a report file on Box transport mechanism

1. 4/24/2015 BOX TRANSPORT
MECHANISM
AWADHESH SINGH YADAV
IDEAL INSTITUTE OF ENGINEERING & TECHNOLOGY

2. BOX TRANSPORT MECHANISM
A Project Report submitted
In Partial Fulfillment of the Requirements
for the Degree of
BACHELOR OF TECHNOLOGY
in
Mechanical Engineering
by
Awadhesh Singh Yadav (Roll No.- 1102840031)
Danveer Saini (Roll No.- 1102840036)
Gaurav Sagar (Roll No.- 1102840040)
Mayank Kumar Jain (Roll No.- 1102840052)
Nitesh Kumar Tripathi (Roll No.- 1102840059)
Under the Supervision of
Mr. Dharmendra Singh
(Professor/ Assistant Professor)
Department of Mechanical Engineering
Ideal Institute of Engineering & Technology,
Ghaziabad, Uttar Pradesh.
to the
UTTAR PRADESH TECHNICAL UNIVERSITY
LUCKNOW (U.P.)
April 2015

3. i
CERTIFICATE
Certified that Awadhesh Singh Yadav (Roll No. 1102840031), Danveer Saini (Roll No.
1102840036), Gaurav Sagar (Roll No. 1102840040), Mayank Kumar Jain (Roll No.
1102840052) and Nitesh Kumar Tripathi (Roll No. 1102840059) has carried out the project work
presented in this report entitled for the award of Bachelor of
Technology from Uttar Pradesh Technical University, Lucknow, (U.P.) under my supervision.
The report embodies results of original work, and studies are carried out by the students
themselves and the contents of the report do not form the basis for the award of any other degree
to the candidate or to anybody else from this or any other University/Institution.
Signature:
Date:
Mr. Dharmendra Singh
(Professor /Assistant Professor)
Mechanical Engineering Department,
Ideal Institute of Technology, Ghaziabad

4. ii
ABSTRACT
This project aims for the utilization of kinematic synthesis (type, dimensional and
number) to fabricate a working physical model of an eight link transport mechanism. The
mechanism to be developed in its simplest form would perform the function of transporting
boxes/articles which are being fed onto two rails and are moved ahead one by one. The eight bar
mechanism allows moving more than one article as compared to its four bar counterpart.
Transport mechanisms generally move material and their application lies in various industries-
manufacturing, assembly, packaging etc.
In this project we apply the path generation synthesis and coupler curve synthesis and
study to fabricate our model which is an eight link transporter mechanism. The synthesis would
Chebyschev theorem for cognate linkages and parallel motion
generation where we want the output link of the mechanism to follow a particular path without
any rotation of the link as it moves along the path. The final model will be constructed by
modelling in CAD software solid edge that will eliminate the errors that might have crept in
graphical synthesis. In actual fabrication process the model will be refined as the final fitments
are done by tools and processes like welding, drilling, fitting, grinding. The model then
undergoes trial run and is examined for the prescribed motion characteristics.

5. iii
ACKNOWLEDGEMENT
We would like to express my gratitude to all those who gave me the opportunity to
complete this work. We would like to thank, Mr. Dharmendra Singh Assistant Professor (ME),
for giving guidance, stimulating suggestions and moral support. We are grateful to him for
sharing his time and expertise. His faith in us has always made more confident. It had been our
privilege to work under his guidance.
We would also like to thank Mr. Apurv Yadav Assistant Professor, Mechanical
Engineering Department for moral support, interest and valuable hints.
We are also thankful to all the faculty members of mechanical engineering department
and our colleagues for their cooperation.
We would like to thank our family for their continued support throughout this work. Our
parents have always been there for us and provided the best opportunities. No one has been as
motivating and inspirational to us as our parents. Thank you for your consistent help and support.
Awadhesh Singh Yadav (Roll No. 1102840031)
Nitesh Kumar Tripathi (Roll No.1102840059)
Mayank Kumar Jain (Roll No. 1102840052)
Gaurav Sagar (Roll No. 1102840040)
)
Danveer Saini (Roll No. 1102840036)

