The document provides an overview of mechanisms and kinematic pairs in mechanical engineering. It discusses:
- Mechanisms are devices that transfer motion, while kinematic pairs constrain links to specific motions relative to each other.
- The main types of kinematic pairs are sliding, rolling, turning, screw and spherical pairs.
- Important kinematic chains include the four-bar linkage, single slider-crank, and double slider mechanisms.
- Inversions of kinematic chains involve fixing different links, changing the input and output motions.
- Examples are given of mechanisms formed from inversions of the key kinematic chains, and their engineering applications.
Unit 1 – Basics of Mechanics
Topics to be covered – unit1
Basic kinematic concepts and definitions
Degree of freedom & Mobility
Kutzbach criterion & Gruebler’s criterion
Grashof’s Law
Kinematic inversions of four-bar-chain and slider crank chains – Limit positions
Mechanical advantage – Transmission Angle
Classification of mechanisms
Description of some common mechanisms
The document discusses the four bar linkage mechanism. It consists of four rigid links connected by four pin joints, forming a quadilateral. The length of one link cannot exceed the sum of the other three links. A variety of mechanisms can be formed from slight variations to the four bar linkage, including changing link proportions or combining multiple linkages. The four bar linkage is the simplest closed loop mechanism and has one degree of freedom. Inversions of the four bar linkage include the beam engine, locomotive coupling rod, and Watt's indicator mechanism. The single slider crank chain converts rotary to reciprocating motion and vice versa using one sliding and three turning pairs. Inversions include pendulum pumps, oscillating cylinder engines, and internal
- The document discusses degrees of freedom (DOF) and Gruebler's criterion for calculating DOF. It then explains Grashof's four-bar mechanism and the conditions for it to have full rotation.
- Kinematic inversions are introduced as the process of obtaining different mechanisms from the same kinematic chain by fixing different links. The four possible inversions of a four-bar chain are described.
- Examples of inversions include the beam engine (crank and lever), the coupling rod of a locomotive (double crank), and Watt's indicator mechanism (double lever).
Kinematics of machines can involve either analyzing an existing mechanism's motion or synthesizing a new mechanism to achieve a desired motion. Kinematic synthesis involves selecting the type of mechanism, determining the number of links needed, and defining the link dimensions. Dimensional synthesis aims to develop link dimensions such that the mechanism's output motion matches the desired motion at select precision points, often spaced using Chebyshev's method to minimize error between points. Slider-crank mechanisms can be synthesized by relating the slider displacement to crank angle at precision points defined using Chebyshev spacing.
This document defines and classifies the components of mechanisms. It discusses links, kinematic pairs, kinematic chains, mechanisms, and machines. Links can be unary, binary, ternary or quaternary based on the number of nodes. Kinematic pairs combine two links and allow specific relative motions. Pairs are classified by contact type, constraint, and possible motions such as revolute, prismatic, or spherical. A kinematic chain transmits defined motion by coupling pairs. A mechanism is a kinematic chain with one fixed link. Mobility is determined using Gruebler's criterion involving links, pairs, and degrees of freedom. Kinematic inversion obtains different mechanisms from the same chain by fixing different links.
Unit 1 – Basics of Mechanics
Topics to be covered – unit1
Basic kinematic concepts and definitions
Degree of freedom & Mobility
Kutzbach criterion & Gruebler’s criterion
Grashof’s Law
Kinematic inversions of four-bar-chain and slider crank chains – Limit positions
Mechanical advantage – Transmission Angle
Classification of mechanisms
Description of some common mechanisms
The document discusses the four bar linkage mechanism. It consists of four rigid links connected by four pin joints, forming a quadilateral. The length of one link cannot exceed the sum of the other three links. A variety of mechanisms can be formed from slight variations to the four bar linkage, including changing link proportions or combining multiple linkages. The four bar linkage is the simplest closed loop mechanism and has one degree of freedom. Inversions of the four bar linkage include the beam engine, locomotive coupling rod, and Watt's indicator mechanism. The single slider crank chain converts rotary to reciprocating motion and vice versa using one sliding and three turning pairs. Inversions include pendulum pumps, oscillating cylinder engines, and internal
- The document discusses degrees of freedom (DOF) and Gruebler's criterion for calculating DOF. It then explains Grashof's four-bar mechanism and the conditions for it to have full rotation.
- Kinematic inversions are introduced as the process of obtaining different mechanisms from the same kinematic chain by fixing different links. The four possible inversions of a four-bar chain are described.
- Examples of inversions include the beam engine (crank and lever), the coupling rod of a locomotive (double crank), and Watt's indicator mechanism (double lever).
Kinematics of machines can involve either analyzing an existing mechanism's motion or synthesizing a new mechanism to achieve a desired motion. Kinematic synthesis involves selecting the type of mechanism, determining the number of links needed, and defining the link dimensions. Dimensional synthesis aims to develop link dimensions such that the mechanism's output motion matches the desired motion at select precision points, often spaced using Chebyshev's method to minimize error between points. Slider-crank mechanisms can be synthesized by relating the slider displacement to crank angle at precision points defined using Chebyshev spacing.
This document defines and classifies the components of mechanisms. It discusses links, kinematic pairs, kinematic chains, mechanisms, and machines. Links can be unary, binary, ternary or quaternary based on the number of nodes. Kinematic pairs combine two links and allow specific relative motions. Pairs are classified by contact type, constraint, and possible motions such as revolute, prismatic, or spherical. A kinematic chain transmits defined motion by coupling pairs. A mechanism is a kinematic chain with one fixed link. Mobility is determined using Gruebler's criterion involving links, pairs, and degrees of freedom. Kinematic inversion obtains different mechanisms from the same chain by fixing different links.
