Assignment Template

Use this template to prepare your assignment for MIET1077: Mechanics of Machine

How to use this template:

 Read and follow all the instructions highlighted in yellow colour and delete all
highlighted instructions from your final report.
 You must fill out all the tables in the report and replace the figures that are given
as examples with your own figures/diagrams.
 You can draw diagrams on A3 or A4 size paper by hand. However, you need to
scan them with proper resolution to use them in your report. Save your final
report in PDF file format to submit on the Canvas LMS.
 Please see the ‘Assignment Handout’ (available on Canvas) for additional
information and suggestions.
 The detailed marking rubric is given below:

Question Description Marks

Introduction
1 Graphical position analysis
2 Graphical velocity analysis
3 Graphical acceleration analysis
4 Instantaneous Centre (IC) method
Analytical position analysis
5 Analytical velocity analysis
Analytical acceleration analysis
6 Dynamic force and torque analysis
7 Shaking force, torque and moments
Working Model Simulation: Position,
Velocity and Acceleration
Position diagram
Velocity diagram
Acceleration diagram
8
Working Model Simulation: Dynamic
Force and Torque
Results comparison for kinematic analysis
Results comparison for dynamic force and
torque analysis
Total Marks =
Items
(%)
2 Cal, Fig, Tab 2, 3
2 Figs
2 Cal, Fig, Tab 4
2 Cal, Fig, Tab 5
2 Cal, Figs, Tab 6
2 Cal, Fig, Tab 7
3 Cal, Fig, Tab 8
4 Cal, Fig, Tab 9
7 Cal, Fig, Matrix, Tab 10
3 Cal, Fig, Tab 11
4 wm2d file, Fig, Tab 12
1 Tab 13, Fig
1 Tab 14, Fig
1 Tab 15, Fig
2 wm2d file, Fig, Tab 17
1 Tab 18
1 Tab 19
40%

Important Note: You also need to submit 2 Working Model files (wm2d format): one with position,
velocity, acceleration outputs and another one with dynamic forces and torque outputs.
Introduction:

6-bar linkage mechanism:

Table 1: Given data
l2 = OA = 0.2 (m)
θ1 = 7
θ2 = 60°
β = 10
n2 = 60 rpm
Table 2: Determine
l1 = OE = (m)
l3 = AB = (m)
l4 = BE = (m)
l5 = CD = (m)
AC = (m)
H = (m)
θ3 =
θ4 =
θ5 =
Guidelines for choosing the remaining dimensions of the mechanism:
OE = CD= 4OA

(OA+AB) < (OE+BE)

(OA+OE) < (AB+EB)

AC = 3/5 AB

H = 1/4 OA

Calculations for choosing the dimensions:

[Show details calculations here]

Page: 1
[Draw the mechanism and show all the parameters with proper labeling and scale
information, see the example below]

Figure: Six-bar linkage mechanism (Scale: 1 m/cm/mm in the paper drawing = how many m/cm/mm
in actual dimension)

Find out the X and Y coordinates of all the points at θ2 = 60° and fill out the table below

Table 3: Positions from graphical method

Joint X-coordinate (m) Y-coordinate (m)
O 0 0
A
B
C
D
E

Page: 2
Answer to question 1:
Determine all possible positions of links and joints by graphical position analysis. Draw to
scale all positions of joints for sixteen subsequent positions of link 2 and determine the limits
of motion where appropriate. Identify and outline the paths of each moving joint.

[Write your answer here. Show detailed drawing and calculations with proper labelling and
scale information]

Draw to scale all position of joints for 16 subsequent positions of link 2 and determine the path of
each moving points. [See Figure below for an example]

Figure: Position diagram showing 16 points including path of each moving parts (Scale: 1 mm = ?? m)

Figure: Position diagram for path of each moving parts (Scale: 1 mm = ?? m)

Page: 3
Answer to question 2:
Determine linear and angular velocities by graphical velocity analysis for the given position
2 = 60 of the mechanism, as shown above. Draw to scale the velocity vector diagram
encompassing all linear velocities to scale and present the results in a tabular form.

[Write your answer here. Show detailed drawing and calculations with proper labelling and
scale information]

Show the calculations of VA, ω2, ω3, ω4, ω5 and draw to scale the velocity vector diagram of the
mechanism at θ2 = 60°. [See Figure below for an example]

Figure: Velocity diagram (Scale: 1 mm = ?? m/s)

Tabulate the values from Graphical Velocity Method in Table 4.