6. iv
TABLE OF CONTENTS
DESCRIPTIONS PAGE NO.
CERTIFICATE .................................................................................................... i
ABSTRACT........................................................................................................ ii
ACKNOWLEDGEMENT ..........................................................................................................iii
TABLE OF CONTENTS ......................................................................................iv
LIST OF FIGURES.....................................................................................................................vi
CHAPTER 1................................................................................................................................ 1
1.1 INTRODUCTION............................................................................................................. 2
1.2 AIM ..................................................................................................................................... 4
1.3 OBJECTIVE ...................................................................................................................... 4
CHAPTER 2................................................................................................................................ 5
2.1 LINKAGE MECHANISM .............................................................................................. 6
2.2 SIMPLE PLANAR LINKAGES .................................................................................... 7
2.3 CRANK-ROCKER MECHANISM ............................................................................... 9
2.4 FUNCTIONS OF LINKAGES ..................................................................................... 10
2.5 FOUR LINK MECHANISMS ...................................................................................... 11
2.6 CLASSIFICATION ........................................................................................................ 15
2.7 TRANSMISSION ANGLE ........................................................................................... 17
2.8 ANALYSIS ...................................................................................................................... 18
CHAPTER 3.............................................................................................................................. 21
3.1 MATERIAL AND DIMENSIONS .............................................................................. 22
3.2 TOOLS.............................................................................................................................. 26
3.3 PROCEDURE .................................................................................................................. 29

7. v
CHAPTER 4.............................................................................................................................. 31
4.1 LOGIC .............................................................................................................................. 32
4.2 FUTURE WORK ............................................................................................................ 32
CHAPTER 5.............................................................................................................................. 36
CONCLUSION ..................................................................................................................... 37
REFRENCES ....................................................................................................................... 38
APPENDIX ........................................................................................................................... 39

8. vi
LIST OF FIGURES
Figure 1 Box transport mechanism................................................................................................. 3
Figure 2 Functions of four basic planar linkage mechanisms......................................................... 7
Figure 3 Crank rocker mechanism.................................................................................................. 9
Figure 4 Four bar linkage.............................................................................................................. 11
Figure 5 Crank rocker ................................................................................................................... 13
Figure 6 Walking Beam................................................................................................................ 14
Figure 7 Transmission angle......................................................................................................... 17
Figure 8 Mechanism ..................................................................................................................... 18
Figure 9 Base structure ................................................................................................................. 22
Figure 10 Transporting link & Connecting rod ............................................................................ 23
Figure 11 Couplers........................................................................................................................ 24
Figure 12 Crank and Rocker......................................................................................................... 25

9. 1

10. 2 | P a g e
CHAPTER 1
1.1 INTRODUCTION
There has been a serious demand for intermittent movement of packages in the industries
right from the start. Though the continuous movement is more or less important in the same field
the sporadic motion has become essential .The objective of our project is to produce a
mechanism that delivers this stop and move motion using mechanical linkages. The advantage of
our system over the conveyor system is that the system has a time delay between moving
packages and this delay can be used to introduce any alterations in the package or move the
package for any other purpose and likewise. While in conveyor system such actions cannot be
performed unless programmed module is used to produce intermittent stopping of the belt which
basically is costly. The prototype design requires electric motor, shafts and the frame of which
the frame and platform on which the packages are moved is fabricated. All the links are being
made of Wood which reduces the weight of the whole system including the head which has a
direct contact with the boxes being moved. The system is expected to move as heavy packages as
2 - 3kgs approximately.

11. 3 | P a g e
Figure 1 Box transport mechanism
The walking beam (in blue) pushes articles (in red) forward, and the material is left
stationary in the return stroke of the walking beam until the next cycle. The mechanism is for
moving articles with intermittent advancement. The eight-bar mechanism allows moving more
than one article, as compared to a four bar walking beam.

12. 4 | P a g e
1.2 AIM
The aim of this project is to fabricate the box moving mechanism, which can make easier
to move boxes from one section to the other while processing in the factories.
In a workstation, an assembly line in order to obtain the required production rate and to
achieve a minimum amount of idle time.
1.3 OBJECTIVE
Fabricate a Box transport mechanism which can move things from one place to another
Understand project planning and execution.
Understand the fabrication techniques in a mechanical workshop.
Understand the usage of various mechanical machine tools and also measuring tools.