This document provides an introduction to mechanisms and kinematics. It defines mechanisms as assemblies of rigid bodies connected by joints that allow specified motions. Kinematics is the study of relative motion between parts without considering forces. There are different types of kinematic joints (binary, ternary) and pairs (sliding, turning, rolling) that connect links and constrain their motion. The degrees of freedom of a mechanism can be calculated using Kutzbach's criterion which considers the number of links, joints and higher pairs. Simple and compound machines are formed from combinations of mechanisms.
This document discusses different types of gear trains:
1. Simple gear train which uses one gear on each shaft to transmit motion.
2. Compound gear train which uses more than one gear on a shaft.
3. Reverted gear train where the first and last gears are co-axial and rotate in the same direction.
4. Epicyclic gear train where the gear axes can move relative to a fixed axis, allowing one gear to drive another in circular motion.
Formulas for speed ratio and train value are provided for each gear train type. Examples of applications like differentials are also mentioned.
Unit 7-gear trains, Kinematics of machines of VTU Syllabus prepared by Hareesha N Gowda, Asst. Prof, Dayananda Sagar College of Engg, Blore. Please write to hareeshang@gmail.com for suggestions and criticisms.
This document discusses the law of gearing in three main points:
1) The common normal at the point of contact between gear teeth must always pass through the pitch point. This is the fundamental condition for designing gear teeth profiles.
2) The angular velocity ratio between two gears must remain constant throughout meshing.
3) The angular velocity ratio is inversely proportional to the ratio of the distances of the pitch point P from the gear centers O1 and O2. The common normal intersecting the line of centers at P divides the center distance inversely proportional to the angular velocity ratio.
This document discusses different types of kinematic chains and their inversions. It describes a single slider crank mechanism used in reciprocating engines. First inversion occurs when the ground link is fixed, resulting in mechanisms like the reciprocating engine. Second inversion fixes the crank link, producing mechanisms like the Whitworth quick return. Third inversion fixes the connecting rod, exemplified by the crank and slotted lever quick return mechanism. Fourth inversion fixes the cylinder link, seen in mechanisms like the hand pump.
1. The document discusses different types of clutches, including friction clutches like single plate and multiplate clutches, cone clutches, centrifugal clutches, semi-centrifugal clutches, diaphragm clutches, positive clutches like dog clutches, hydraulic clutches, electromagnetic clutches, and vacuum clutches.
2. Key aspects of single plate clutches are described, including components like the clutch plate, pressure plate, and flywheel, as well as how pressing the clutch pedal disengages the clutch.
3. Nine types of clutches are listed and components or operating principles of representative clutches like single plate, multiplate, cone, centrifugal, and di
The document discusses various types of linkages and mechanisms used in machinery, including:
- Four-bar linkages and their inversions like crank-rocker, double crank, and double rocker mechanisms.
- Slider-crank mechanisms which convert rotary to reciprocal motion, and their inversions.
- Quick-return mechanisms like the drag link and crank and slotted lever types, which provide a slower cutting stroke and faster return stroke.
- Other topics covered include transmission angles in four-bar linkages and the Scotch yoke mechanism.
The document discusses various types of couplings, clutches, and brakes used for power transmission. It describes rigid couplings like sleeve, split muff, and flange couplings that connect shafts in perfect alignment. Flexible couplings like bush pin, Oldham, and universal joints are also covered, which allow for some misalignment between shafts. Various clutches and brakes used to control motion like disc, cone, centrifugal, band, and internal shoe brakes are also summarized.
This document discusses different types of shaft couplings, including rigid couplings like sleeve, clamp, and flange couplings as well as flexible couplings like bushed pin, universal, and Oldham couplings. It describes the purpose of couplings in connecting shafts and allowing for misalignment while transmitting motion. Requirements for good shaft couplings include easy connection/disconnection, full power transmission without losses, holding shafts in alignment, and reducing shock loads. The document concludes with information on coupling maintenance through inspection and lubrication and potential failure modes from improper installation or operation beyond design capabilities.
Cams are devices that convert rotary motion to linear motion. A cam mechanism consists of a cam and follower mounted on a fixed frame. There are various types of cams including plate, face, and cylindrical cams. Cams can have different profiles like pear, circular, or heart shaped depending on how the follower needs to move. Cams are used in applications like engines and looms to control motion. They allow for coordinating large numbers of input/output motions in a compact space.
1. The document discusses the fundamentals and types of mechanisms in machine theory. It covers kinematics, dynamics, types of links, kinematic pairs, and classifications of kinematic pairs.
2. A kinematic chain is formed when kinematic pairs are coupled together to transmit motion. The relationships between the number of links, pairs, and joints in a kinematic chain are explained.
3. Common kinematic chains including four-bar chains, single slider-crank chains, and double slider-crank chains are described. Inversions of mechanisms by fixing different links are used to obtain different mechanisms.
This document provides an overview of dynamics of machines including:
1. It defines force, applied force, constraint forces, and types of constrained motions like completely, incompletely, and successfully constrained motions.
2. It discusses static force analysis, dynamic force analysis, and conditions for static and dynamic equilibrium.
3. It covers concepts like inertia, inertia force, inertia torque, D'Alembert's principle, and principle of superposition.
4. It derives expressions for forces acting on the reciprocating parts of an engine while neglecting the weight of the connecting rod.
