Kinematics of Machinery March06 Rr310304

Code No: RR310304 Set No.
1
III B.Tech I Semester Supplementary Examinations, March 2006
KINEMATICS OF MACHINERY
( Common to Mechanical Engineering, Mechatronics and Production
Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
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1. (a) List different inversions of double slider brank mechanism. Explain the func-
tion of any of them with a neat sketch.
(b) The distance between the axes of the two parallel shafts is 10−2 m. They are
connected by Oldham coupling having flanges each 0.2 m diameter. Find the
maximum kinetic energy of the intermediate piece when the shafts revolve at
250 rpm. The intermediate piece is 0.025 m thick and has tongues each 0.01
m wide X 0.005 m deep. The specific weight of C.I., of which the coupling is
made, is 72,000 N/m3 . [10+6]
2. (a) Show the Peaucellier mechanism generates an exact straight line as its path.
(b) Classify the straight line motion mechanisms with examples. [10+6]
3. In a quick return mechanism, as shown is Figure 1, the driving crank OA is 60 mm

long and rotates at a uniform speed of 200r.p.m in clockwise direction. For the
positions shown, find
(a) velocity of the ram R

(b) acceleration of the ram R; and
(c) acceleration of the sliding block A along with the slotted bar CD. [16]
4. A Watt ‘walking – beam’ mechanism is shown in Figure 2. Determine the velocity

and acceleration of the slider if the crank O2 A rotates with a speed of 1 c /sec in a
clockwise direction. Given O2 A = 2cm, AB = 8.5 cm, BC=7.5 cm, CD=5.25 cm,
and O5 C = 7 cm. [16]
5. Two shafts are to be connected by a Hooki’s joint. The driving shaft rotates at a
uniform speed of 500 rpm and the speed of the driven shaft must lie between 475
and 525 rpm. Determine the maximum permissible angle between the shafts. [16]
6. Draw the profile of a cam to raise a valve with simple harmonic motion through
5 cm in 1/3 of a revolution, keep its fully raised through 1/12 of a revolution and
lower it with simple harmonic motion in 1/6 of a revolution. The valve remains
closed during the rest of the revolution. The diameter the Roller of the follower is
2 cm and the minimum radius of the cam is to be 2.5 cm. The diameter of the cam
shaft is 2.5 cm. The axis of the valve rod passes through the axis of the cam shaft.
If the cam rotates at 350 R.P.M. find the maximum velocity and acceleration of
the follower during ascent and descent. [16]
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Code No: RR310304 Set No. 1
Figure 1:
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Figure 2:
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7. (a) Explain the gears used for Parallel Shafts with neat sketches?
(b) The velocity ratio of two spur gears in mesh is 0.4 and the centre distance is
75 mm. For a module of 1.2 mm, find the number of teeth of gears. What
will the pitch line velocity if the pinion speed is 800 rpm? Also find the speed
of the gear wheel. [6+10]
8. An epicyclic gear consists of bevel wheels as shown in Figure 3. The driving pinion
A has 20 teeth and meshes with the wheel B which has 25 teeth. The wheels B and
C are fixed together and turn freely on the Shaft F. The shaft F can rotate freely
about the main axis XX. The wheel C has 50 teeth and meshes with wheels D and
E, each of which has 60 teeth. Find the speed and direction of E when A rotates
at 200 r.p.m. if 1. D is fixed and 2. D rotates at 100 r.p.m. in the same direction
as A.In both the cases, find the ratio of the torques transmitted by the shafts of
the wheels A and E, the friction being neglected.
Figure 3:
[16]
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Engineering)
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1. Discuss in detail atleast two inversions of single slider crank chain mechanisms
which give quick return motion. Give examples of their applications. [16]
2. Describe any mathematically true straight-line motion mechanism with necessary
equation. [16]
3. In the mechanism shown in Figure 1 below O and Q are fixed centres. If the crank
OC revolves at a uniform speed of 120rpm, find the acceleration of the links CP,
PA and AQ.
Figure 1:
[16]
4. A mechanism as shown in Figure 2 has the following dimensions: O1 A = 60 mm;

