DEDAN KIMATHI UNIVERSITY OF TECHNOLOGY

BSC MECHANICAL ENGINEERING

EMG 2404: MECHANICS OF MACHINES III

Preared By: Dr. J. N. KERAITA

APRIL 2016

SYLLABUS

Purpose
The purpose of this course is to enable the student to;
1. understand various linkages and related mechanisms
2. be equipped with knowledge on synthesis of planar linkages
3. analyze Hooke’s universal joint and spatial mechanisms as well as cams.

Learning outcomes
At the end of this unit the student should be able to;
1. distinguish the different types of linkages
2. select special purpose mechanisms
3. design and analyze a cam mechanism

Course description
Review of analysis of planar mechanisms; Degrees of freedom, kinematic pair. Theoretical
position, velocity and acceleration analysis of a slider-crank mechanism; as an example. Types of
planar linkages and special purpose mechanisms: Crank-rocker, double crank and double rocker
mechanisms. Special purpose mechanisms; quick-return, straight-line motion, dwell motion and
toggle joint. Synthesis of four bar linkages: Classification of synthesis; function generation, path
generation and motion generation. Freudenstein’s equation. Optimum transmission angle of a
crank-rocker mechanism. Cognates of linkages. Chebychev theorem. Computer aided design in
linkage design. Introduction to spatial linkages: Possible link connection types allowing for three-
dimensional motion; revolute, prismatic slides, helix pair, cylindrical pair, spherical and plane
joints. Kinematics of a typical four-bar spatial linkage. Hooke’s universal joint: Construction of
Hooke’s universal joint. Input-output relationships of angular position and velocity, coefficient of
fluctuation of speed, arrangements to give equal input and output speeds at all times. Acceleration
of the output and condition for maximum acceleration. Cam dynamics and design: Cam profiles,
displacement diagrams and derivatives of follower motion. Graphical design of cams. Analysis of
cams; straight flanks, curved flanks. High speed and standard cams. Polynoid cam design. Effect
of sliding friction.

Prerequisites
EMG 2208 Mechanics of Machines I

Prescribed text books

1. Hannah J. & Stephens R. C. (1987) Mechanics of Machines - Advanced theory and
Examples, Butterworth-Heinemann Ltd, S.I. edition.
2. Reinholtz C. H. & Hamilton H. M. (1987) Mechanics and Dynamics of Machinery, John
Wiley & sons, 4th Ed.

1
References
1. Grosjean J. (1991) Kinematics and Dynamics of Mechanisms, McGraw-Hill.
2. Ramamurti V. (2002) Mechanics of Machines, Narosa, 1st Ed.
3. Journal of Mechanical Design

Teaching methodology
2 hour lectures and 1 hour tutorial per week and at least three 3-hour-laboratory sessions per
semester organized on a rotational basis.

Instruction materials/equipment
1. Mechanical Engineering laboratories;
2. Computer laboratory;
3. Overhead projector;

TEACHING TOPICS
1. Review of Planar Mechanisms.
2. Analysis of Planar Mechanisms.
3. Synthesis of Four-Bar Linkages.
4. Mechanical Advantage in Planar Linkages.
5. Introduction to Spatial Linkages.
6. Hooke’s Universal Joint.
7. Cam Dynamics and Design.

EXAMINATION DISTRIBUTION

1. End of semester examination 70%

2. Assignments 05%
3. Laboratory 15%
4. Continuous Assessment Tests 10%

NOTE: You must attempt all components of the examination and must pass the practical component in
addition to attaining a total mark of 40% for you to PASS the unit. All other examination regulations shall
apply.

END

2
 REVIEW OF PLANAR MECHANISMS

Terminologies
(a) Machines and Mechanisms
A machine is a connection of members that produce a mechanical advantage while a mechanism transfers
and/or modifies motion without necessarily producing a mechanical advantage. A mechanism is often an
assembly of moving parts performing a complete functional motion, often being part of a large machine.

(b) Links and Joints

A link designates a component of a mechanism and is assumed to be completely rigid. The
connections/joints between links are called kinematic pairs. When a number of links are movably
connected by means of pairs, the resulting system is a kinematic chain.

(c) Kinematic pairs

If the joint by which two members are connected has a surface contact such as a pin joint, the connection is
known as a lower kinematic pair. If the connection takes place at a point or along a line such as a ball
bearing or gear teeth, the connection is a higher pair.

A pair that permits only relative rotation is a revolute pair while that allowing only sliding is a prismatic
pair. A mechanism that consists of only lower pairs is called a linkage.

(d) Planar, Spherical and Spatial Mechanisms

(i) Planar – Loci of all points are plane curves parallel to a single common plane. Planar mechanisms
utilizing only lower pairs are called planar linkages.

(ii) Spherical – Each link has some point which remains stationary. Spherical linkages are constituted
entirely of revolute joints.

(iii) Spatial – There are no restrictions on relative motions of the particles.

(e) Mechanics
Branch of scientific analysis that deals with motions, time and forces.

Mechanics

Statics Dynamics

Kinematics Kinetics

3
(f) Kinematics and Dynamics
Kinematics of mechanisms is concerned with the motion of the parts without considering how the
influencing factors (force and mass) affect the motion. Therefore, kinematics deals with the
fundamental concepts of space and time and the quantities velocity and acceleration derived there
from. On the other hand, kinetics deals with action of forces on bodies. This is where the effects of
gravity come into play. Dynamics is the combination of kinematics and kinetics.