The document discusses equivalent dynamical systems used to model the motion of rigid bodies acted on by external forces. It defines an equivalent dynamical system as one where: 1) the sum of the masses equals the total body mass, 2) the center of gravity of the masses matches the body's, and 3) the sum of the mass moments of inertia about the center of gravity equals the body's. It then gives an example of calculating the equivalent dynamical system for a connecting rod suspended and oscillating, determining the radius of gyration and placing one mass at the small end center and solving to find the location of the other mass.
This document discusses mechanisms and kinematic pairs. It defines the different types of links and kinematic pairs, including sliding, turning, rolling, screw and spherical pairs. It also describes degrees of freedom, Grubler's criterion, and Kutzbach's criterion for determining degrees of freedom in planar mechanisms. Common mechanisms are discussed like the four bar linkage, slider crank mechanism, and inversions of mechanisms.
This document discusses free vibration in mechanical systems. It begins by defining free vibration as the motion of an elastic body after being displaced from its equilibrium position and released, without any external forces acting on it. The body undergoes oscillatory motion as the internal elastic forces cause it to return to the equilibrium position, overshoot, and repeat indefinitely.
It then covers key terms used to describe vibratory motion like period, cycle, and frequency. It describes the different types of vibratory motion including free/natural vibration, forced vibration, and damped vibration. Methods for calculating the natural frequency of longitudinal and transverse vibrations are presented, including the equilibrium method, energy method, and Rayleigh's method. Concepts of damping,
This document discusses cams and followers. It begins by defining cams and their uses, then classifies cams based on their input/output motions and the shape of the follower. It describes different types of followers like knife edge, roller, flat faced, and spherical faced followers. It also classifies followers based on their motion path. The document continues by defining cam nomenclature terms like cam profile, base circle, trace point, pitch curve, prime circle, pressure angle, and pitch point. It describes the motion of the follower in terms of rise, fall, and dwell. It discusses different types of follower motion including uniform, simple harmonic, uniform acceleration/retardation, and cycloidal motion. It provides examples
This document discusses power transmission using belt drives. It begins by introducing belt drives as a system used to transmit power from one mechanical element to another. The main types of belt drives are then described, including flat belts, V-belts, and circular belts. Key terms used in belt drives like driver, driven, tight side, and slack side are also defined. The document then discusses factors for selecting a belt drive system and provides examples of belt drives in various machines. It also covers velocity ratio calculations, slippage calculations, and examples problems determining pulley sizes for required speeds.
Three types of gear trains are described:
1. Simple gear trains involve one gear on each shaft to transmit power.
2. Compound gear trains have more than one gear on a shaft, allowing for larger speed reductions.
3. Epicyclic gear trains have gears mounted on shafts that can move relative to a fixed axis, enabling high velocity ratios with moderate sized gears. Epicyclic trains are used in automotive differentials and machinery.
The document discusses different types of mechanisms and their inversions. It describes three main types of kinematic chains: four bar chains, single slider crank chains, and double slider crank chains. It provides examples of inversions for each type. For four bar chains, inversions include double cranks and crank-rocker mechanisms. Inversions of single slider crank chains include pendulum pumps, oscillating cylinder engines, and rotary internal combustion engines. Inversions of double slider crank chains include elliptical couplings and scotch yoke mechanisms.
This document provides an introduction to mechanisms and kinematics. It defines mechanisms as assemblies of rigid bodies connected by joints that allow specified motions. Kinematics is the study of relative motion between parts without considering forces. There are different types of kinematic joints (binary, ternary) and pairs (sliding, turning, rolling) that connect links and constrain their motion. The degrees of freedom of a mechanism can be calculated using Kutzbach's criterion which considers the number of links, joints and higher pairs. Simple and compound machines are formed from combinations of mechanisms.
This document discusses different types of gear trains:
1. Simple gear train which uses one gear on each shaft to transmit motion.
2. Compound gear train which uses more than one gear on a shaft.
3. Reverted gear train where the first and last gears are co-axial and rotate in the same direction.
4. Epicyclic gear train where the gear axes can move relative to a fixed axis, allowing one gear to drive another in circular motion.
Formulas for speed ratio and train value are provided for each gear train type. Examples of applications like differentials are also mentioned.
Unit 7-gear trains, Kinematics of machines of VTU Syllabus prepared by Hareesha N Gowda, Asst. Prof, Dayananda Sagar College of Engg, Blore. Please write to hareeshang@gmail.com for suggestions and criticisms.
This document discusses the law of gearing in three main points:
1) The common normal at the point of contact between gear teeth must always pass through the pitch point. This is the fundamental condition for designing gear teeth profiles.
2) The angular velocity ratio between two gears must remain constant throughout meshing.
3) The angular velocity ratio is inversely proportional to the ratio of the distances of the pitch point P from the gear centers O1 and O2. The common normal intersecting the line of centers at P divides the center distance inversely proportional to the angular velocity ratio.
This document discusses different types of kinematic chains and their inversions. It describes a single slider crank mechanism used in reciprocating engines. First inversion occurs when the ground link is fixed, resulting in mechanisms like the reciprocating engine. Second inversion fixes the crank link, producing mechanisms like the Whitworth quick return. Third inversion fixes the connecting rod, exemplified by the crank and slotted lever quick return mechanism. Fourth inversion fixes the cylinder link, seen in mechanisms like the hand pump.