AB 180 mm; O2 B = 100 mm; O2 C = 180 mm and CD = 270 mm. The crank
O1 C = 180 mm and CD = 270 mm. The crank O1 A rotates clockwise at a uniform
speed of 120 r.p.m. The block D moves in vertical guides. Find by instantaneous
centre method, the velocity of D and the angular velocity of CD.
5. A Hook’s joint is used to connect two shafts whose axes are inclined at 200 . The
driving shaft rotates uniformly at 6000 rpm. What are the extreme angular veloc-
ities of the driven shaft? Find the maximum value of retardation or acceleration
and state the angle where both will occur. [16]
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Figure 2:
[16]
6. (a) Explain a radial cam mechanism and describe the types of cams with sketches.
(b) Sketch the different types of cam followers.
(c) Explain angle of Ascent, dwell and angle of descent. [5+5+6]
7. (a) Derive the formula for the length of the path of contact for two meshing spur
gear having involute profile.
(b) Find graphically, the length of the path of contact when pinion with 18 teeth
meshes with an internally toothed wheel with 72 teeth, when the pressure
angle is 200 , module pitch is 4 mm and the addenda of pinion and wheel are
8.7 mm and 3.7 mm respectively. [8+8]
8. The epicyclic gear train is shown in Figure 3. The wheel D is held stationary by
the shaft
A and the arm B is rotated at 200 r.p.m The wheels E (20 teeth) and F (40 teeth)
are fixed
together and rotate freely on the pin carried by the arm. The wheel G (30 teeth)
is rigidly
attached to the shaft C. Find the speed of shaft C stating the direction of rotation
to that of B.
If the gearing transmits 7.5kW, what will be the torque required to hold these shaft
A
stationary, neglecting all friction losses.
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Figure 3:
[16]
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Engineering)
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1. (a) Explain the function of ‘Oldham coupling’ with a neat sketch.

(b) Two shafts have their axes parallel and 0.025 m apart; one of the shafts drives
the other through Oldham coupling. Sketch the arrangement and prove that
the angular velocity ratio is unity. If the speed of the shaft is l00 rpm, what
is the maximum velocity of sliding in cm per minute of the intermediate disc
on either of the side discs? (0.25 m/sec) [8+8]
2. Describe any mathematically true straight-line motion mechanism with necessary

equation. [16]
3. Figure 1 shows a worth whit quick return motion mechanism. The various dimen-
sions in the mechanism are as follows:
OQ = 100 mm; OA = 200 mm; QC = 150 mm and CD = 500 mm.
The crank OA makes an angle of 600 with vertical and rotates at 120 rpm in the
clockwise direction.
Locate all the instantaneous centers and find the velocity of ram D.
Figure 1:
[16]
4. Prove Klein’s construction for determining acceleration of a slider in a slider crank

mechanism. Hence show that acceleration of the position of an engine at inner and
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outer dead center
positions is given
by1
2 1 2
fp = ω r 1 + n and fp = ω r 1 − n respectively
Where fp = acceleration of piston
ω = angular velocity of crank
r = crank radius
L = length of connecting rod,
and n = Lr [16]
5. Two shafts are to be connected by a Hooki’s joint. The driving shaft rotates at a
uniform speed of 500 rpm and the speed of the driven shaft must lie between 475
and 525 rpm. Determine the maximum permissible angle between the shafts. [16]
6. A cam rotates at a uniform speed of 360 r.p.m. and gives on oscillating follower,
6.5 cm long, angular displacement of 300 c in each stroke. The follower is fitted
with a roller 3 cm diameter which makes contact with the cam. The outward and
return displacements each takes place with equal periods of uniform acceleration
and retardation, while the cam turns through 600 and there is a period of dwell in
the outward position when the cam turns through 900 . If the axis of the fulcrum is
8.8 cm from the axis of the cam, and the least distance of the roller axis from the
cam axis is 5 cm, draw the outline of the cam. [16]
7. (a) Explain atleast eight properties of involute toothed gear in mesh.

