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21ME51 - Theory of Machines

The document outlines the vision and mission of the Maharaja Institute of Technology Mysore, emphasizing the importance of technical education, research, and ethical practices. It details the course structure for 'Theory of Machines' (21ME51), including objectives, outcomes, and a comprehensive syllabus divided into modules covering kinematics, dynamics, gears, balancing, and vibrations. The program aims to equip students with essential engineering knowledge and skills necessary for solving complex engineering problems.

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0% found this document useful (0 votes)

1K views134 pages

21ME51 - Theory of Machines

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hk2288889

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Maharaja Education Trust (R), Mysuru

Maharaja Institute of Technology Mysore

Belawadi, Sriranga Pattana Taluk, Mandya – 571 477

Approved by AICTE, New Delhi,

Affiliated to VTU, Belagavi & Recognized by Government of Karnataka

Lecture Notes on
Mechatronics (21ME51)

Prepared by

Prof. Santhosh K G
Prof. Ravi kumar K S

Department of Mechanical Engineering

Maharaja Education Trust (R), Mysuru
Maharaja Institute of Technology Mysore
Belawadi, Sriranga Pattana Taluk, Mandya – 571 477

Vision/ ಆಶಯ

“To be recognized as a premier technical and management institution promoting extensive

education fostering research, innovation and entrepreneurial attitude"
ಸಂಶೆ ೋಧನೆ, ಆವಿಷ್ಕಾರ ಹಕಗೂ ಉದ್ಯಮಶೋಲತೆಯನ್ನು ಉತೆತೋಜಿಸನವ ಅಗರಮಕನ್ಯ ತಕಂತ್ರರಕ ಮತ್ನತ ಆಡಳಿತ್ ವಿಜ್ಞಕನ್

ಶಕ್ಷಣ ಕೆೋಂದ್ರವಕಗಿ ಗನರನತ್ರಸಿಕೊಳ್ಳುವುದ್ನ.

Mission/ ಧ್ಯೇಯ

➢ To empower students with indispensable knowledge through dedicated teaching and

collaborative learning.
ಸಮರ್ಪಣಕ ಮನೊೋಭಕವದ್ ಬೊೋಧನೆ ಹಕಗೂ ಸಹಭಕಗಿತ್ವದ್ ಕಲಿಕಕಕರಮಗಳಿಂದ್ ವಿದ್ಕಯರ್ಥಪಗಳ್ನ್ನು ಅತ್ಯತ್ೃಷ್ಟ

ಜ್ಞಕನ್ಸಂರ್ನ್ುರಕಗಿಸನವುದ್ನ.

➢ To advance extensive research in science, engineering and management disciplines.

ವೆೈಜ್ಞಕನಿಕ, ತಕಂತ್ರರಕ ಹಕಗೂ ಆಡಳಿತ್ ವಿಜ್ಞಕನ್ ವಿಭಕಗಗಳ್ಲಿಿ ವಿಸೃತ್ ಸಂಶೆ ೋಧನೆಗಳೆೊ ಡನೆ ಬೆಳ್ವಣಿಗೆ

ಹೊಂದ್ನವುದ್ನ.

➢ To facilitate entrepreneurial skills through effective institute - industry collaboration and

interaction with alumni.
ಉದ್ಯಮ ಕ್ೆೋತ್ಗಳೆೊ ಡನೆ ಸಹಯೋಗ, ಸಂಸ್ೆೆಯ ಹಿರಿಯ ವಿದ್ಕಯರ್ಥಪಗಳೆೊ ಂದಿಗೆ ನಿರಂತ್ರ ಸಂವಹನ್ಗಳಿಂದ್

ವಿದ್ಕಯರ್ಥಪಗಳಿಗೆ ಉದ್ಯಮಶೋಲತೆಯ ಕೌಶಲಯ ರ್ಡೆಯಲನ ನೆರವಕಗನವುದ್ನ.

➢ To instill the need to uphold ethics in every aspect.