1. The document discusses different types of clutches, including friction clutches like single plate and multiplate clutches, cone clutches, centrifugal clutches, semi-centrifugal clutches, diaphragm clutches, positive clutches like dog clutches, hydraulic clutches, electromagnetic clutches, and vacuum clutches.
2. Key aspects of single plate clutches are described, including components like the clutch plate, pressure plate, and flywheel, as well as how pressing the clutch pedal disengages the clutch.
3. Nine types of clutches are listed and components or operating principles of representative clutches like single plate, multiplate, cone, centrifugal, and di
The document discusses various types of linkages and mechanisms used in machinery, including:
- Four-bar linkages and their inversions like crank-rocker, double crank, and double rocker mechanisms.
- Slider-crank mechanisms which convert rotary to reciprocal motion, and their inversions.
- Quick-return mechanisms like the drag link and crank and slotted lever types, which provide a slower cutting stroke and faster return stroke.
- Other topics covered include transmission angles in four-bar linkages and the Scotch yoke mechanism.
The document discusses various types of couplings, clutches, and brakes used for power transmission. It describes rigid couplings like sleeve, split muff, and flange couplings that connect shafts in perfect alignment. Flexible couplings like bush pin, Oldham, and universal joints are also covered, which allow for some misalignment between shafts. Various clutches and brakes used to control motion like disc, cone, centrifugal, band, and internal shoe brakes are also summarized.
This document discusses different types of shaft couplings, including rigid couplings like sleeve, clamp, and flange couplings as well as flexible couplings like bushed pin, universal, and Oldham couplings. It describes the purpose of couplings in connecting shafts and allowing for misalignment while transmitting motion. Requirements for good shaft couplings include easy connection/disconnection, full power transmission without losses, holding shafts in alignment, and reducing shock loads. The document concludes with information on coupling maintenance through inspection and lubrication and potential failure modes from improper installation or operation beyond design capabilities.
Cams are devices that convert rotary motion to linear motion. A cam mechanism consists of a cam and follower mounted on a fixed frame. There are various types of cams including plate, face, and cylindrical cams. Cams can have different profiles like pear, circular, or heart shaped depending on how the follower needs to move. Cams are used in applications like engines and looms to control motion. They allow for coordinating large numbers of input/output motions in a compact space.
1. The document discusses the fundamentals and types of mechanisms in machine theory. It covers kinematics, dynamics, types of links, kinematic pairs, and classifications of kinematic pairs.
2. A kinematic chain is formed when kinematic pairs are coupled together to transmit motion. The relationships between the number of links, pairs, and joints in a kinematic chain are explained.
3. Common kinematic chains including four-bar chains, single slider-crank chains, and double slider-crank chains are described. Inversions of mechanisms by fixing different links are used to obtain different mechanisms.
This document provides an overview of dynamics of machines including:
1. It defines force, applied force, constraint forces, and types of constrained motions like completely, incompletely, and successfully constrained motions.
2. It discusses static force analysis, dynamic force analysis, and conditions for static and dynamic equilibrium.
3. It covers concepts like inertia, inertia force, inertia torque, D'Alembert's principle, and principle of superposition.
4. It derives expressions for forces acting on the reciprocating parts of an engine while neglecting the weight of the connecting rod.
The document discusses equivalent dynamical systems used to model the motion of rigid bodies acted on by external forces. It defines an equivalent dynamical system as one where: 1) the sum of the masses equals the total body mass, 2) the center of gravity of the masses matches the body's, and 3) the sum of the mass moments of inertia about the center of gravity equals the body's. It then gives an example of calculating the equivalent dynamical system for a connecting rod suspended and oscillating, determining the radius of gyration and placing one mass at the small end center and solving to find the location of the other mass.
This document discusses mechanisms and kinematic pairs. It defines the different types of links and kinematic pairs, including sliding, turning, rolling, screw and spherical pairs. It also describes degrees of freedom, Grubler's criterion, and Kutzbach's criterion for determining degrees of freedom in planar mechanisms. Common mechanisms are discussed like the four bar linkage, slider crank mechanism, and inversions of mechanisms.
This document discusses free vibration in mechanical systems. It begins by defining free vibration as the motion of an elastic body after being displaced from its equilibrium position and released, without any external forces acting on it. The body undergoes oscillatory motion as the internal elastic forces cause it to return to the equilibrium position, overshoot, and repeat indefinitely.
It then covers key terms used to describe vibratory motion like period, cycle, and frequency. It describes the different types of vibratory motion including free/natural vibration, forced vibration, and damped vibration. Methods for calculating the natural frequency of longitudinal and transverse vibrations are presented, including the equilibrium method, energy method, and Rayleigh's method. Concepts of damping,
This document discusses cams and followers. It begins by defining cams and their uses, then classifies cams based on their input/output motions and the shape of the follower. It describes different types of followers like knife edge, roller, flat faced, and spherical faced followers. It also classifies followers based on their motion path. The document continues by defining cam nomenclature terms like cam profile, base circle, trace point, pitch curve, prime circle, pressure angle, and pitch point. It describes the motion of the follower in terms of rise, fall, and dwell. It discusses different types of follower motion including uniform, simple harmonic, uniform acceleration/retardation, and cycloidal motion. It provides examples
This document discusses power transmission using belt drives. It begins by introducing belt drives as a system used to transmit power from one mechanical element to another. The main types of belt drives are then described, including flat belts, V-belts, and circular belts. Key terms used in belt drives like driver, driven, tight side, and slack side are also defined. The document then discusses factors for selecting a belt drive system and provides examples of belt drives in various machines. It also covers velocity ratio calculations, slippage calculations, and examples problems determining pulley sizes for required speeds.