Dynamics of mechanisms concerns the forces that act on the parts - both balanced and unbalanced
forces, taking into account the masses and accelerations of the parts as well as the external forces.

(g) Kinematic Analysis and Kinematic Synthesis

In kinematic analysis, a particular given mechanism is investigated based on the mechanism
geometry plus other known characteristics (such as input angular velocity, angular acceleration,
etc.). Kinematic synthesis, on the other hand, is the process of designing a mechanism to
accomplish a desired task. Here, both choosing the types as well as the dimensions of the new
mechanism can be part of kinematic synthesis.

Degrees of Freedom of a Rigid Body

The degrees of freedom (DOF) of a rigid body is defined as the number of independent
movements it has. In the figure below, the bar can be translated along the x axis, translated along
the y axis, and rotated about its centroid.

An unrestrained rigid body in space has six degrees of freedom: three translating motions along
the x, y and z axes and three rotary motions around the x, y and z axes respectively.

Two or more rigid bodies in space are collectively called a rigid body system. We can hinder the
motion of these independent rigid bodies with kinematic constraints. Kinematic constraints are
constraints between rigid bodies that result in the decrease of the degrees of freedom of rigid body
system. Rigid bodies and kinematic constraints are the basic components of mechanisms. A
constrained rigid body system can be a kinematic chain, a mechanism, a structure, or none of
these. The influence of kinematic constraints in the motion of rigid bodies has two intrinsic
aspects, which are the geometrical and physical aspects. In other words, we can analyze the
motion of the constrained rigid bodies from their geometrical relationships or using Newton's
Second Law.

4
Grashof Linkages

Grashof Type I Examples

Kinematic Inversion
If in a mechanism, the link which was originally fixed is allowed to move and another link becomes fixed,
the mechanism is said to be inverted. The inversion of a mechanism does not change the motions of its
links relative to each other but their absolute motions (with respect to the frame or fixed link) may be
changed drastically.

For example, taking a different link as the fixed link, the slider-crank mechanism shown in Figure
a can be inverted into the mechanisms shown in Figure b, c, and d. Different examples can be
found in the application of these mechanisms. For example, the mechanism of the pump device
shown is the same as that in Figure b.

5
Shown below are inversions of a four-bar linkage.

Crank-rocker Double-Crank or Drag Crank-Rocker Double – Rocker

Link

Common Planar Linkages

(a) Slider-Crank Mechanism

The rotation of the crank drives the linear movement the slider. In a reciprocating engine, the
expansion of gases against a sliding piston in a cylinder can drive the rotation of the crank. An in-
line slider-crank has its slider positioned so the line of travel of the hinged joint of the slider
passes through the base joint of the crank. This creates a symmetric slider movement back and
forth as the crank rotates.

Applications of the slider-crank mechanism include:

• Reciprocating engine • Rotary engine

• Oscillating cylinder engine • Hand Pump
• Scotch Yoke • Oldham's coupling
• Elliptical Trammel

6
(b) Four-Bar Linkage
The four-bar linkage, in its simplest form, has four bar-shaped links and four turning pairs. The
fixed link may actually be bar-shaped, but more frequently it represents the frame of a machine
and in that case is usually a massive casting of irregular shape. This interesting linkage system is
the building block of more complicated mechanical linkage systems, apart from the inversions
already illustrated above. Therefore it is a fundamental concept to be learned by mechanical
engineering students. These mechanisms have many applications in mechanical operations.

Link 1: Frame or ground (Fixed Link).

Link 2: Driver or crank.
Link 3: Connecting coupler.
Link 4: Output or follower link.

The connecting coupler can perform very interesting curves as the crank rotates. These coupler
curves are often important in the design of four-bar linkages.

Special Purpose Mechanisms

(a) Quick-Return Mechanism
In most mechanism operations, e.g. pushing parts along an assembly line, clamping while
welding, shaping machine etc, there is usually part of the cycle when the mechanism is under load
(working or advance stroke) and a part of the cycle when the mechanism is doing no work (return
stroke). In such a situation, in order to keep the power requirements of the motor to a minimum
and to avoid wasting time, it is desirable to design the mechanism so that the piston will move
much faster through the return. If a constant speed motor is used, it implies that a higher fraction
of the cycle time is used for doing work.

7
(b) Straight-Line Mechanisms

Watt’s Straight-Line Linkage Chebyschev’s Straight-Line Linkage

Peaucellier Exact Straight Line Linkage Hooken’s Straight-Line Linkage

(Inversion of Chebyschev)

(c) Dwell
A dwell is defined as zero output motion for non-zero input motion. Cams and followers are often
used for such tasks but their disadvantages include cost, wear and reliability. Hence there is need
to design other mechanisms for similar applications e.g. a four-bar linkage giving a coupler curve
with a straight segment.

8
Assignment 1:
With the aid of neat sketches, describe the following three special purpose mechanisms and state
their specific applications; off-set slider-crank mechanism, crank-shaper (Whitworth) mechanism
and the toggle joint.