ಜಿೋವನ್ದ್ಲಿಿ ನೆೈತ್ರಕ ಮೌಲಯಗಳ್ನ್ನು ಅಳ್ವಡಿಸಿಕೊಳ್ಳುವುದ್ರ ಮಹತ್ವದ್ ಕನರಿತ್ನ ಅರಿವು ಮೂಡಿಸನವುದ್ನ.

➢ To mould holistic individuals capable of contributing to the advancement of the society.

ಸಮಕಜದ್ ಬೆಳ್ವಣಿಗೆಗೆ ಗಣನಿೋಯ ಕೊಡನಗೆ ನಿೋಡಬಲಿ ರ್ರಿರ್ೂಣಪ ವಯಕ್ತತತ್ವವುಳ್ು ಸಮರ್ಪ ನಕಗರಿೋಕರನ್ನು
ರೂಪಿಸನವುದ್ನ.
Maharaja Institute of Technology Mysore
Department of Mechanical Engineering
Vision / ಆಶಯ

“To excel in technical education by producing Mechanical Engineers who are

competitive, contributing and sustainable in the global socio technological
front”.

"ಜಕಗತ್ರಕ ಸ್ಕಮಕಜಿಕ ತಕಂತ್ರರಕ ಮನಂಭಕಗದ್ಲಿಿ ಸಪರ್ಕಪತ್ಮಕ, ಕೊಡನಗೆ ಮತ್ನತ ಸನಸಿೆ ರ ಮೆಕಕಯನಿಕಲ್

ಎಂಜಿನಿಯರ್‌ಗ ಳ್ನ್ನು ಉತಕಪದಿಸನವ ಮೂಲಕ ತಕಂತ್ರರಕ ಶಕ್ಷಣದ್ಲಿಿ ಉತ್ತ ಮ ಸ್ಕಧನೆ ಮಕಡನವುದ್ನ"

Mission / ಧ್ಯೇಯ

➢ To enrich teaching learning experience through distinguished practices and

ever improving infrastructure.

ವಿಶಷ್ಟ ಅಭಕಯಸಗಳ್ ಮೂಲಕ ಬೊ ೋಧನಕ ಕಲಿಕೆಯ ಅನ್ನಭವವನ್ನು ಉತ್ೃಷ್ಟಗೊ ಳಿಸನವುದ್ನ ಮತ್ನತ
ಮೂಲಸ್ೌಕಯಪವನ್ನು ಸದ್ಕ ಸನರ್ಕರಿಸನವುದ್ನ

➢ To enhance student performance through constant guidance, motivation and

mentoring.

ನಿರಂತ್ರ ಮಕಗಪದ್ಶಪನ್, ಪೆರೋರಣೆ ಮತ್ನತ ಮಕಗಪದ್ಶಪನ್ದ್ ಮೂಲಕ ವಿದ್ಕಯರ್ಥಪಗಳ್ ಕಕಯಪಕ್ಷಮತೆಯನ್ನು

ಹೆಚ್ಚಿಸನವುದ್ನ

➢ To develop distinct skills, leadership qualities and creative thinking among

the learners through sensible endeavors.

ಸಂವೆೋದ್ನಕಶೋಲ ರ್ರಯತ್ುಗಳ್ ಮೂಲಕ ಕಲಿಯನವವರಲಿಿ ವಿಭಿನ್ು ಕೌಶಲಯಗಳ್ಳ, ನಕಯಕತ್ವದ್ ಗನಣಗಳ್ಳ

ಮತ್ನತ ಸೃಜನ್ಶೋಲ ಚ್ಚಂತ್ನೆಯನ್ನು ಬೆಳೆಸನವುದ್ನ.