Three types of gear trains are described:
1. Simple gear trains involve one gear on each shaft to transmit power.
2. Compound gear trains have more than one gear on a shaft, allowing for larger speed reductions.
3. Epicyclic gear trains have gears mounted on shafts that can move relative to a fixed axis, enabling high velocity ratios with moderate sized gears. Epicyclic trains are used in automotive differentials and machinery.
The document discusses different types of mechanisms and their inversions. It describes three main types of kinematic chains: four bar chains, single slider crank chains, and double slider crank chains. It provides examples of inversions for each type. For four bar chains, inversions include double cranks and crank-rocker mechanisms. Inversions of single slider crank chains include pendulum pumps, oscillating cylinder engines, and rotary internal combustion engines. Inversions of double slider crank chains include elliptical couplings and scotch yoke mechanisms.
- The document summarizes inversions of single and double slider crank chains. It discusses the first, second, third, and fourth inversions of a single slider crank chain and their applications.
- It also discusses the crank and slotted quick return mechanism used in shaping machines. It provides the equations to calculate the time ratio of cutting to return strokes.
- Additionally, it discusses inversions of a double slider crank chain including the elliptical trammels, Scotch yoke mechanism, and Oldham's coupling along with examples and applications of each.
This document discusses the inversion of mechanisms. It begins by defining inversion of mechanisms as generating different mechanisms by fixing one link in a kinematic chain. It then discusses three types of inversions: 1) inversion of a four bar chain, which includes inverting links in a chain with four rigid links connected by four pin joints, 2) inversion of a single slider crank chain, which includes mechanisms like a pendulum pump or oscillating cylinder engine, and 3) inversion of a double slider crank chain, which includes mechanisms like an elliptical trammel or scotch yoke mechanism. Diagrams and examples are provided for each type of inversion.
1. The document discusses various mechanisms including quick return motion mechanisms, straight line motion mechanisms, intermittent motion mechanisms, and steering gear mechanisms.
2. Specific mechanisms covered include the drag link mechanism, Whitworth mechanism, crank and slotted lever mechanism, Peaucellier's mechanism, Geneva wheel mechanism, ratchet and pawl mechanism, and Ackerman steering gear mechanism.
3. Key aspects of each mechanism such as their working principles, components, and applications are described.
This document provides an overview of the course ME3491 – Theory of Machines taught by Mr. M. Dhanenthiran. It discusses the following key topics:
1. The course covers kinematics of mechanisms including terminology, kinematic inversions of 4-bar and slide crank chains, velocity/acceleration polygons, analytical and computer methods, and cam classifications.
2. Theory of machines is the applied science used to understand relative motion and forces between machine parts. It involves kinematic and kinetic analysis as well as mechanism synthesis.
3. Mechanisms are combinations of rigid bodies that transmit and modify motion. Examples covered include slider crank, inversions of single/double slider crank chains
The document discusses various power transmission systems used in industrial robotics including gears, belts, chains, shafts, and motion conversion mechanisms. Gears can be classified as external/internal or spur/helical/bevel/worm and are used to transmit motion between shafts. Belts and chains are also used for power transmission over longer distances. Motion conversion systems like lead screws, rack and pinion, and cam mechanisms are used to convert between rotary and linear motion.
1. The document describes the working of a quick return mechanism, which is used to convert rotary motion to reciprocating motion at different speeds for the forward and backward strokes.
2. It specifically discusses the quick return mechanism used in shaping machines, which uses a sliding block on a slotted bar connected to a ram to rapidly return the cutting tool to its starting position.
3. Applications where a quick return mechanism provides benefits include presses and machines like shaping machines, where reducing the non-cutting return time can improve efficiency.
1. Kinematics is the study of motion without consideration of forces or masses. It examines the motion of elements in mechanisms such as their position, displacement, velocity, and acceleration.
2. A mechanism transmits motion and power from an input point to an output point through a series of links connected by kinematic pairs. The degrees of freedom of a mechanism determine how many inputs are needed to fully define the motion.
3. Important mechanisms include the four-bar linkage, slider-crank mechanism, and their inversions which have different links fixed. Quick return mechanisms use configurations like the drag link or crank and slot to provide faster return strokes.
It is a type of steam engine where a pivoted overhead beam is used to apply the force from a vertical piston to a vertical connecting rod.
It is basically a 6 link mechanism that converts rotary motion of crank into linear straight line motion of vertical sliding link that in practice is used in pumps and other purposes.
The document provides an overview of theory of machines and machine elements design. It discusses kinematics, which is the study of motion without considering forces. Kinematics of machines deals with the relative motion between machine parts through displacement, velocity and acceleration. A mechanism is defined as part of a machine that transmits motion and power from input to output. Key concepts discussed include links, kinematic pairs, degrees of freedom, and inversions of mechanisms. Common mechanisms like slider crank chains and their inversions are presented. The document also discusses straight line motion generators, intermittent motion mechanisms, and mechanical advantage in mechanisms.
This document provides information about different types of drives (actuation systems) including DC motors, AC motors, and stepper motors. It discusses the construction, working principles, advantages, disadvantages, and applications of each motor type. DC motors include brushed and brushless types. AC motors include synchronous and induction types. Stepper motors can be permanent magnet, variable reluctance, or hybrid synchronous types and operate by dividing a full rotation into discrete steps through electromagnetic pulses.