13. 5 | P a g e

14. 6 | P a g e
CHAPTER 2
2.1 LINKAGE MECHANISM
A linkage is a mechanism formed by connecting two or more levers together. Linkages
can be designed to change the direction of a force or make two or more objects move at the same
time. Many different fasteners are used to connect linkages together yet allow them to move
freely such as pins, end-threaded bolts with nuts, and loosely fitted rivets. There are two general
classes of linkages: simple planar linkages and more complex specialized linkages; both are
capable of performing tasks such as describing straight lines or curves and executing motions at
differing speeds. The names of the linkage mechanisms given here are widely but not universally
accepted in all textbooks and references.
Linkages can be classified according to their primary functions:
ed to the frame

15. 7 | P a g e
2.2 SIMPLE PLANAR LINKAGES
Four different simple planar linkages shown in Fig. 8 are identified by function:
Reverse-motion linkage:
Fig. 2, can make objects or force move in opposite directions; this can be done by
using the input link as a lever. If the fixed pivot is equidistant from the moving pivots, output
link movement will equal input link movement, but it will act in the opposite direction. However,
if the fixed pivot is not centered, output link movement will not equal input
link movement. By selecting the position of the fixed pivot, the linkage can be designed to
produce specific mechanical advantages. This linkage can also be rotated through 360°.
Push-pull linkage:
Fig. 8b, can make the objects or force move in the same direction; the output link
moves in the same direction as the input link. Technically classed as a four-bar linkage, it can be
rotated through 360° without changing its function.
Figure 2 Functions of four basic planar linkage mechanisms

16. 8 | P a g e
Parallel-motion linkage:
Fig. 2, can make objects or forces move in the same direction, but at a set distance
apart. The moving and fixed pivots on the opposing links in the parallelogram must be
equidistant for this linkage to work correctly. Technically classed as a four-bar linkage, this
linkage can also be rotated through 360° without changing its function. Pantographs that obtain
power for electric trains from overhead cables are based on parallel-motion linkage. Drawing
pantographs that permit original drawings to be manually copied without tracing or
photocopying are also adaptations of this linkage; in its simplest form it can also keep tool trays
in a horizontal position when the toolbox covers are opened.
Bell-crank linkage:
Fig. 2, can change the direction of objects or force by 90°. This linkage rang doorbells
before electric clappers were invented. More recently this mechanism has been adapted for
bicycle brakes. This was done by pinning two bell cranks bent 90° in opposite directions together
to form tongs. By squeezing the two handlebar levers linked to the input ends of each crank, the
output ends will move together. Rubber blocks on the output ends of each crank press against the
wheel rim, stopping the bicycle. If the pins which form a fixed pivot are at the midpoints of the
cranks, link movement will be equal. However, if those distances vary, mechanical advantage
can be gained

17. 9 | P a g e
2.3 CRANK-ROCKER MECHANISM FOR BOX TRANSPORT MECHANISM
The four bar linkage is the simplest and often times, the most useful mechanism. As we
mentioned before, a mechanism composed of rigid bodies and lower pairs is called
a linkage (Hunt 78). In planar mechanisms, there are only two kinds of lower pairs --- revolute
pairs and prismatic pairs.
The simplest closed-loop linkage is the four bar linkage which has four members, three
moving links, one fixed link and four pin joints. A linkage that has at least one fixed link is a
mechanism.
Figure 3 Crank rocker mechanism

18. 10 | P a g e
This mechanism has four moving links. Two of the links are pinned to the frame which is
not shown in this picture. In Sims Design, links can be nailed to the background thereby making
them into the frame.
How many DOF does this mechanism have? If we want it to have just one, we can
impose one constraint on the linkage and it will have a definite motion. The four bar linkage is
the simplest and the most useful mechanism.
Reminder: A mechanism is composed of rigid bodies and lower pairs called
linkages (Hunt 78). In planar mechanisms there are only two kinds of lower pairs: turning pairs
and prismatic pairs.
2.4 FUNCTIONS OF LINKAGES
The function of a link mechanism is to produce rotating, oscillating, or reciprocating
motion from the rotation of a crank or vice versa (Ham et al. 58). Stated more specifically
linkages may be used to convert:
1. Continuous rotation into continuous rotation, with a constant or variable angular velocity
ratio.
2. Continuous rotation into oscillation or reciprocation (or the reverse), with a constant or
variable velocity ratio.
3. Oscillation into oscillation, or reciprocation into reciprocation, with a constant or variable
velocity ratio.
Linkages have many different functions, which can be classified according on the
primary goal of the mechanism:
Function generation: the relative motion between the links connected to the frame,
Path generation: the path of a tracer point, or
Motion generation: the motion of the coupler link.