Maharaja Institute of Technology Mysore
Department of Mechanical Engineering

Program Outcomes

1. Engineering knowledge: Apply the knowledge of mathematics, science, engineering

fundamentals, and an engineering specialization to the solution of complex engineering
problems.
2. Problem analysis: Identify, formulate, review research literature, and analyze complex
engineering problems reaching substantiated conclusions using first principles of
mathematics, natural sciences, and engineering sciences.
3. Design/development of solutions: Design solutions for complex engineering problems
and design system components or processes that meet the specified needs with appropriate
consideration for the public health and safety, and the cultural, societal, and environmental
considerations.
4. Conduct investigations of complex problems: Use research-based knowledge and
research methods including design of experiments, analysis and interpretation of data, and
synthesis of the information to provide valid conclusions.
5. Modern tool usage: Create, select, and apply appropriate techniques, resources, and
modern engineering and IT tools including prediction and modeling to complex engineering
activities with an understanding of the limitations.
6. The engineer and society: Apply reasoning informed by the contextual knowledge to
assess societal, health, safety, legal and cultural issues and the consequent responsibilities
relevant to the professional engineering practice.
7. Environment and sustainability: Understand the impact of the professional engineering
solutions in societal and environmental contexts, and demonstrate the knowledge of, and need
for sustainable development.
8. Ethics: Apply ethical principles and commit to professional ethics and responsibilities and
norms of the engineering practice.
9. Individual and team work: Function effectively as an individual, and as a member or
leader in diverse teams, and in multidisciplinary settings.
10. Communication: Communicate effectively on complex engineering activities with the
engineering community and with society at large, such as, being able to comprehend and
write effective reports and design documentation, make effective presentations, and give and
receive clear instructions.
11. Project management and finance: Demonstrate knowledge and understanding of the
engineering and management principles and apply these to one’s own work, as a member and
leader in a team, to manage projects and in multidisciplinary environments.
12. Life-long learning: Recognize the need for, and have the preparation and ability to
engage in independent and life-long learning in the broadest context of technological change.
Maharaja Institute of Technology Mysore
Department of Mechanical Engineering

THEORY OF MACHINES
Course Code 21ME51 CIE Marks 40
Teaching Hours/Week (L:T:P) 4:0:0 SEE Marks 60
Credits 03 Exam hours 03
Course Overview
Theory of machines is a branch of engineering which deals with the relative motion and
forces between various machine elements. This subject is divided in to two parts i.e.,
Kinematics of Machines and Dynamics of Machines. Kinematics of machines deals with the
study of relative motion of various machine elements the consideration of forces. It is also
called as pure mechanisms. Dynamics of machines deals with the study of forces acting on
various Machines elements. It may further be subdivided in to kinetics and statics. Kinetics
deals with the inertia forces which occur due to combined effect of mass and motion of
machine elements. Statics deals with the equilibrium of various machine parts.

Course Objectives

The course enables the students:

❖ To understand the concept of machines, mechanisms and to analyze a mechanism for

displacement, velocity and acceleration at any point in a moving link.

❖ To understand the force-motion relationship in components subjected to external

forces and analysis of standard mechanisms

❖ To understand the theory of gears and gear trains

❖ To understand the undesirable effects of unbalances resulting from prescribed motions

in mechanism

❖ To compute the natural and damped frequencies of free 1-DOF mechanical systems
and to analyze the vibrational motion of 1-DOF mechanical systems under harmonic
excitation conditions.

Course Outcomes
At the end of the course, the student will be able to:
CO’s DESCRIPTION OF THE OUTCOMES
Analyze a mechanism for displacement, velocity and acceleration at any point in the moving link by
C301.1
understanding the concept of machines and mechanisms
Analyze the standard mechanisms for various forces and couples under static and dynamic equilibrium
C301.2
conditions
Calculate the magnitude and angular positions of balancing masses for rotating ,reciprocating masses
C301.3
under various conditions and also the forces acting on centrifugal governors
C301.4 Determine the various parameters of spur gears and gear trains
Determine the characteristics of single degree of freedom systems subjected to free and forced vibrations
C301.5
with and without damping.
SYLLABUS

THEORY OF MACHINES
Course Code 21ME51 CIE Marks 40
Teaching Hours/Week (L:T:P) 4:0:0 SEE Marks 60
Credits 03 Exam hours 03

