velocity ratio, the pitch cylinders and pitch cones are circular.
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Pinion:

The smaller of two interacting gears.

Path of contact:

Path followed by the point of contact between two meshing gear teeth.

Axis:

Axis of revolution of the gear; center line of the shaft.

Pitch point:

Point where the line of action crosses a line joining the two gear axes.

Pitch diameter:

A predefined diametral position on the gear where the circular tooth thickness, pressure angle and

helix angles are defined. The standard pitch diameter is a basic dimension and cannot be measured, but is a

location where other measurements are made. Its value is based on the number of teeth, the normal module (or

normal diametral pitch), and the helix angle.

Module:

A scaling factor used in metric gears with units in millimeters whose effect is to enlarge the gear tooth

size as the module increases and reduce the size as the module decreases. Module can be defined in the

normal, the transverse, or the axial planes depending on the design approach employed and the type of gear

being designed. Module is typically an input value into the gear design and is seldom calculated.

Pitch surface:

In cylindrical gears, cylinder formed by projecting a pitch circle in the axial direction. More generally,

the surface formed by the sum of all the pitch circles as one moves along the axis. For bevel gears it is a cone.

Angle of action:

Angle with vertex at the gear center, one leg on the point where mating teeth first make contact, the
other leg on the point where they disengage.

ME 8511 KINEMATICS AND DYNAMICS LABORATORY SRMTRPEC

Pressure angle:

The complement of the angle between the direction that the teeth exert force on each other, and the

line joining the centers of the two gears. For involute gears, the teeth always exert force along the line of

action, which, for involute gears, is a straight line; and thus, for involute gears, the pressure angle is constant.

Outside diameter:

Diameter of the gear, measured from the tops of the teeth.

Root diameter:

Diameter of the gear, measured at the base of the tooth.

Addendum:

Radial distance from the pitch surface to the outermost point of the tooth.

Dedendum:

Radial distance from the depth of the tooth trough to the pitch surface.
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Ex. No: 1. b Date:

EXPERIMENTAL STUDY OF VELOCITY RATIOS OF SIMPLE,

COMPOUND, EPICYCLIC AND DIFFERENTIAL GEAR TRAINS.

Simple Gear Train:

A simple gear train uses two gears, which may be of different sizes. If one of these gears is attached to

a motor or a crank then it is called the driver gear. The gear that is turned by the driver gear is called the

driven gear.

Idler Gear:

When a simple gear train has three meshed gears, the intermediate gear between the driver gear and

the driven gear is called an idler gear. An idler gear does not affect the gear ratio (velocity ratio) between the

driver gear and the driven gear.

Compound Gear Train:

Compound gear trains involve several pairs of meshing gears. They are used where large speed

changes are required or to get different outputs moving at different speeds. Gear ratios (or velocity ratios,

VR) are calculated using the same principle as for simple gear trains, i.e. VR = number of teeth on the driver

gear divided by the number of teeth on the driven gear.

Epicyclic gear train:

Gear trains of the type shown in Figures 1, 3, 4 and 5 are called epicyclic gear trains or planetary gear

trains. In these gear trains, one or more gears are carried on a rotating planet carrier rather than on a shaft

that rotates on a fixed axis. Several types of gear trains may be shifted manually to obtain greater or lesser

values of speed reduction. The shifting process, however, is difficult to accomplish automatically with gears

that rotate about fixed centers. On the other hand, epicyclic gear trains are readily adapted to automatic

control.
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Some epicyclic gear trains are designed to change velocity ratios simply by using electrically or

hydraulically operated band brakes to keep one or more of the gears stationary. Other epicyclic gear trains

operating with fixed velocity ratios are selected for their compact design and high efficiency.

A simple epicyclic gear train consists of a sun gear (S) in the center, a planet gear (P), a planet carrier or arm

(C), and an internal or ring gear (R). The sun gear, ring gear and planet carrier all rotate about the same axis.