19. 11 | P a g e
2.5 FOUR LINK MECHANISMS
One of the simplest examples of a constrained linkage is the four-link mechanism. A
variety of useful mechanisms can be formed from a four-link mechanism through slight
variations, such as changing the character of the pairs, proportions of links, etc. Furthermore,
many complex link mechanisms are combinations of two or more such mechanisms. The
majority of four-link mechanisms fall into one of the following two classes:
1. The four-bar linkage mechanism, and
2. The slider-crank mechanism.
Definitions:
In the range of planar mechanisms, the simplest group of lower pair mechanisms are four
bar linkages. A four bar linkage comprises four bar-shaped links and four turning pairs as shown
in figure 4.
Figure 4 Four bar linkage

20. 12 | P a g e
The link opposite the frame is called the coupler link, and the links which are hinged to
the frame are called side links. A link which is free to rotate through 360 degree with respect to a
second link will be said to revolve relative to the second link (not necessarily a frame). If it is
possible for all four bars to become simultaneously aligned, such a state is called a change point.
Some important concepts in link mechanisms are:
1. Crank: A side link which revolves relative to the frame is called a crank.
2. Rocker: A side link which does not revolve is called a rocker.
3. Coupler: The link which connect the crank and rocker are called as coupler.
4. Crank-Rocker mechanism: In a four bar linkage if one of the side link revolve and other
side link oscillate then the mechanism known as Crank-Rocker Mechanism where shortest link is
the input link (crank). (fig 4-a)
5. Rocker-Crank Mechanism: if the shortest link is the output link (follower) then the
mechanism known as Rocker-Crank Mechanism.
6. Double-Crank mechanism: In a four bar linkage, if both of the side links revolve, it is
known as Double-Crank Mechanism where the shortest link is the ground link (frame).
7. Double-Rocker mechanism: In a four bar linkage, if both of the side links rock, it is
known as Double-Rocker Mechanism where the shortest link is the floating link (coupler).
Fig 4-a fig 4-b fig 4-c

21. 13 | P a g e
WORKING PRINCIPLE:
Crank-Rocker Mechanism: A 4-bar linkage mechanism has a crank that rotates at a
constant angular speed. The crank is connected to the coupler which is connected to the
rocker. The frame does not move.
Fig 5 crank rocker

22. 14 | P a g e
Straight-Line Walking Beam Eight-bar Transport Mechanism:
Fig 6 Walking Beam
Info: The walking beam (in blue) pushes articles (in pink) forward, and the material is
left stationary in the return stroke of the walking beam until the next cycle. The
mechanism is for moving articles with intermittent advancement. The eight-bar
mechanism allows moving more than one article, as compared to four bar walking beam.
Source: This Working Model file is adapted from Figure P3.7 on p.150 in Design of
Machinery, 3rd ed. by Norton, R.L., McGraw-Hill, 2004.
Credits: This Working Model file was first developed by Jie (Jeff) Yang.

23. 15 | P a g e
2.6 CLASSIFICATION
Before classifying four-bar linkages, we need to introduce some basic nomenclature.
In a four-bar linkage, we refer to the line segment between hinges on a given link as a bar where:
s = length of shortest bar
l = length of longest bar
p, q = lengths of intermediate bar
Grashof's theorem states that a four-bar mechanism has at least one revolving link if
s + l <= p + q
(5-1)
And all three mobile links will rock if
s + l > p + q
(5-2)
The inequality 5-1 is Grashof's criterion.

24. 16 | P a g e
All four-bar mechanisms fall into one of the four categories listed in Table 5-1:
Case (l + s varies p + q) Shortest Bar Type
1 < Frame Double-crank
2 < Side Rocker-crank
3 < Coupler Double rocker
4 = Any Change point
5 > Any Double-rocker
Table 1 Classification of Four-Bar Mechanisms
From Table 5-1 we can see that for a mechanism to have a crank, the sum of the length of
its shortest and longest links must be less than or equal to the sum of the length of the other two
links. However, this condition is necessary but not sufficient. Mechanisms satisfying this
condition fall into the following three categories:
1. When the shortest link is a side link, the mechanism is a crank-rocker mechanism. The
shortest link is the crank in the mechanism.
2. When the shortest link is the frame of the mechanism, the mechanism is a double-crank
mechanism.
3. When the shortest link is the coupler link, the mechanism is a double-rocker mechanism.

