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.
Unit-3 - Velocity and acceleration of mechanisms, 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.
Kinematic link, Types of links, Kinematic pair, Types of constrained motions, Types of Kinematic pairs, Kinematic chain, Types of joints, Mechanism, Machine, Degree of freedom, Mobility of Mechanism, Inversion, Grashoff’s law, Four-Bar Chain and its Inversions, Slider crank Chain and its Inversions, Double slider crank Chain and its Conversions, Mechanisms with Higher pairs, Equivalent Linkages and its Cases - Sliding Pairs in Place of Turning Pairs, Spring in Place of Turning Pairs, Cam Pair in Place of Turning Pairs
Unit-3 - Velocity and acceleration of mechanisms, 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.
Kinematic link, Types of links, Kinematic pair, Types of constrained motions, Types of Kinematic pairs, Kinematic chain, Types of joints, Mechanism, Machine, Degree of freedom, Mobility of Mechanism, Inversion, Grashoff’s law, Four-Bar Chain and its Inversions, Slider crank Chain and its Inversions, Double slider crank Chain and its Conversions, Mechanisms with Higher pairs, Equivalent Linkages and its Cases - Sliding Pairs in Place of Turning Pairs, Spring in Place of Turning Pairs, Cam Pair in Place of Turning Pairs
Kinematics: The study of motion (position, velocity, acceleration). A major goal of understanding kinematics is to develop the ability to design a system that will satisfy specified motion requirements. This will be the emphasis of this class.
• Kinetics: The effect of forces on moving bodies. Good kinematic design should produce good kinetics.
• Mechanism: A system design to transmit motion. (low forces)
• Machine: A system designed to transmit motion and energy. (forces involved
Units
and dimensions Properties of fluids mass density, specific weight,
specific volume, specific gravity, viscosity, compressibility, vapor pressure,
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Author: Robbie Edward Sayers
Collaborators and co editors: Charlie Sims and Connor Healey.
(C) 2024 Robbie E. Sayers
Hierarchical Digital Twin of a Naval Power SystemKerry Sado
A hierarchical digital twin of a Naval DC power system has been developed and experimentally verified. Similar to other state-of-the-art digital twins, this technology creates a digital replica of the physical system executed in real-time or faster, which can modify hardware controls. However, its advantage stems from distributing computational efforts by utilizing a hierarchical structure composed of lower-level digital twin blocks and a higher-level system digital twin. Each digital twin block is associated with a physical subsystem of the hardware and communicates with a singular system digital twin, which creates a system-level response. By extracting information from each level of the hierarchy, power system controls of the hardware were reconfigured autonomously. This hierarchical digital twin development offers several advantages over other digital twins, particularly in the field of naval power systems. The hierarchical structure allows for greater computational efficiency and scalability while the ability to autonomously reconfigure hardware controls offers increased flexibility and responsiveness. The hierarchical decomposition and models utilized were well aligned with the physical twin, as indicated by the maximum deviations between the developed digital twin hierarchy and the hardware.
CFD Simulation of By-pass Flow in a HRSG module by R&R Consult.pptxR&R Consult
CFD analysis is incredibly effective at solving mysteries and improving the performance of complex systems!
Here's a great example: At a large natural gas-fired power plant, where they use waste heat to generate steam and energy, they were puzzled that their boiler wasn't producing as much steam as expected.
R&R and Tetra Engineering Group Inc. were asked to solve the issue with reduced steam production.
An inspection had shown that a significant amount of hot flue gas was bypassing the boiler tubes, where the heat was supposed to be transferred.
R&R Consult conducted a CFD analysis, which revealed that 6.3% of the flue gas was bypassing the boiler tubes without transferring heat. The analysis also showed that the flue gas was instead being directed along the sides of the boiler and between the modules that were supposed to capture the heat. This was the cause of the reduced performance.
Based on our results, Tetra Engineering installed covering plates to reduce the bypass flow. This improved the boiler's performance and increased electricity production.
It is always satisfying when we can help solve complex challenges like this. Do your systems also need a check-up or optimization? Give us a call!
Work done in cooperation with James Malloy and David Moelling from Tetra Engineering.
More examples of our work https://www.r-r-consult.dk/en/cases-en/
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9. DESIGN REQUIREMENTS
Design: determination of shape and size
1. Requires knowledge of material
2. Requires knowledge of stress
Requires knowledge of load acting
(i) static load
(ii) dynamic/inertia load
13. PAIRING ELEMENTS
Pairing elements: the geometrical forms by which two
members of a mechanism are joined together, so that the
relative motion between these two is consistent. Such a pair of
links is called Kinematic Pair.
16. DEGREES OF FREEDOM (DOF):
It is the number of independent coordinates required to
describe the position of a body.
17. TYPES OF KINEMATIC PAIRS
Based on nature of contact between elements
(i) Lower pair : The joint by which two members are
connected has surface contact.
18. (ii) Higher pair: The contact between the pairing elements
takes place at a point or along a line.
