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Degrecs of Areedorm (por)
The number of independent parameters requived 40 speetty
Bh Svee
Abe posit? of a ink in oo mechanism (5 called degres
+ Generally there axe 6 POF» 3 dvanslctional 4 3 rotational
.
“An anconsirained link om @ place bas 3 por +
a translel\ional & \ role\fona!
Gnucbler's criterion
> 3Ca-0- 5-23
Fs No of OOF Ireebility F-\ Csingle. oor)
‘owt ¥g Ctwo DoF)
OS
y ee: Fea (structure)
{2 p0 ol joints
9°
a SCs
a2 or ae ee +
Grasheft's law
SS ee
Mot & 8 are the lengths of largesd and
dportest links» pt 4 are. lengibs of remaininy
Nos, Jor e planet & bar chain, ( fas x pet
te Grasho {lls loud
This
Inversion of meshouni'sry
Je methed of obtaining diff mechaoisin by fixing differ
Koes of
lnvereions of 4 bar eboio
~ Beam engio®
ole
= A\so ¥nown as crank 4 lever mechanism
+ Used 49 conve moire
ert rotary motion Ao reesproca ding mo
wcbeele
= coupled Gearns of a locomotive
"Also called double crank mech
+ Ao 4 co arc the cranks of equal length
te tal
edt post 210
wniad> 100
same Kinematic chain fs known as inversion
Binaries cookerose®
crank mmechonisro
1. elaling
« crooks (pe iee
digee /2: 1 0sgiie eens
cays bpstek, etn nhaliee. coechanis™
aoe and sioted NE
t
ye
5 used ta) sho-piny and slotting
she mecheniser
reachines:
«crank whieln| voto tes about centre &
ec is the
veuder @ pos both ctiding ood oscil
e662 is the eating stvck. 2b
Aing motion
Te are eh makes an
angle P
Angle:
fate one aur AB-AC AG Vwi
Fraroples of exact straight tine rot sian
> Scolt- Russel mechan tins
> Peaucellity meerenisne
A mechenism ,, , Approximnate s\rouiqh’ linc motion mechenism
P Weil mechanism «
> \n rocan position AB ¢,,epiarc ll Cvands ainda eves by a
tes Vertical Wine 6c
Andvpoit volimked ec will tralia “Siro sqhil io
fe . oP
Po AB
~ F will be dyeing a stv
> Chebychev's mechani sno
AB- cD
- wid point P Of link» Bc) dronces | approx stre_taha line.
Instamto_ncous. Cerbye ‘Cvirtuol Cenire)
1, > Instenien
ili fine)
Ree ee ave oir co coe 4 foo)
z ion Wow passes they
ap veach Trak! pes
a
ad wm considey 2
posit FB Inovder
= CE EE
eS
; seaaq No ee
two types of cnotisn. a motion of freinsladion fr! ax
aXe & a toledion frome to a!
The two! motors ‘ave
happaning simuttencously
The wrobincd motion of tvansled” 4 rolod® can be considered
98 €_ motion of pure rotedion about
any centre known
as insiontancous or uve luot
eemyre
es Ho of instantaneous cesires
iis 2 COav> nt 0 of links
en
\
74 SN Lass
eX
slider crank mechanism)
Types of inslamlancous centres
+ Fixed instantaneous centre sm, 4 Sp (ig)
> Permanent ic Ty 4 Tam
> Neiilber Tired nor permanent Tiy¢ Lay
kennedy's Theorern
MS Mbree bodies C links) veedive to corbother, they have >
4) sinslanlemeus centve and lie on o straight line ” &
Provt —
Jac are he
Ins, lee®
insla nlancous cemite. Assume Yer
Abel -Inc thivd 1c lee lie
culatde Ane Moe joining tay ¢ Dm:
Consider Tee om \ink @, ids velocity Vec will be acting
dr 40 Abe Nine Joining Las + Tee
Consider Tee on Vink c, the velocity Ver will be. acting 4+
do Woe Sine. foiming Tac +3 oe The point) trelmcenll nollie
lwo vel « Point Tee must Vicon Wor joining teaeTae
method
ow perk on a link by te
Velocity ol
va tg Enown in megnitede and
eer vat) cuca
Resolving vel olorg 8,
Vacos x - Va cos P
-p)
sincao-x)
ApPlyin4 Lami's Ancorene 19 oast
A pees .
ein (ao- 8? sin (90-4),
ar, sio@o- 6) _6 ee lean
2 In a pin foining 4 bar mechanism ,AB. 300mm, '
AD*600'm« , LGan< 60° The crank ap rolades unio
00 rpm. Locate of re & find Wgularvcl of tw
Nea = 100 rpre
Wen 2K Nem
@o
104A vadls
gy é j
Van = BA Uy,
YAP By
ins cue 5 qi <
w? Locate the insientlanceus cenires of
Length of crank 4 tonnteting rod arc 1004 400mm
the crank yotales cert with an’ angular vel of
the velocity of the slidey and angedar vel of
when crank makes 45° Srom Toe Oo
Belo live Velocity centre
l ea eas
Jay
Ec Vian = be
Van > ab
Vacs:
Veo - ob
‘ i 1eo core lens}
Trice A bat, chasm A&a, Ao is tbe ace alta om
2 awit.