25. 17 | P a g e
2.7 TRANSMISSION ANGLE
In Figure 5, if AB is the input link, the force applied to the output link, CD, is
transmitted through the coupler link BC. (That is, pushing on the link CD imposes a force on the
link AB, which is transmitted through the link BC.) For sufficiently slow motions (negligible
inertia forces), the force in the coupler link is pure tension or compression (negligible bending
action) and is directed along BC. For a given force in the coupler link, the torque transmitted to
the output bar (about point D) is maximum when the angle between coupler bar BC and output
bar CD is /2. Therefore, angle BCD is called transmission angle.
(5-3)
Figure 7 Transmission angle
When the transmission angle deviates significantly from /2, the torque on the output
bar decreases and may not be sufficient to overcome the friction in the system. For this reason,
the deviation angle =| /2- | should not be too great. In practice, there is no definite upper
limit for , because the existence of the inertia forces may eliminate the undesirable force
relationships that is present under static conditions.

26. 18 | P a g e
2.8 ANALYSIS
FOR A GIVEN DISPLACEMENT DETERMINE THE RADIUS OF CRANK
Fig 8 mechanism
In the given fig value of d is the predetermined value and we have to determine the
crank radius r for a given radius value of rocker R
Let the oscillation of rocker is Q degree at point B
From the triangle ABC
d = 2 AC
d = 2 R Sin (Q/2) 1
Q/2 = Sin-1
(d/2R)

27. 19 | P a g e
Q = 2 Sin-1
(d/2R)
From Crank and Rocker motion
2 r = R*Q*3.14321/180
On putting the value of Q from equation 1, we get
r = (R*3.14321/180)* Sin-1
(d/2R)
Example: Calculate the dimension (radius) of crank for displacement of 215 mm at the rocker
radius of 250 mm.
Solution:
Given that:
R = 250 & d = 215
Put the value of R & d in equation 3
r = (250*3.14321/180)* Sin-1
(215/2*250)
r = 111.18 Ans.

28. 20 | P a g e
DETERMINING DEGREE OF FREEDOM:
The minimum number of independent variables required to define the position and
motion of the system is known as degree of freedom of the system.
OR
Degree of freedom is the number of input required to get constrained output in a chain.
F = 3(L - 1) - 2J - H
Where
F = degree of freedom
L = no of links
J = no of binary joint
H = no of higher pair
Hence,
F = 3(8 - 1) - 2*10 - 0
F = 1

29. 21 | P a g e

30. 22 | P a g e
CHAPTER 3
3.1 MATERIAL AND DIMENSIONS
All the links are made up of MDF sheet and structure made up of solid wooden block.
The dimension of the different links are as bellow:
Fig 9 Base structure

31. 23 | P a g e
Figure 10 Transporting link & Connecting rod

32. 24 | P a g e
Figure 11 Couplers

33. 25 | P a g e
Figure 12 Crank & Rocker

34. 26 | P a g e
3.2 TOOLS
MDF Wooden plate Wooden plate cutter
Welding machine Lathe Machine

35. 27 | P a g e
Drill machine Electric motor
Iron angles

36. 28 | P a g e
Steel file tool measuring tape
Vices Cutting shearing pliers

37. 29 | P a g e
3.3 PROCEDURE
1. First of all we have prepared the drawing for the machine transporter machine.
2. Then we make the measurement for the bed of the box transport machine.
3. We took the wooden block and cut them in the given measurements using the cutting
machine.
4. Then we took that pieces and fitting them in the prepared shaped drawing.
5. After making the fit of wooden block bed for the machine was ready.
6. Then we took the MDF sheet plate and then taking the measurement of box transport
machine we cut the pieces in the given length.
7. After cutting the plate in the given size we put a shaft in the lathe machine for giving it
the shape of shaft.
8. After preparing the shaft, hanger and crank we take it over the drill machine to make the
holes in them as the given dimension in the drawing.
9. After this we had prepared the shaft which is going move the boxes to the next level with
using it edges on the top of it. We cut the MDF sheet plate in the given dimensions and
then edges also, after cutting we make the fitting to attach these edges with the plate on
the given distance dimensions.
10. Now all of the things for the machine are prepared.
11. On this step we took the electric motor and fix that on the bed of the machine on the
given place.
12. After fixing the motor we fixed the crank with it from one side and other side was
attached to the shaft 1.