The planet gear is mounted on a shaft that turns in the bearing in the planet carrier and meshes with both the

sun gear and the ring gear.

An epicyclic gear train (also known as planetary gear) consists of two gears mounted so that the centre

of one gear revolves around the centre of the other. A carrier connects the centres of the two gears and

rotates to carry one gear, called the planet gear, around the other, called the sun gear. The planet and sun

gears mesh so that their pitch circles roll without slip. A point on the pitch circle of the planet gear traces an

epicycloid curve. In this simplified case, the sun gear is fixed and the planetary gear(s) roll around the sun

gear.
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An epicyclic gear train can be assembled so the planet gear rolls on the inside of the pitch circle of a

fixed, outer gear ring, or ring gear, sometimes called an annular gear. In this case, the curve traced by a point

on the pitch circle of the planet is a hypocycloid. The combination of epicycle gear trains with a planet

engaging both a sun gear and a ring gear is called a planetary gear train. In this case, the ring gear is usually

fixed and the sun gear is driven.

Epicyclic gears get their name from their earliest application, which was the modelling of the

movements of the planets in the heavens. Believing the planets, as everything in the heavens, to be perfect,

they could only travel in perfect circles, but their motions as viewed from Earth could not be reconciled with

circular motion.
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Ex. No: 2. a Date:

KINEMATICS OF FOUR BAR, SLIDER CRANK, CRANK ROCKER, DOUBLE

CRANK, DOUBLE ROCKER, OSCILLATING CYLINDER MECHANISMS

Four-Bar Linkage:

A four-bar linkage or simply a 4-bar or four-bar is the simplest movable linkage. It consists of four

rigid bodies (called bars or links), each attached to two others by single joints or pivots to form a closed

loop.

Four-bars are simple mechanisms common in mechanical engineering machine design and fall under

the study of kinematics. If each joint has one rotational degree of freedom (i.e., it is a pivot), then the

mechanism is usually planar, and the 4-bar is determinate if the positions of any two bodies are known

(although there may be two solutions). One body typically does not move (called the ground link, fixed link,

or the frame), so the position of only one other body is needed to find all positions. The two links connected

to the ground link are called grounded links. The remaining link, not directly connected to the ground link, is

called the coupler link. In terms of mechanical action, one of the grounded links is selected to be the input

link, i.e., the link to which an external force is applied to rotate it. The second grounded link is called the

follower link, since its motion is completely determined by the motion of the input link.

Planar four-bar linkages perform a wide variety of motions with a few simple parts. They were also

popular in the past due to the ease of calculations, prior to computers, compared to more complicated

mechanisms.

Grashof's law is applied to pinned linkages and states; The sum of the shortest and longest link of a

planar four-bar linkage cannot be greater than the sum of remaining two links if there is to be continuous

relative motion between the links. Below are the possible types of pinned, four-bar linkages;
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Double crank or crank-crank:

 It has the shortest link of the four bar mechanism configured as the fixed link or the frame.

 If one of the pivoted links is rotated continuously, the other pivoted link will also rotate continuously.

 If double crank mechanism is also called a drag link mechanism

Crank rocker:

 It has the shortest link of the four bar mechanism configured adjacent to the frame.

 If this shortest link is continuously rotated the output link will oscillate between limits. Thus the shortest

link is called the crank; the output link is called the rocker.

Double rocker:

The double rocker or rocker-rocker, it has the link opposite the shortest link of the four bar mechanism

configured as frame. In this configuration neither link connected to the frame will be able to complete a full

revolution. Thus, both input and output links are constrained to oscillate between limits and called rocker.

However, the coupler is able to complete a full revolution.

Slider crank mechanism:

When one of the pairs of a four bar chain is replaced by a sliding pair, it becomes a single slider crank

chain or simply a slider crank chain. It is also possible to replace two sliding pairs of a four bar chain to get

a double slider crank chain.