The crank A® i 4ADMmM and rolaAes ad 120 ¥ Pr ch bwhitc
ij sul D. BC 4 AD are of equal
Nok co, Fomm long DSsciligAeg Dor ;
ti Dp: 60
legis: Find Ihc, angular vel of nk (co. “Eeapges
Nae “120 ypro sa
Usa = 0503 Kp ls ww
2
w
60
= 0.38 HID. Wd vadls
80
ING areos
The crank and connecting rod of a. steam ¢ng' i)
in clockwise direel
ce OND rels) >) The crank makes 180 rpm
when ih has urn as? from ine posit?. Wclermine velocity of
the study and angular vel of connecting tod
Nao = 180 rpm
tone = 6x vadls
Yeo = AOXWAD +0: Sx6K
F420 ls nme
@
1 Vasinde
\ Ve
\
Vey FG : P '
SMO Presticle cheses id megoiucdie ie eee
V4 will be having 2 components of Oceelerotion.
The Jengential mce Of A wd o
1
3. ny AO
Ceolviperel ace of Och ver ines
{i Aes Vac"
ho ' i
Ao.
WO) bas Mechanism ABCD, AD fs the Wred \i,
AB = Somm, we
DM Joomm lon
66tom , cn = » LBAD = 60". The cron eee
WH cot iy,
7
los -
has an fostantoncous angele Ve\ of tered |e #
A velaydoA” of 26rad)}c2 Find angular ace of [f, WBA “105 vada
Van = BA ¥en
<3
= 5x10 1105 ,
> 0525 mi) ¢
Veo > oats
Ves = o4 tls
Acc analysis
Ey Vina? f
oa = ]37
BA BA =
£ Wan ¥AB = 260-05 - 1-3 m]s*
BA
eevee
cB cB
4 Yen? Ter th. i
SRP TOA of SENG gene mechanism, calalate @
Wee of slider BubThe angular ace of link ap
20 rad]g
+ 0A volates ay
| UP iformly eo ao ete
jj ie
j Rae Oa ence 46 vole
y Woy a a xe
y, =
Be
ge
Crank of roletes with uniorm ace vel Seno
The Aangen’
comp of acc of sH-crank fs o
The. sli
direct” and bas tinear ace
an &® 12-4 mip
BA Oe
Ao Covioli!s componen), of
Acceleration
x et Toli's
When a slider is sliding along a reto-ing lita, evel" as
of ace comes into
Baronet
v
>
exsistonce y
Let w be Unc angular vel of link, v
linear
vel of sifdey, «
angular ace of link
Li Nineor foce of slidevs ¥ is the radial!
distance of poir? P
MiAcy G shord inierval di. a= wradt
(vasat) eos de -(weaditredrsindo-v
At
Regrets As M30; de 0
5 cosde =)
Ace of siidey 1» to AR sinds-0
Ace tr -lo AR
- visto des wricosd® -wr
e al
Vede , dr ae
dt oa
"Vw tWwvi vy = ZW teh
The componem’\ 2wv Is known as Coriolis comp of acc.
Fe, coriol’s corp = 2 x ang vel of Folasing liokx vel of slider
Coriohé corp of aca is clweys Lr to the link “S_ eMponendt
v ~. =
w Gos
aN oa
®
Pisa poiml on Slider 4 9 16
Poto\ P fog She
@ Point on hink bencath point & oi a 2
on Nia
These. pofots ar calkd coincident pofpis
%XGA = 5x2 10m) s*
The point p which is s\idiog 00 Abe Wak atlas 140 comp
Of ace
VThe comp U'* to ar
f~Arm|s* (timer au of slider]
Vi) Cortots comp ef c
Analylice 4. = Nioee* 2 12-8 myc? CDRs Vovatisg,
Mechanica)
Plating
“ Trensleting follower |
~ Based on shape al point of wolact
> Pin Aype follower. Tknite. edge foWower]
> Roller Aype follower
> Filed Tollower- (rmushroom Jollowey)
Based on dislence blw cam and follower axis
> olfsei follower |
eo F
cam Aereninology ee) 17 Mesure angle Crore)
Trece point: The reference point om Tollowcr for Wocing oo
Profile Foy keife cage follower , he racing poin’ i
ay Moc keike edge 4 for roller follower i is ot the cemWvo oF foley CEMWe of rola?
Pity curve: Path of tioce pofol assurning (hed the cand
ig sedionary 4 follower moves around tH.
~ Pic point + Point on the pitel wurve hewing max inoun
Pressure angle
~ Pressuuye angle: Angle blu the direct) of motion, ot Follow cy
and cw norma} to the piich curve .
Displece ment Dfagreso -
During jhe volcA® of Ane com,
eplerereny
Ahroungh eee cyde (30°) The
Follower executes a scvics of events
whieh can be represemted grophically
is known os Aisplaceraunt dia grom-
Motion of Abe follower
sum. when o particle moves on a circular path, if the
uniforen angetey va) XS projection on the d¥amctcy will
mekc a SHM- m velocity
constant vel of lollower is implics thot bc displacernent
of we Tollower is proportionc! 40 displacement af caro
hw
Cn
b wand ec ave const
vel ~evsn’d
relardot
Voi-lorm accelerc
The. displeecment diegrarn is © poratolic curve
bole ‘ oF
The eq, Jor motion 6f const acc tae ed
g= vok + 2 SA™
2
Wo ini-vel <6 Oswl
yee O: ay, s- bin.
wo
ak Cay,
wo soe
eis =
2»
b caves
eee Auth al
C@aj2)* Oa2 1
i a
VAS maximum when 6 ©2}2
Vione= Abu) cals
eydloidal tnotion
~A eyelofd is the focus of a. Peint on a circle. rol a
& stright line
Incase of cars, Ane. sAveight Vine is the
Aolel [nth or
Follower and dreamference of relling dvd wb
ony = by
3
bh
Medbemetically a eyeloid can be. expressed aa
Seo eters) Jan
i
3 an 5 = :
= I ao cmon Cnt vig Di splaceBen e
‘
eel
Angular di's placement
t dy dv vdeo
al do at