SYLLABUS:
Module-1
Introduction: Mechanisms and machines, Kinematic pairs-types, degree of
freedom, Kinematic chains and their
classification, Kinematic inversions,
Velocity and Acceleration analysis of planar mechanisms Graphical method:
Velocity and Acceleration Analysis of Mechanisms Velocity and acceleration
10
analysis of four bar mechanism, slider crank mechanism. Mechanism illustrating Hours
Corioli’s component of acceleration. Angular velocity and angular acceleration of
links, velocity of rubbing.
Velocity and Acceleration Analysis of Mechanisms (Analytical
Method):Velocity and acceleration analysis of four bar mechanism, slider crank
mechanism using complex algebra method.
Chalk and talk, Power point presentation, Simulations, Real time
Pedagogy
examples
Module-2
Static force analysis: Static equilibrium, analysis of four bar mechanism, slider
crank mechanism.
Dynamic force analysis: D’Alembert’s principle, analysis of four bar and slider 10
crank mechanism. Hours
Flywheel: Introduction to Flywheel and calculation of its size for simple machines
like punching machine, shearing machine
Chalk and talk, Power point presentation, Simulations, Real time
Pedagogy
examples
Module-3
Spur Gears: Gear terminology, law of gearing, path of contact, arc of contact,
contact ratio of spur gear. Interference in involute gears, methods of avoiding
interference, condition and expressions for minimum number of teeth to avoid
10
Interference. Hours
Gear Trains: Simple gear trains, compound gear trains. Epicyclic gear trains:
Algebraic and tabular methods of finding velocity ratio of epicyclic gear trains,
torque calculation in epicyclic gear trains. Discussions on applications of gear trains
Pedagogy Chalk and talk, Power point presentation
Module-4
Balancing of Rotating Masses: Static and Dynamic Balancing, Balancing of single
rotating mass by balancing masses in same plane and in different planes. Balancing
of several rotating masses by balancing masses in same plane and in different
planes. Discussions on applications. 10
Balancing of Reciprocating Masses: Inertia Effect of crank and connecting rod, Hours
Single cylinder Engine, Balancing in multicylinder-inline engine (primary and
secondary forces). Discussions on applications
Governors:Types of Governors; Force Analysis of Porter and Hartnell Governors.
Controlling Force, Stability, Sensitiveness, Isochronism, Effort and Power.
Discussion on applications.
Pedagogy Chalk and talk, MATLAB
Module-5
Free vibrations: Basic elements of vibrating system, Types of free vibrations,
Longitudinal vibrations- Equilibrium method, D’Alembert’s principle,
Determination of natural frequency of single degree freedom systems, Damped free
Vibrations: Under damped, over damped and critically damped systems. 10
Logarithmic decrement. Hours
Forced vibrations: Undamped forced vibration of spring mass system, Damped
forced vibrations, Rotating unbalance, Reciprocating unbalance, Vibration isolation,
Critical speed. Discussions on applications.
Pedagogy Chalk and talk

Textbook/s

1. Theory of Machines Kinematics and Dynamics Sadhu Singh Pearson Third edition 2012
2. Mechanism and Machine Theory G. Ambekar PHI 2009
Reference Books

1. Theory of Machines Rattan S.S Tata McGraw-Hill Publishing Company 2014

2. Mechanisms and Machines- Kinematics, Dynamics and Synthesis Michael M Stanisic Cengage
Learning 2016

Question paper pattern:

Theory SEE will be conducted by University as per the scheduled timetable, with common
question papers for the subject (duration 03 hours)

➢ The question paper will have ten questions. Each question is set for 20 marks.Marks
scored shall be reduced proportionally to 50 marks

➢ There will be 2 questions from each module. Each of the two questions under a module
(with a maximum of 3 sub-questions), should have a mix of topics under that module.
Index

Subject: Theory of Machines Subject Code: 21ME51

SL. No. Contents Page No.

1 Module 1: 1-25
2 Module 2 26-41
3 Module 3 42-62
4 Module 4 : 63-84
5 Module 5 85-91
Maharaja Institute of Technology Mysore Department of Mechanical Engineering

MODULE I

INTRODUCTION