38. 30 | P a g e
13. Then we took the hanger link and attach it with the shaft 1, while the other edge of the
hanger link is attached to the shaft 2.
14. Then both of the shafts were attached to the transporting shaft.
15. Two other hanger links was also attached to the shafts.
16. Other two hanger link and transporting shaft was attached to the top of the bed in the
bearing gear.
17. Out box transporting machine is ready now.
18. We give the current to the electric motor and put the boxes on the top of the machine for
testing it.
19. It was working well and boxes are moving to the next level.

39. 31 | P a g e

40. 32 | P a g e
CHAPTER 4
4.1 LOGIC
The Box transporting machine is a new skill that we have learned to make a Box
transporting machine. At the same time, we learn to use a right tools and materials when doing
work at Box transporting machine. Box transporting machine is also giving us more skills and
preparation when we work outside later. When we see a result from the work that we have done
together, we are very grateful when we have finish our work in a sharp time that have given by
our lecturer.
The talent that our lecturer have given to us is bring us to a new experience about Box
transporting machine. These practical also give us advantage when we work together with our
team and we also can learn many information through share knowledge together.
4.2 FUTURE WORK
APPLICATION:
Transferring the boxes from one place to another for the requirement of worker within the
industry.
Heavy tools easily transport to one work station to another work station.
Creating a balance line in the assembly line.

41. 33 | P a g e
What is assembly-line balancing?
To a workstation within an assembly line in order to meet the required production rate
and to achieve a minimum amount of idle time.
Line balancing is the procedure in which tasks along assigning each task the assembly
line are assigned to work station so each has approximately same amount of work.
Steps FOR Balancing an Assembly Line:
1. List the sequential relationships among tasks and then draw a precedence diagram.
2. Calculate the required workstation cycle time.
3. Calculate the theoretical minimum number of workstations.
4. Choose a primary rule that will determine how tasks are to be assigned to workstations.
5. Beginning with the first workstation, assign each task, one at a time, until the sum of the
task times is equal to the workstation cycle time or until no other tasks can be assigned
due to sequence or time restrictions.
6. Repeat step 5 for the remaining workstations until all the tasks have been assigned to a
workstation.
7. Evaluate the efficiency of the line balance.
8. Rebalance if necessary.

42. 34 | P a g e
Unbalanced Line and its Effect:
High work load in some stages (Overburden).
Maximizes wastes (over-processing, inventory, waiting, rework, transportation, motion).
High variation in output.
Restrict one piece flow.
Maximizes idle time.
Poor efficiency.
Balanced Line and its Effect:
Promotes one piece flow.
Avoids excessive work load in some stages (overburden).
Minimizes wastes (over-processing, inventory, waiting, rework, transportation, motion).
Reduces variation.
Increased Efficiency.
Minimizes idle time.
W ork
Station 1
W ork
S tation 4
W ork
S tation 3
W ork
S tation 2

43. 35 | P a g e
How Can Balancing line help in Organization?
Time Saving.
Money Saving (Time Is Money, make changes in virtual world).
Simplifies complex assembly line balancing problems.
Increased efficiency.
Increased productivity.
Potential increase in profits and decrease in costs.

44. 36 | P a g e

45. 37 | P a g e
CHAPTER 5
CONCLUSION
In this project, we learn about how to prepare the Box transporting machine. Other than
that we also have been teach by our lecturer how to use the lathe machine. Besides that, our
teacher always remains us to stay alert in safety while doing a work before and after finish the
practice. Conclusion is, we want to thanks to lecturer and my friend during learning of Box
transporting machine. However, these practical we will never ever forget because these talents
are bring us to learn new things in our studying at this college.

46. 38 | P a g e
REFRENCES
Source: This Working Model file is adapted from Figure P3.7 on p.150 in Design of
Machinery, 3rd ed. by Norton, R.L., McGraw-Hill, 2004.
Credits: This Working Model file was first developed by Jie (Jeff) Yang.
http://www.mekanizmalar.com/transport01.html
http://projectseminars.org/report-box-transport-mechanism-project-report-in-pdf
http://seminarprojects.com/s/box-transport-mechanism
https://www.youtube.com/watch?v=tDLof06nBjU