In a slider may be passing through the fixed pivoted O or may be displaced. The distance e between

the fixed pivot O and the straight line path of the slider is called the off-set and the chain so formed an off-

set slider crank chain.

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Ex. No: 2. b Date:

KINEMATICS OF SINGLE AND DOUBLE UNIVERSAL JOINTS

Single universal joints:

If two shafts bent at angles to each other are connected with a universal joint and the drive shaft

moves at constant angular velocity, the driven shaft runs with uneven angular velocity. i.e. the twist angle of

the driven shaft does not at any point agree with the twist angle of the drive shaft. The difference angle and

hence the degree of unevenness depends on the deflection angle of the joint.
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Universal Joint:

A universal joint (universal coupling, U-joint, Cardan joint, Spicer or Hardy Spicer joint, or Hooke's

joint) is a joint or coupling connecting rigid rods whose axes are inclined to each other, and is commonly used

in shafts that transmit rotary motion. It consists of a pair of hinges located close together, oriented at 90° to

each other, connected by a cross shaft. The universal joint is not a constant-velocity joint.
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Ex. No: 3. a Date:

DETERMINATION OF MASS MOMENT OF

INERTIA OF FLY WHEEL AND AXLE SYSTEM
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Ex. No: 3. b Date:

DETERMINATION OF MASS MOMENT OF INERTIA OF

AXISYMMETRIC BODIES USING TURN TABLE APPARATUS
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Ex. No: 3. c Date:

DETERMINATION OF MASS MOMENT OF INERTIA USING BIFILAR

SUSPENSION AND COMPOUND PENDULUM
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Ex. No: 4 Date:

MOTORIZED GYROSCOPE – STUDY OF

GYROSCOPIC EFFECT AND COUPLE
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Ex. No: 5 Date:

GOVERNOR - DETERMINATION OF RANGE SENSITIVITY, EFFORT ETC.,

FOR WATTS, PORTER, PROELL AND HARTNELL GOVERNORS
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Ex. No: 6 Date:

CAMS – CAM PROFILE DRAWING, MOTION

CURVES AND STUDY OF JUMP PHENOMENON
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CAM STUDY MODEL

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Ex. No: 7. a Date:

SINGLE DEGREE OF FREEDOM SPRING MASS SYSTEM – DETERMINATION OF

NATURAL FREQUENCY AND VERIFICATION OF LAWS OF SPRINGS – DAMPING
COEFFICIENT DETERMINATION
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Ex. No: 7. b Date:

MULTI DEGREE FREEDOM SUSPENSION SYSTEM –

DETERMINATION OF INFLUENCE COEFFICIENT
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Ex. No: 8. a Date:

DETERMINATION OF TORSIONAL NATURAL FREQUENCY OF SINGLE
AND DOUBLE ROTOR SYSTEMS -UNDAMPED AND DAMPED NATURAL
FREQUENCIES
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Ex. No: 8. b Date:

VIBRATION ABSORBER – TUNED VIBRATION ABSORBER

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Ex. No: 9 Date:

VIBRATION OF EQUIVALENT SPRING MASS SYSTEM –

UNDAMPED AND DAMPED VIBRATION
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Ex. No: 10 Date:

WHIRLING OF SHAFTS – DETERMINATION OF CRITICAL SPEEDS

OF SHAFTS WITH CONCENTRATED LOADS
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Ex. No: 11. a Date:

BALANCING OF ROTATING MASSES

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Ex. No: 11. b Date:

BALANCING OF RECIPROCATING MASSES

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Ex. No: 12. a Date:

TRANSVERSE VIBRATION OF FREE-FREE BEAM –

WITH AND WITHOUT CONCENTRATED MASSES
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Ex. No: 12. b Date:

FORCED VIBRATION OF CANTILEVER BEAM

MODE SHAPES AND NATURAL FREQUENCIES
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Ex. No: 12. c Date:

DETERMINATION OF TRANSMISSIBILITY RATIO USING VIBRATING

TABLE
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