Machine Design Mechanisms

Course in Machine Design
Mechanisms and dynamics
Machine Design
Computational Mechanics, AAU, Esbjerg
Hydraulically Driven
Mechanism Example
Backhoe arm driven by three hydraulic actuators
Boom actuator
Dump actuator
Stick actuator
Machine Design
Hydraulically Driven
Mechanism Example
EASY5
Hydraulic
Control System
DADS Backhoe
Mechanism
Model
Machine Design
Mechanisms - Gears
Machine Design
Mechanisms - Couplings
Machine Design
Front-end loader
Machine Design
3-point hitch device
Machine Design
Loaders
Machine Design
Skid-steer
Machine Design
Double A Arm Suspension
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Wheel rake lift mechanism
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Roller blade
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Round Baler gate and tension mechanism
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Mechanisms
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Mechanisms
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Newtons Second Law

F=ma
The acceleration of an
object is directly
proportional to the net
force acting on the
object, and inversely
proportional to the
mass of the object.
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When Acceleration Is Zero...

we say the object is in Mechanical
Equilibrium.
the net force is zero.
For Static Equilibrium the velocity is zero.
For Dynamic Equilibrium the velocity is
constant.
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Dynamics
1.
Newtonian mechanics:
1.
2.
3.
2.
Conservation of
momentum
Force = rate of change of
momentum
Action/reaction
Corollary, Eulers
Equation:
1.
Torque = rate of change

of angular momentum
r
r
F =0a =0
r d
r
F = (mv )
dt
r
r
F12 = F21
r d
T = (I ) = I + I
dt
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Force Analysis Techniques

1.
Superposition:
1.
2.
3.
2.
Given a mechanism with known position, velocity, and acceleration

conditions, derive Newtons equations for dynamic equilibrium. These
equations are linear in the forces and therefore Superposition
principles can be applied: Inertial and applied forces on each link can
be considered individually and then superposed to determine their
combined effect.
This approach is good for building intuition and solving by hand.
This approach can be very long
Matrix Method
1.
2.
3.
All inertial and applied forces are considered at once. The dynamic
equations become coupled in the unknown forces and are solved
using linear algebra techniques.
Note: Why are forces linear?
This approach is the best for computer application, therefore our
method of choice.
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Superposition: Example 2
Hydraulic-powered scoop with a load

in bucket (link 4)
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Superposition: Example 2
Links 2 & 4 have mass

m2 = 10 kg,
m4 = 100 kg
Consider the cylinder, 5 as a 2 FM. Given the following motion

information, find the input cylinder force and the bearing reactions at
points O2 and O5.
Motion info:
2=1, 2=1 rad/s^2
Vg2=-1i+0j m/s
Ag2=01i-1j m/s^2
Vp=2j
I2 = 1 kgm^2
I4 = 10 kgm^2
4=1, 4=1 rad/s^2

Vg4=-1i+1j m/s
Ag4=-2i+0j m/s^2
Force on bucket:
P = 100N
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Force Analysis using the Matrix Method
In the matrix method, equations of dynamic equilibrium are written

for FBDs of all the links in the mechanism w/ all internal and
external forces included. This results in a coupling of the unknown
forces. However, the equations are linear in these forces and may
be solved using linear algebra techniques.
For example:
Known
coefficients
Solving forces:
r
r
F ma
[C ] r = r
T I
Known motion info
Unknown forces and torques
r
r
F
m
a
1
r = [C ] r
I
T
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Matrix Method (cont.)

In a general mechanism, there may be anywhere from
10 to 30 unknown forces to solve. Solve in Matlab
(or other computer program)
This method will be demonstrated first on a four-bar
linkage.
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Matrix Method: Example 1
The figure above shows a general 4-bar linkage.

The center of mass of each link is shown, as well
as the input torque on link 2, and an applied
torque (T4) on link 4.
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Matrix Method: Example 1 (cont.)

Here, we have
included some
additional vectors
to help define our
problem. This
leads to the
following notation:
gi = center of mass of link i
jti = joint i
rij = vector from cm of i to jt. j
Fij = vector force of i on j
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Matrix Method: Example 1 (cont.)

1. Count the number of unknowns:
There are two unknown forces at every 1 dof joint

There is one unknown force for every input
2. Count the number of equations:
There are three equations for each body
F
F
M
= ma x
= ma y
g
= I g
3. In this example:
# unknowns = 9
# equations = 9
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Matrix Method: Example 2

Inverted Slider Crank
Solve for the input torque and all bearing reactions using the matrix
method set up the linear system of equations in matrix form.
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Machine Design Mechanisms

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Machine Design Mechanisms

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Course in Machine Design

Mechanisms and dynamics

Backhoe arm driven by three hydraulic actuators

3-point hitch device

Double A Arm Suspension

Wheel rake lift mechanism

Round Baler gate and tension mechanism

Newtons Second Law

When Acceleration Is Zero...

Torque = rate of change

Force Analysis Techniques

Given a mechanism with known position, velocity, and acceleration

Hydraulic-powered scoop with a load

Links 2 & 4 have mass

Consider the cylinder, 5 as a 2 FM. Given the following motion

4=1, 4=1 rad/s^2

Force Analysis using the Matrix Method

In the matrix method, equations of dynamic equilibrium are written

Known motion info

Unknown forces and torques

Matrix Method (cont.)

Matrix Method: Example 1

The figure above shows a general 4-bar linkage.

Matrix Method: Example 1 (cont.)

Matrix Method: Example 1 (cont.)

There are two unknown forces at every 1 dof joint

2. Count the number of equations:

There are three equations for each body

Matrix Method: Example 2

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