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AE223: Kinematics and Dynamics of

Mechanisms
Credit: 4

Slot: B
Instructor : Dr. Praveen Krishna I R, AE

Course Objectives
• To develop graphical and mathematical methods to analyze motions of connected
rigid bodies (focus on closed loop), such as links, gears and cams.

• Able to design linkage, cam and gear mechanisms for a given motion or a given
input/output motion.

• Understand and calculate the dynamical forces acting on each member of the
mechanism and balance mechanism to have smooth motion.

• Usage of commercial packages with better understanding.

Text Books
• Amitabha Ghosh and A K Mallik. Theory of Mechanicsms and Machines,3rd
Edition, East West Press (2008).

• Robert L. Norton. Kinematics and Dynamics of Machinery, 1st Edition,


McGraw-Hill (2009).

• Joseph E. Shigley. Gordon R. Pennock and John J. Uicker. Jr. Theory


of Machines and Mechanisms, 3rd Edition, Oxford University Press (2003).

Detailed Course Plan


• Introduction

– Review of Particle Dynamics, Static and Dynamic Equilibrium


– Degrees of Freedom/Mobility, Links, Joints, and Kinematic Chains
– Drawing Kinematic Diagrams
– Determining Degree of Freedom or Mobility
– Simple Mechanisms, Four bar mechanisms
– Inversions of Four bar mechanisms, The Grashof Condition, Classification of
the Four bar Linkage
∗ 4R Mechanism
∗ 3R1P Mechanism
∗ 2R2P Mechanism
∗ Mechanism
– Linkages of More Than Four Bars, Five and Six bar Mechanisms

• Position Analysis
AE223: Kinematics and Dynamics of Mechanisms 2

– Graphical Position Analysis of Linkages


– Algebraic Position Analysis of Linkages
∗ Loop Closure Representation of Linkages
∗ Position of any Point on a Linkage
– The Four bar Slider-Crank Position Solution
– An Inverted Slider-Crank Position Solution
– Linkages of More Than Four Bars
– Transmission Angles, Toggle positions
– Newton-Raphson Solution for the Four bar Linkage
– Coupler Curves and Atlas of Coupler Curves

• Velocity Analysis

– Velocity definition in general planar motion


– Graphical Velocity Analysis of Linkages
∗ Instant Centers of Velocity
∗ Velocity Analysis with Instant Centers
∗ Velocity of any Point on a Linkage
– Analytical Solutions for Velocity Analysis
∗ The Four bar Slider-Crank Velocity Solution
∗ An Inverted Slider-Crank Velocity Solution
– Linkages of More Than Four Bars
– Angular Velocity Ratio and Mechanical Advantage

• Acceleration Analysis

– Acceleration definition in general planar motion


– Graphical Acceleration Analysis of Linkages
∗ Instant Centers of Acceleration
∗ Acceleration of any Point on a Linkage
– Analytical Solutions for Acceleration Analysis
∗ The Four bar Slider-Crank Acceleration Solution
∗ An Inverted Slider-Crank Acceleration Solution
– Linkages of More Than Four Bars
– Discussion on Jerk and its effects

• Synthesis of Mechanisms

– Number Synthesis
– Function, Path, and Motion Generation
– Use of Coupler Curves in Synthesis
– Graphical Linkage Synthesis
∗ Motion Generation
· Two and Three Position Synthesis
· Synthesis with No Constrains
· Synthesis with Given Crank Rotation
· Synthesis with Given Fixed Link
AE223: Kinematics and Dynamics of Mechanisms 3

∗ Path Generation
∗ Function Generation
– Analytical Linkage Synthesis
∗ Precision Points
∗ Analytical Synthesis of a Four bar Function Generator: Freudenstein
Equation
• Dynamics of Mechanisms: Analytical Method
– Force Analysis of Single Body in Planar Motion
– Force Analysis of General 4 Bar Mechanism
– Force Analysis of Slider Crank Mechanism: Single Cylinder IC Engine
∗ Introduction to Fourier Series and its Application to Mechanisms Anal-
ysis
– IC Engine Forces & Flywheel Design
– Balancing of Mechanisms
– Static Balancing
– Dynamic Balancing
∗ Single Plane Balancing
∗ Two Plane Balancing
• Gears
– Introduction
– Comparison with 4 Bar Mechanism
– Fundamental Law of Gearing
– Nomenclature & Types of Gears
– Gear Trains
∗ Simple & Compund Gear Trains
∗ Planetary (Epicyclic ) Gear Trains
· Algebraic method
· Tabular method
• Cams
– Classification of Cam-Follower Systems
– Terminology
– Follower motion description
∗ Displacement diagram: Graphical Construction
· Uniform Motion and its Modifications
· Simple Harmonic Motion
· Uniform Acceleration Motion
· Cycloidal Motion
∗ Analytical expressions for displacements
· Uniform Motion and its Modifications
· Simple Harmonic Motion
· Uniform Acceleration Motion
· Cycloidal Motion
· Advanced Curves
∗ Cam Synthesis
· Radial Follower Design
· Offset Follower Cam Design
AE223: Kinematics and Dynamics of Mechanisms 4

Evaluation Scheme
Total:100 Marks

Tutorials
• 6 tutorial sheets will be given

• Students are supposed to solve themselves with in 1 week

• Solutions of the problems will be discussed in the class after 1 week

Quiz
There will be 2 Quizes each 15 marks

Computer Assignement & Course Project


Each and every student has to do a course project for 20 marks

• Select one individual mechanism (Only using linkages, (No cams and gears)) during
mid semester

• Kinematic analysis of the same both graphically and analytically

• Dynamic analysis of the same analytically by writing a Matlab/Scilab

• Demonstrate the working by making a simple model

• This will be evaluated at the end of the semester

End Semester Examination


There will be one end semester examination for 50 marks

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