The document discusses various types of kinematic linkages including single slider crank chains and their inversions. It describes how fixing each link in a four bar linkage results in four possible inversions. Examples of applications are given for each inversion including internal combustion engines and air compressors. Double slider crank chains and their inversions are also covered along with examples like Scotch yoke mechanisms. Additional linkages and mechanisms discussed include straight line mechanisms, ratchets and pawls, indexing mechanisms, and rocking mechanisms.
This document outlines the syllabus for a course on Kinematics of Machinery across 5 units. Unit 1 covers mechanisms, kinematic links and pairs, constrained motion, and inversion of mechanisms. Unit 2 discusses straight line motion mechanisms and steering mechanisms. Unit 3 focuses on kinematics, velocity and acceleration diagrams, and instantaneous centers of rotation. Unit 4 examines cams and cam analysis. Finally, Unit 5 looks at gears, gear trains, and differentials. The overall objectives are to impart knowledge of mechanisms, teach analysis of link position/velocity/acceleration, and familiarize students with higher pairs like cams and gear design principles.
This document provides an overview of automatic transmissions, including their key components:
1. Torque converters connect the engine to the gear train and multiply torque through fluid dynamics.
2. Planetary gear sets within the transmission allow for different gear ratios.
3. Hydraulic pressure from the transmission fluid causes gear shifts within the transmission.
The document then discusses specific components in more detail, including the torque converter's impeller, turbine, stator, and one-way clutch, as well as epicyclic gear trains and their application in automatic transmissions.
Power transmission systems are used to transmit motion from a prime mover to end equipment. They include gears, belts, chains, and shafts. Gears transmit motion through meshing teeth and can be used to increase or decrease speed. Belts and chains are used over long distances. Motion is converted between rotary and linear using various mechanisms like lead screws, rack and pinion, and cams. Bearings support shafts and provide low friction rotation. Couplings connect transmission components.
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আমাদের সবার জন্য খুব খুব গুরুত্বপূর্ণ একটি বই ..বিসিএস, ব্যাংক, ইউনিভার্সিটি ভর্তি ও যে কোন প্রতিযোগিতা মূলক পরীক্ষার জন্য এর খুব ইম্পরট্যান্ট একটি বিষয় ...তাছাড়া বাংলাদেশের সাম্প্রতিক যে কোন ডাটা বা তথ্য এই বইতে পাবেন ...
তাই একজন নাগরিক হিসাবে এই তথ্য গুলো আপনার জানা প্রয়োজন ...।
বিসিএস ও ব্যাংক এর লিখিত পরীক্ষা ...+এছাড়া মাধ্যমিক ও উচ্চমাধ্যমিকের স্টুডেন্টদের জন্য অনেক কাজে আসবে ...
This presentation was provided by Steph Pollock of The American Psychological Association’s Journals Program, and Damita Snow, of The American Society of Civil Engineers (ASCE), for the initial session of NISO's 2024 Training Series "DEIA in the Scholarly Landscape." Session One: 'Setting Expectations: a DEIA Primer,' was held June 6, 2024.
Main Java[All of the Base Concepts}.docxadhitya5119
This is part 1 of my Java Learning Journey. This Contains Custom methods, classes, constructors, packages, multithreading , try- catch block, finally block and more.
LAND USE LAND COVER AND NDVI OF MIRZAPUR DISTRICT, UPRAHUL
This Dissertation explores the particular circumstances of Mirzapur, a region located in the
core of India. Mirzapur, with its varied terrains and abundant biodiversity, offers an optimal
environment for investigating the changes in vegetation cover dynamics. Our study utilizes
advanced technologies such as GIS (Geographic Information Systems) and Remote sensing to
analyze the transformations that have taken place over the course of a decade.
The complex relationship between human activities and the environment has been the focus
of extensive research and worry. As the global community grapples with swift urbanization,
population expansion, and economic progress, the effects on natural ecosystems are becoming
more evident. A crucial element of this impact is the alteration of vegetation cover, which plays a
significant role in maintaining the ecological equilibrium of our planet.Land serves as the foundation for all human activities and provides the necessary materials for
these activities. As the most crucial natural resource, its utilization by humans results in different
'Land uses,' which are determined by both human activities and the physical characteristics of the
land.
The utilization of land is impacted by human needs and environmental factors. In countries
like India, rapid population growth and the emphasis on extensive resource exploitation can lead
to significant land degradation, adversely affecting the region's land cover.
Therefore, human intervention has significantly influenced land use patterns over many
centuries, evolving its structure over time and space. In the present era, these changes have
accelerated due to factors such as agriculture and urbanization. Information regarding land use and
cover is essential for various planning and management tasks related to the Earth's surface,
providing crucial environmental data for scientific, resource management, policy purposes, and
diverse human activities.
Accurate understanding of land use and cover is imperative for the development planning
of any area. Consequently, a wide range of professionals, including earth system scientists, land
and water managers, and urban planners, are interested in obtaining data on land use and cover
changes, conversion trends, and other related patterns. The spatial dimensions of land use and
cover support policymakers and scientists in making well-informed decisions, as alterations in
these patterns indicate shifts in economic and social conditions. Monitoring such changes with the
help of Advanced technologies like Remote Sensing and Geographic Information Systems is
crucial for coordinated efforts across different administrative levels. Advanced technologies like
Remote Sensing and Geographic Information Systems
9
Changes in vegetation cover refer to variations in the distribution, composition, and overall
structure of plant communities across different temporal and spatial scales. These changes can
occur natural.