19. Based on relative motion between pairing elements
(a) Siding pair [DOF = 1]
(b) Turning pair (revolute pair) [DOF = 1]
20. Based on relative motion between pairing elements
(c) Cylindrical pair [DOF = 2]
(d) Rolling pair [DOF = 1]
21. Based on relative motion between pairing elements
(e) Spherical pair [DOF = 3]
Eg. Ball and socket joint
(f) Helical pair or screw pair [DOF = 1]
22. Based on the nature of mechanical constraint
(a) Closed pair
(b) Unclosed or force closed pair
27. KINEMATIC CHAIN
Group of links either joined together or
arranged in a manner that permits them to
move relative to one another.
28. LOCKED CHAIN OR STRUCTURE
Links connected in such a way that no relative
motion is possible.
29. MECHANISM
A mechanism is a constrained kinematic chain.
Motion of any one link in the kinematic chain
will give a definite and predictable motion
relative to each of the others. Usually one of
the links of the kinematic chain is fixed in a
mechanism
35. PLANAR MECHANISMS
When all the links of a mechanism have plane
motion, it is called as a planar mechanism. All
the links in a planar mechanism move in
planes parallel to the reference plane.
36. Degrees of freedom/mobility of a
mechanism
• It is the number of inputs (number of
independent coordinates) required to describe
the configuration or position of all the links of
the mechanism, with respect to the fixed link at
any given instant.
• DOF is the number of independent parameters (measurements) that are
needed to uniquely define its position in space at any instant of time.
37. GRUBLER’S CRITERION
Number of degrees of freedom of a mechanism is given by
F = 3(n-1)-2l-h. Where,
• F = Degrees of freedom
• n = Number of links in the mechanism.
• l = Number of lower pairs, which is obtained by counting the
number of joints. If more than two links are joined together at any
point, then, one additional lower pair is to be considered for every
additional link.
• h = Number of higher pairs
38. Examples - DOF
• F = 3(n-1)-2l-h
• Here, n = 4, l = 4 & h = 0.
• F = 3(4-1)-2(4) = 1
• I.e., one input to any one link will
result in definite motion of all the
links.
39. Examples - DOF
• F = 3(n-1)-2l-h
• Here, n = 5, l = 5 and h = 0.
• F = 3(5-1)-2(5) = 2
• I.e., two inputs to any two links are
required to yield definite motions in
all the links.
40. Examples - DOF
• F = 3(n-1)-2l-h
• Here, n = 6, l = 7 and h = 0.
• F = 3(6-1)-2(7) = 1
• I.e., one input to any one link will result in
definite motion of all the links.
41. Examples - DOF
• F = 3(n-1)-2l-h
• Here, n = 6, l = 7 (at the intersection of
2, 3 and 4, two lower pairs are to be
considered) and h = 0.
• F = 3(6-1)-2(7) = 1
42. Examples - DOF
• F = 3(n-1)-2l-h
• Here, n = 11, l = 15 (two lower
pairs at the intersection of 3, 4,
6; 2, 4, 5; 5, 7, 8; 8, 10, 11) and
h = 0.
• F = 3(11-1)-2(15) = 0
43. Examples - DOF
(a)
F = 3(n-1)-2l-h
Here, n = 4, l = 5 and h = 0.
F = 3(4-1)-2(5) = -1
I.e., it is a structure
(b)
F = 3(n-1)-2l-h
Here, n = 3, l = 2 and h = 1.
F = 3(3-1)-2(2)-1 = 1
(c)
F = 3(n-1)-2l-h
Here, n = 3, l = 2 and h = 1.
F = 3(3-1)-2(2)-1 = 1
44. INVERSIONS OF MECHANISM
A mechanism is one in which one of the links of a kinematic
chain is fixed. Different mechanisms can be obtained by fixing
different links of the same kinematic chain. These are called as
inversions of the mechanism.
45. FOUR BAR CHAIN
• (link 1) frame
• (link 2) crank
• (link 3) coupler
• (link 4) rocker
46. INVERSIONS OF FOUR BAR CHAIN
1. Crank-rocker mechanism
2. Drag link mechanism
3. Double rocker mechanism
60. Inversions of double slider crank mechanism
1
sin
cos 2
2
2
2
p
y
q
x
1
sin
cos 2
2
2
2
p
y
q
x
Elliptical trammel
AC = p and BC = q, then,
x = q.cosθ and y = p.sinθ.
Rearranging,
66. Crank and slotted lever quick return
motion mechanism
Courtesy:www.technologystudent.com
67. Application of Crank and slotted lever
quick return motion mechanism
Courtesy:www.technologystudent.com
68. Straight line motion mechanisms
Condition for perfect steering Locus of pt.C will be a straight
line, ┴ to AE if,
is constant.
Proof:
AC
AB
.
.,
.
const
AC
ifAB
const
AE
const
butAD
AD
AC
AB
AE
AE
AB
AC
AD
ABD
AEC