(b) If the angle of obliquity of a pair of gear wheels is 200, and the arc of approach
or recess not less than the pitch, what will be the least number of teeth on
the pinion. [6+10]
8. An epicyclic gear train, as shown in Figure 2 consists of two sunwheels A and D

with 28
and 24 teeth respectively, engaged with a compound planet wheels B and C with
22 and 26 teeth. The sunwheel D is keyed to the driven shaft and the sun wheel A
is a fixed wheel co-axial with the dirven shaft The planet wheels are carried on an
arm E from the driving shaft which is co-axial with the driven shaft.
Find the velocity ratio of gear train. If 0.75 kW is transmitted and input speed
being 100 r.pm. determine the torque required to hold the sunwheel A.
Figure 2:
[16]
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Engineering)
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1. (a) Find out the degrees of freedom of the gear system shown in the following
Figure 1.
(b) The distancce between two parallel shafts is 15 mm and they are connected
by an Oldham’s coupling. The driving shaft revolves at 150 r.p.m.What will
be the maximum speed of sliding of the tongue of the intermediate piece along
its groove?
(c) What are resistant bodies? Is it necessary that the resistant bodies be rigid?
Give reasons for your answer.
Figure 1:
[4+8+4]
2. A grass hopper straight line mechanisms gets its motion from a crank OA. The end
A of the crank in joined to a long rod PQ such that Q A is 6cm. The end Q is
further joined to along vertical link O1 Q, 24 Cm long moving with centre O1 . The
length of rod PQ is also 24 Cm and its end P describes an approximate vertical
straight line. Determine the radius of crank OA. Find also the maximum deviation
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of P from the vertical straight line in a travel of 6 Cm on each side of its mean
position. [16]
3. The following data refer to a quick return motion of crank and slotted lever type
shown in Figure 2.
Distance between fixed centers O and A = 25 cm
Length of driving Crank AB = 10 cm
Length of slotted link OC = 40 cm
Length of rod CD = 15 cm
Angle O A B = 1200
Uniform speed of the crank in clockwise directions = 60 rpm
Line of stroke of ram is perpendicular to OA
Determine velocity and acceleration of D.
Figure 2:
[16]
4. Explain with sketches how the instantaneous centers of the following mechanisms
are obtained.
(a) Four bar chain
(b) simple slider crank chains. [8+8]
5. A Hooke’s joint connects a shaft running at a uniform speed of 1000 rpm to a
second shaft. The angle between their axes is 15 degrees. Find the velocity and
acceleration of the driven shaft at the instant when the fork of the driving shaft
has turned through an angle of 100 from the plane containing the shaft axes.
At what other positions of the driving shaft during a revolution, the angular velocity
of the driven shafts be the same as that arrived above? [16]
6. Draw full size profile of a cam which will lift a 2.5 cm diameter knife edged follower
through 4 cm. The centre line of the follower passes through the centre of rotation
of the cam. Ascent of follower takes place with S.H.M. in 0.1 second, followed by a
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period of rest of 0.025 sec. The follower then descends with uniform acceleration and
retardation in 0.075 second. The cam rotates at a uniform speed of 120 r.p.m. and
the least radius of the cam is 10 cm. Also plot velocity and acceleration diagrams of
the follower during one revolution of the cam and mark important values thereon.
[16]
7. (a) What is the maximum velocity ratio obtained from a spur gear drive.
(b) The following data relate to two meshing involute gears:
Number of teeth on the gear wheel = 60, Speed of the gear wheel = 100 rpm,
Gear ratio = 1.5, Module = 8 mm and Pressure angle = 200 . The addendum
for each wheel is such tat the path of approach and the path of recess on each
side are 40% of the maximum possible length each. Determine the addendum
for the pinion and the gear and the length of the arc of contact. [8+8]
8. Figure 3 shows an epicyclic gear train with the following details:

A has 40 teeth external (fixed gear); B has 80 teeth interna; C-D is a compound
wheel having 20 and 50 teeth (external) respectively, E-F is a compound wheel
having 20 and 40 teeth (external) respectively, and G has 90 teeth (external). The
arm runs at 100 r.p.m. in clockwise direction. Determine the speeds for gears C,E,
and B.
Figure 3:
[16]
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Code No: RR310304 Set No.

3. In a quick return mechanism, as shown is Figure 1, the driving crank OA is 60 mm

(a) velocity of the ram R

4. A Watt ‘walking – beam’ mechanism is shown in Figure 2. Determine the velocity

4. A mechanism as shown in Figure 2 has the following dimensions: O1 A = 60 mm;

1. (a) Explain the function of ‘Oldham coupling’ with a neat sketch.

2. Describe any mathematically true straight-line motion mechanism with necessary

4. Prove Klein’s construction for determining acceleration of a slider in a slider crank

7. (a) Explain atleast eight properties of involute toothed gear in mesh.

8. An epicyclic gear train, as shown in Figure 2 consists of two sunwheels A and D

8. Figure 3 shows an epicyclic gear train with the following details:

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