Executive Directors Chat Leveraging AI for Diversity, Equity, and InclusionTechSoup
Let’s explore the intersection of technology and equity in the final session of our DEI series. Discover how AI tools, like ChatGPT, can be used to support and enhance your nonprofit's DEI initiatives. Participants will gain insights into practical AI applications and get tips for leveraging technology to advance their DEI goals.
2. Theory Of Machines
• Branch of Engineering Science which deals
with study of relative motion between various
parts of a machine
2By Pooja Katkar
3. Divisions of Mechanics
Mechanics
Deals with study of
motions
Dynamics
Deals with systems
which change with
time
Kinetics
Deals with Motion
and Time
Kinematics
Deals with Motion,
Time and Forces.
Statics
Deals with systems
which don’t change
with time
3By Pooja Katkar
4. Statics Kinematics Kinetics
STRUCTURE MECHANISM MACHINE
• Machine – device to transfer or transform energy to
do useful work.
• Mechanism – device to transfer or transform given
input motion to specified output motion
• Structure – a single body with no motion /
combination of bodies with no relative motion
4By Pooja Katkar
9. LINK
• Part of machine which moves relative to other part
• Rigid Body Flexible Body Liquid
9By Pooja Katkar
10. KINEMATIC PAIR
• Combination of two links kept in permanent contact
with each other
• relative motion(s) between them is constrained or
unconstrained
10By Pooja Katkar
12. BASED ON THE RELATIVE MOTION
• Sliding pair
• Rolling pair
• Turning pair
• Screw pair
• Spherical pair
12By Pooja Katkar
13. Classification of Pairs
• BASED ON NATURE OF CONTACT BETWEEN LINKS:
1. Lower Pairs -- Surface Contact
2. Higher Pairs – Point or Line Contact
13By Pooja Katkar
14. BASED ON HOW THE CONTACT IS MAINTAINED:
1. Self / Form Closed Pairs – Shape/Form of the links
maintain the contact. No external force.
2. Force Closed Pairs – External forces like gravitational force,
spring force etc., required to maintain the contact.
14By Pooja Katkar
15. Kinematic Chain
Assembly of links and pairs to produce required
/ specified output motion(s) for given input
motion(s)
15By Pooja Katkar
17. Mechanism
• Driver :
Part of mechanism which
moves initially w.r.t. frame
/fixed link
• Follower :
Part of mechanism to which
motion is transmitted
17
Kinematic
chain
One link
fixed
Mechanism
By Pooja Katkar
19. Kinematic Inversions
• Process of obtaining different mechanisms from the
same kinematic chain, by fixing different links in turn,
is known as kinematic inversion.
• Inversion of the kinematic chain depends upon which
link is fixed.
19By Pooja Katkar
20. Types of Kinematic Chains
• Kinematics with 4 lower pairs are in
consideration & all pairs are sliding or
turning pair
1. Four Bar Chain /Quadric Cycle Chain
2. Single Slider Crank
3. Double Slider Chain
20By Pooja Katkar
21. Grashoff’s Law
• Lengths of links: Longest link - l
Shortest link - s
Intermediate links – p, q
• Atleast one link will have full rotation if
• l + s ≤ p + q
21By Pooja Katkar
22. Important Kinematic Chains
consist of four lower pairs
All pairs are sliding pair or a turning pair.
kinematic chains important from the subject point
of view :
1. Four bar chain or quadric cyclic chain
2. Single slider crank chain
3. Double slider crank chain
22By Pooja Katkar
23. Four Bar Chain /Quadric Cycle Chain
•crank or driver - the shortest
link makes a complete
revolution relative to the other
three links
•lever or rocker or follower -
makes a partial rotation or
oscillates
•connecting rod or coupler -
connects the crank and lever
•Frame - fixed link
23
In each inversion , the shortest link s is adjacent to the longest link l
By Pooja Katkar
24. INVERSIONS OF Four Bar Chain
• drag-link mechanism -fixing the shortest link s as the
frame,both links adjacent to s can rotate continously, and
both are properly described as cranks: the shortest used as
the input
• crank-rocker mechanism - shortest links is adjacent to the
fixed link Link s, the crank, since it is able to rotate
continously , and link p, which can only oscilate between
limits, is the rocker.
• double-rocker mechanism - fixing the link opposite to s
,although link s is able to make a complete revolution ,
neither link adjacent to the frame can do so; both must
oscilate between limits and are therefore rockers.
• parallelogram or change-point or crossover-position
mechanism - s=p and l=q
24By Pooja Katkar
27. FBC-Inversion 1-(Crank Rocker) BEAM
ENGINE
• purpose of this mechanism is
to convert rotary motion into
reciprocating motion.
• crank rotates about fixed
centre A
• lever = CDE ; oscillates about
fixed centre D
• end E of is connected to a
piston rod
• Piston rod reciprocates due
to the rotation of the crank.
27By Pooja Katkar
30. Pantographs
• bends to allow a user to
draw an image while
simultaneously drawing two
or more copies of it.
• can also make smaller or
larger copies of an
• used is electric traction
railway applications for
taking power from
overhead HT wires. riginal
drawing.
30By Pooja Katkar
31. FBC-Inversion 3-(Double crank
mechanism) Coupling rod of a
locomotive/Locomotive Coupler
Locomotive Coupler
• AD =BC - cranks
• link CD acts as a coupling
rod and the link AB is fixed
• used for transmitting rotary
motion from one wheel to
the other wheel.
31By Pooja Katkar
33. 2. Single slider crank chain
Found in reciprocating steam engine
mechanism
• modification
of the basic
four bar chain
• mechanism
converts
rotary motion
into
reciprocating
motion and
vice versa.