Table 4: Results from graphical velocity analysis
VA =
Linear
VB =
velocity
VC =
(m/s)
VD =
ω2 =
Angular
ω3 =
velocity
ω4 =
(rad/s)
ω5 =

Page: 4
Answer to question 3:
Determine all linear and angular accelerations by graphical acceleration analysis for the given
position 2 = 60 of the mechanism. Draw to scale the acceleration vector diagram
encompassing all linear accelerations to scale and present the results in tabular form.

[Write your answer here. Show detailed drawing and calculations with proper labelling and
scale information]

Show the calculations of AA, α2, α3, α4, α5 and draw to scale the velocity vector diagram of the
mechanism at θ2 = 60°. [See Figure below for an example]

Figure: Velocity diagram (Scale: 1 cm = ?? m/s2)

Tabulate the values from Graphical Acceleration Method in Table 5.

Table 5: Results from graphical acceleration analysis
AA =
Linear
AB =
acceleration
AC =
(m/s2)
AD =
α2 =
Angular
α3 =
acceleration
α4 =
(rad/s2)
α5 =

Page: 5
Answer to question 4:
Determine all instantaneous centres of velocity for the given mechanism using Kennedy’s
rule, and velocities of joints A, B, C and D using identified instantaneous centres. Draw all
instantaneous centres and velocities to scale on a separate diagram of the mechanism.

[Write your answer here. Show detailed drawing and calculations with proper labelling and
scale information]

Find out all the Instantaneous centres of zero velocity using Kennedys triangle theorem and draw
them all. Also draw the diagram to scale using Instantaneous Centre (IC) method at θ2 = 60°. [See
Figure below for an example]

Figure: Velocity diagram using IC method (Scale: 1 cm = ?? m/s)

Tabulate the values in Table 6.
Table 6: Results from graphical velocity analysis (IC method)
VA =
Linear
VB =
velocity
VC =
(m/s)
VD =

Page: 6
 Answer to question 5:
Obtain analytic solutions for positions, velocities and accelerations by vector loop equations
and complex number notation and present the results in a tabular form. Compare these
results with those obtained using the graphical approach. You should have good correlation.

[Write your answer here. Show detailed drawing and calculations with proper labelling and
scale information]

 Analytical position analysis:

Find the position (X and Y coordinates) of joint A, B, C, D and E at θ2 =60°. Show the calculations in
detail and tabulate the values in Table 7.
Table 7: Positions from analytical method
Joint X-coordinate (m) Y-coordinate (m)
O 0 0
A
B
C
D
E

 Analytical velocity analysis

Find the velocity of joint A, B, C and D at θ2 =60°. Show the calculations in detail and tabulate the
values in Table 8.
Table 8: Results from analytical method (velocity)
VA =
Linear
VB =
velocity
VC =
(m/s)
VD =
ω2 =
Angular
ω3 =
velocity
ω4 =
(rad/s)
ω5 =
 Analytical acceleration analysis
Find the acceleration of joint A, B, C and D at θ2 =60°. Show the calculations in detail and tabulate
the values in Table 9.
Table 9: Results from analytical method (acceleration)
AA =
Linear
AB =
acceleration
AC =
(m/s2)
AD =
α2 =
Angular
α3 =
acceleration
α4 =
(rad/s2)
α5 =

Page: 7
Answer to question 6:
Determine all dynamic forces at the joints for the given position of the mechanism using the
analytical matrix method. Assume, for link 2: m2 = 1 kg, CG at OA/2, I2 = 0.002 kgm2; for link
3: m3 = 2.5 kg, CG at /2 and AB/2, I3 = 0.008 kgm2; for link 4: m4 = 1.5 kg, CG at EB/2, I4 =
0.005 kgm2; for link 5: m5= 1.8 kg, CG at CD/2, I5 = 0.006 kgm2; for slider 6: m6 = 0.9 kg and
CG at D.

[Write your answer here. Show detailed drawing and calculations with proper labelling and
scale information] [See assignment Handout for figures and formulas]

Derive 14 linear equations and define the Matrix. See an example below:

Figure: Dynamic force Matrix

You can solve the unknown forces and torque using Matrix solver or MS Excel. You must insert a
screenshot of your matrix solution and tabulate the values in Table 10.
Table 10: Results from dynamic force and torque analysis

F12x N
F12y N
F32x N
F32y N
F43x N
F43y N
F53x N
F53y N
F14x N
F14y N
F65x N
F65y N
F16y N
F16x N
T12 Nm

Page: 8
Answer to question 7:
Determine the shaking force, Torque and moment.

