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MECHANISM

Mohd Hadri Mohamed Nor

Topic Learning Outcome


On completion this topic, you should be able to do the
following:
Describe a mechanism
Describe the inversion of mechanism
Define the velocity
Solve the velocity and acceleration point within
mechanism
Use mathematical and graphical method
Construct velocity and acceleration diagram.

Introduction
When any one link of kinematics chain is
fixed, it is called mechanism.
Primary function: transmit or modify
motion.
2 types of mechanism
- simple mechanism
- compound mechanism, >4 links

Example: Crank, connecting rod and piston


mechanism

Angular motion
Input torque

Linear motion
Force

Inversion of Mechanism
It is the method of obtaining different
mechanisms by fixing different links of the
same Kinematics chain.
1.
2.
3.

Inversion of four bar chain mechanism


Inversion of slider crank mechanism
Inversions of double slider crank chain

Four Bar Chain Mechanism

Consist of four links AB, BC, CD, DA


Grashofs Law (if to be continuous relative motion between two links)

shortest and longest link < remaining 2 links


AB crank

BC connecting rod

CD rocker/follower

AD frame of m/c

Some of the inversion of four bar chain


mechanism:

Crank and follower mechanism Oscillatory motion

Pantograph Instrument used to reproduce same


motion exactly in a reduced or enlarged scale.

Slider Crank Mechanism


1st inversion Slider crank
link 1 fixed, link 2 rotates, link 4 reciprocates

2nd inversion Oscillating cylinder


when link 2 rotates
piston reciprocates in piston
cylinder
cylinder reciprocates at hinge point C

3rd inversion Crank and slotted lever mechanism


link 2 rotates
slider O reciprocates
block N move linearly

link 4 rotate

4th inversion Hand pump


link 4 fixed
linearly

link 2 and 3 can be rotate

link 1 move

Velocities in Mechanism Relative Velocity Diagram


Velocity of any point on a link wrt t another point on the
same link is always perpendicular to the link joining these
points in the FBD.
Consider point A and B on a link (Fig a). Let velocity A is
VA is known in magnitude and direction. Direction of
velocity point B is VB. The magnitude of point B can be
found by draw the velocity diagram (Fig b)

Step in drawing velocity diagram


A convenient point O was selected as the starting point.
From O, line Oa was drawn parallel and equal to magnitude
of VA to some suitable scale.
From a, a line perpendicular to AB represent velocity of B
wrt A. i.e VBA was drawn.
From O a line parallel to VB was drawn, meeting the VBA at
b.
Line Ob was measured to give the required velocity of
point B to scale.
The velocity of point C on AB link was determine using ratio

Line Oc was joined. The vector Oc now represent the


velocity of point C wrt O. i.e VC
Note that velocity diagram must be drawn according to suitable scale.

Example 1

Rubbing velocity at a Pin Joint


If r = radius at pin joint and 1 and 2 = angular
velocities of two links, then;

Angular velocities added if link rotates opposite direction


and subtract if rotate in same direction.

Example 2
The crank and connecting rod of a theoretical
steam engine are 0.5m and 2.0 m respectively.
The crank makes 180rpm in the clockwise
direction. When it has turned 45 from the
inner dead centre position, determine:
a)
b)
c)

d)

Velocity of pistons
Angular velocity of connecting rod
Velocity of point E on the connecting rod 1.5m
from the gudgeon pin.
Velocities of rubbing at all pins of the crankshaft,
crank and cross-head, when the diameter of their
pins are 5cm, 6cm and 3cm respectively.

Example 3
ABCD is a four bar chain with the link AD is fixed as Figure
below. The length the links are AB=6.25cm, BC=17.5cm,
CD=11.25cm, DA=20cm. The crank AB makes 100rpm in
the clockwise direction. Find the following when the angle
BAD is 60.
a)
b)
c)

The angular velocity of links CD and BC


Velocity of point E, 10cm from C on the link BC.
The velocity of point F, which is 10.5cm from B and C and
lying outside ABCD.

Acceleration Diagram for a Link


Consider two point of A and B on rigid link. Let point B moves wrt
A with velocity rad/s and be the angular acceleration of link
AB. For an acceleration of a particle whose velocity changes with
magnitudes and directions at any instants has two components:
i.
ii.

Radial or centripetal components which is parallel to AB


Tangential component, which is perpendicular to AB

Radial component of acceleration of B wrt A

Tangential component of acceleration of B wrt A

Example 4