33By Pooja Katkar
34. 2. Single slider crank chain
• consist of one sliding pair and three turning pairs.
• link 1 =frame of the engine, (fixed)
• link 2 = the crank
• link 3 =connecting rod
• link 4 =cross-head.
• As the crank rotates, the cross-head reciprocates in
the guides and thus the piston reciprocates in the
cylinder.
• How Slider Crank Mechanism Works.mp4
34By Pooja Katkar
35. SSC-Inversion 1 – Pendulum Pump/Bull
engine
• link 4 = fixed (i.e.cylinder
sliding pair)
• link 2 =the crank
• link 3 = connecting rod
oscillates about a pin pivoted
A
• Link 1 fixed with link 4 at A and
the piston attached to the
piston rod (link 1)
• Piston rod reciprocates
• The duplex pump which is
used to supply feed water to
boilers have two pistons
attached to link 1
35By Pooja Katkar
37. SSC-Inversion 2- Rotary I.C.Engine
• consists of seven cylinders in
one plane
• all revolves about fixed centre
D,
• crank (link 2) is fixed
• connecting rod (link 4) rotates
• the piston (link 3) reciprocates
inside the cylinders forming
link 1.
• Gnome engine
37By Pooja Katkar
39. SSC-Inversion 3 – Oscillating Cylinder
Engine
• converts reciprocating motion
into rotary motion.
• the link 3 forming the turning
pair is fixed
• The link 3 = connecting rod of
a reciprocating steam engine
mechanism.
• crank (link 2) rotates
• piston attached to piston rod
(link 1) reciprocates
• cylinder (link 4) oscillates
about a pin pivoted to the
fixed link at A.
39By Pooja Katkar
41. SSC-Inversion 4 – Whithworth Quick
Return Mechanism
• used in shaping and slotting machines
• link CD (link 2) forming the turning pair is fixed
• link 2 corresponds to a crank in a reciprocating steam
engine
• driving crank CA (link 3) rotates at a uniform angular speed.
• The slider (link 4) attached to the crank pin at A slides along
the slotted bar PA (link 1) which oscillates at a pivoted point
D.
• The connecting rod PR carries the ram at R to which a
cutting tool is fixed.
• The motion of the tool is constrained along the line RD
produced, i.e. along a line passing through D and
perpendicular to CD.
41By Pooja Katkar
43. SSC-Inversion 5 – Quick Return
Mechanism of Shaper
• shaping machines, slotting machines and in
rotary internal combustion engines
• AC (i.e. link 3) = turning pair is fixed
• Link 3 = connecting rod of a reciprocating
steam engine.
• CB = driving crank revolves with uniform
angular speed about the fixed centre C.
• A sliding block attached to the crank pin at B
slides along the slotted bar AP and thus
causes AP to oscillate about the pivoted point
A.
• A short link PR transmits the motion from AP
to the ram which carries the tool and
reciprocates along the line of stroke R1R2.
• The line of stroke of the ram (i.e. R1R2) is
perpendicular to AC produced.
• videos & imagesshaper machine.gif
• videos & imagesshaper4a.gif
43By Pooja Katkar
44. 3.Double Slider Chain
• consists of two turning pairs and two sliding
pairs
• link 2 and link 1 form one turning pair and link
2 and 3 form the second turning pair.
• The link 3 and 4 form one sliding pair and link
1 and link 4 form the second sliding pair.
44By Pooja Katkar
45. DSC Inversion 1 - Scotch Yoke
Mechanism
• either the link 1 or link 3 is
fixed
• fixed link 1 guides the frame.
• the link 2 (=crank) rotates
about B as centre,
• the link 4 (=frame)
reciprocates.
• APPLICATION : used for
converting rotary motion into
a reciprocating motion
videos & imagesScotch-Yoke.gif
45By Pooja Katkar
46. DSC Inversion 2 – Elliptical Trammel
• slotted plate (link 4)
• The fixed plate has two straight
grooves cut in it, at right angles to
each other.
• link 1 and link 3 = sliders and form
sliding pairs with link 4.
• link AB (link 2) is a bar which forms
turning pairs with links 1 and 3.
• When the links 1 and 3 slide along
their respective grooves, any point
on the link 2 such as P traces out an
ellipse on the surface of link 4, as
shown in Fig.
• A little consideration will show that
AP and BP are the semi-major axis
and semi-minor axis of the ellipse
respectively.
• Application :instrument used for
drawing ellipses.
videos & imageselliptical
trammel.gif
46By Pooja Katkar
48. 48
•The shafts are coupled in such a way that if one shaft rotates, the other shaft
also rotates at the same speed.
•This inversion is obtained by fixing the link 2
•The shafts to be connected have two flanges (link 1 and link 3) rigidly
fastened at their ends by forging.
•The link 1 and link 3 form turning pairs with link 2.
•These flanges have diametrical slots cut in their inner faces
•The intermediate piece (link 4) which is a circular disc, have two tongues (i.e.
diametrical projections) T1 and T2 on each face at right angles to each other
•The tongues on the link 4 closely fit into the slots in the two flanges (link 1
and link 3).
• The link 4 can slide or reciprocate in the slots in the flanges.
•APPLICATION : used for connecting two parallel shafts whose axes are at a
small distance apart.
By Pooja Katkar
49. References
• Theory of Machines by Khurmi-Gupta
• Theory of Machines by S.S.Ratan
• Google images
49By Pooja Katkar