[Write your answer here. Show detailed drawing and calculations with proper labelling and
scale information]

[Please see the ‘Assignment Handout’ for sample diagrams and calculations]

Table 11: Shaking force, torque and moments

Shaking Force FS N
Shaking Torque Ts Nm
Shaking Moment Ms Nm

Page: 9
 Answer to question 8:
Develop an equivalent computer model capable of simulating the motion of the given
mechanism using software Working Model and compute and plot the paths, velocities and
accelerations over one revolution of the crank at the given angular velocity . Also, find the
pin forces, slider side loads and driving torque over one revolution. How do the results
compare with those obtained using the graphical and analytical approaches?

[Write your answer here. Show detailed drawing and calculations/Screen shot with proper
labelling and scale information]

Computational Method:

Using the coordinates of O, A, B, C, D and E from the graphical or analytical method, create a virtual
computer model of the linkage mechanism using Working Model simulation software. Define 16 points
for 1 full revolution of joint A. Define output for position, velocity and acceleration for Point A, B, C
and D. Take a screen capture of the mechanism as shown in Figure 6 for an example. Run the simulation
for 1 revolution. Export data from working Model and plot following diagrams: (a) position (see
example Figure), velocity (see example Figure) and acceleration (see example Figure) using Microsoft
Excel and tabulate the values in Table 8.

 Part-1: Working Model Simulation for Position, Velocity and Acceleration

Figure: Working Model simulation for Position, Velocity and Acceleration

Table 12: Results from computational method (Velocity and Acceleration) for θ2 = 60° [after 1 revolution]

VA = AA =
Linear Linear
VB = AB =
velocity acceleration
VC = AC =
(m/s) (m/s2)
VD = AD =
ω2 = α2 =
Angular Angular
ω3 = α3 =
velocity acceleration
ω4 = α4 =
(rad/s) (rad/s2)
ω5 = α5 =

Page: 10
Position diagram:

Insert the table of exported data from Working model simulation:

Table 13: Position diagram data

A B C D
X Y X Y X Y X Y
1
2
3
4
5
6
7
8
9
10
11
12
13
14
14
16

Plot a graph in Excel and insert here. See the example below:

Figure: Position diagram

Page: 11
Velocity diagram:

Insert the table of exported data from Working model simulation:

Table 14: Velocity diagram data

A B C D
vX vY vX vY vX vY vX vY
1
2
3
4
5
6
7
8
9
10
11
12
13
14
14
16

Plot a graph in Excel and insert here. See the example below:

Figure: Velocity diagram

Page: 12
Acceleration diagram:

Insert the table of exported data from Working model simulation:

Table 15: Acceleration diagram data

A B C D
aX aY aX aY aX aY aX aY
1
2
3
4
5
6
7
8
9
10
11
12
13
14
14
16

Plot a graph in Excel and insert here. See the example below:

Figure: Acceleration diagram

Page: 13
Part 2: Working Model simulation for dynamic forces and torque:

Configure the properties of the links according to the Table 16.

Table 16: Given Data for Properties of links
Link Mass (kg) Mass moment of inertia at CG (kg-m2)
l2 m2 = 1 0.002
l3 m3 = 2.5 0.008
l4 m4 = 1.5 0.005
l5 m5 = 1.8 0.006
Slider m6 = 0.9 Use default value

Define force and torque data outputs and run the simulation for force and torque. [See for an example
below]

Figure: Working Model simulation for force and torque

Fill out with data from Computational Method in the following Table

Table 17: Results from computational method (dynamic force and torque) for θ2 = 60° [after 1 revolution]

FO N
FA N
FB N
FC N
FE N
FD N
T12 Nm

Page: 14
Result Comparison
Fill out the following table with the velocity, acceleration results for θ2 = 60° [obtained from different
methods].

Table 18: Results comparison for kinematic analysis

Graphical Analytical Computational

Vector I.C.
Linear Velocity (m/s) (m/s) θ (0) Vector (m/s) θ (0) Vector (m/s)
VA
VB
VC
VD

Angular Velocity Vector (rad/s) Vector (rad/s) Vector (rad/s)

ω2
ω3
ω4
ω5

Linear Acceleration Vector (m/s2) θ (0) Vector (m/s2) θ (0) Vector (m/s2)
AA
AB
AC
AD

Angular Acceleration Vector (rad/s2) Vector (rad/s2) Vector (rad/s2)

α2
α3
α4
α5

Page: 15
Dynamic force and torque results comparison between Analytical & Computational Method
Table 19: Results comparison for dynamic force and torque analysis

Analytical Computational
Raw Data (N) Joint Forces (N) (N)
F12x F12 FO
F12y
F32x F32 FA
F32y
F43x F43 FB
F43y
F53x F53 FC
F53y
F14x F14 FE
F14y
F65x F65 FD
F65y
F16y F16y
F16x
T12 T12

Page: 16
Discussion:
[Discuss the results: Significance, accuracy and abnormality, etc.]

Page: 17