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Kinematics of Machines {ME44}
CHAPTER - I
Mechanics: It is that branch of scientific analysis which deals with motion, time and force.
Kinematics is the study of motion, without considering the forces which produce that motion. Kinematics of machines deals with the study of the relative motion of machine parts. It involves the study of position, displacement, velocity and acceleration of machine parts.
Dynamics of machines involves the study of forces acting on the machine parts and the motions resulting from these forces.
Plane motion: A body has plane motion, if all its points move in planes which are parallel to some reference plane. A body with plane motion will have only three degrees of freedom. I.e., linear along two axes parallel to the reference plane and rotational/angular about the axis perpendicular to the reference plane. (eg. linear along X and Z and rotational about Y.)The reference plane is called plane of motion. Plane motion can be of three types. 1) Translation 2) rotation and 3) combination of translation and rotation.
Translation: A body has translation if it moves so that all straight lines in the body move to parallel positions. Rectilinear translation is a motion wherein all points of the body move in straight lie paths. Eg. The slider in slider crank mechanism has rectilinear translation. (link 4 in fig.1.1)
Fig.1.1
Translation, in which points in a body move along curved paths, is called curvilinear translation. The tie rod connecting the wheels of a steam locomotive has curvilinear translation. (link 3 in fig.1.2)
1
Fig.1.2
Rotation: In rotation, all points in a body remain at fixed distances from a line which is perpendicular to the plane of rotation. This line is the axis of rotation and points in the body describe circular paths about it. (Eg. link 2 in Fig.1.1 and links 2 & 4 in Fig.1.2)
Translation and rotation: It is the combination of both translation and rotation which is exhibited by many machine parts. (Eg. link 3 in Fig.1.1)
Link or element: It is the name given to any body which has motion relative to another. All materials have some elasticity. A rigid link is one, whose deformations are so small that they can be neglected in determining the motion parameters of the link.
Fig.1.3
Binary link: Link which is connected to other links at two points. (Fig.1.3 a)
Ternary link: Link which is connected to other links at three points. (Fig.1.3 b)
Quaternary link: Link which is connected to other links at four points. (Fig1.3 c)
Pairing elements: the geometrical forms by which two members of a mechanism are joined together, so that the relative motion between these two is consistent are known as pairing elements and the pair so formed is called kinematic pair. Each individual link of a mechanism forms a pairing element.
Fig.1.4 Kinematic pair Fig.1.5
2
Degrees of freedom (DOF): It is the number of independent coordinates required to describe the position of a body in space. A free body in space (fig 1.5) can have six degrees of freedom. I.e., linear positions along x, y and z axes and rotational/angular positions with respect to x, y and z axes.
In a kinematic pair, depending on the constraints imposed on the motion, the links may loose some of the six degrees of freedom.
Types of kinematic pairs:
(i) Based on nature of contact between elements:
(a) Lower pair. If the joint by which two members are connected has surface contact, the pair is known as lower pair. Eg. pin joints, shaft rotating in bush, slider in slider crank mechanism.
Fig.1.6 Lower pairs
(b) Higher pair. If the contact between the pairing elements takes place at a point or along a line, such as in a ball bearing or between two gear teeth in contact, it is known as a higher pair.
Fig.1.7 Higher pairs
(ii) Based on relative motion between pairing elements:
(a) Siding pair. Sliding pair is constituted by two elements so connected that one is constrained to have a sliding motion relative to the other. DOF = 1
3
(b) Turning pair (revolute pair). When connections of the two elements are such that only a constrained motion of rotation of one element with respect to the other is possible, the pair constitutes a turning pair. DOF = 1
(c) Cylindrical pair. If the relative motion between the pairing elements is the combination of turning and sliding, then it is called as cylindrical pair. DOF = 2
Fig.1.8 Sliding pair Fig.1.9 Turning pairFig.1.10 Cylindrical pair
(d) Rolling pair. When the pairing elements have rolling contact, the pair formed is called rolling pair. Eg. Bearings, Belt and pulley. DOF = 1
Fig.1.11 (a) Ball bearing Fig.1.11(b) Belt and pulley
(e) Spherical pair. A spherical pair will have surface contact and three degrees of freedom. Eg. Ball and socket joint. DOF = 3
(f) Helical pair or screw pair. When the nature of contact between the elements of a pair is such that one element can turn about the other by screw threads, it is known as screw pair. Eg. Nut and bolt. DOF = 1
4
Fig.1.12 Ball and socket joint Fig.1.13 Screw pair
(iii) Based on the nature of mechanical constraint.
(a) Closed pair. Elements of pairs held together mechanically due to their geometry constitute a closed pair. They are also called form-closed or self-closed pair.
(b) Unclosed or force closed pair. Elements of pairs held together by the action of external forces constitute unclosed or force closed pair .Eg. Cam and follower.
Fig.1.14 Closed pair Fig. 1.15 Force closed pair (cam & follower)
Constrained motion: In a kinematic pair, if one element has got only one definite motion relative to the other, then the motion is called constrained motion.
(a) Completely constrained motion. If the constrained motion is achieved by the pairing elements themselves, then it is called completely constrained motion.
5
Fig.1.16 completely constrained motion
(b) Successfully constrained motion. If constrained motion is not achieved by the pairing elements themselves, but by some other means, then, it is called successfully constrained motion. Eg. Foot step bearing, where shaft is constrained from moving upwards, by its self weight.
(c) Incompletely constrained motion. When relative motion between pairing elements takes place in more than one direction, it is called incompletely constrained motion. Eg. Shaft in a circular hole.
Fig.1.17 Foot strep bearing Fig.1.18 Incompletely constrained motion
Kinematic chain: A kinematic chain is a group of links either joined together or arranged in a manner that permits them to move relative to one another. If the links are connected in such a way that no motion is possible, it results in a locked chain or structure.
Fig.1.19 Locked chain or structure
6
Mechanism: A mechanism is a constrained kinematic chain. This means that the motion of any one link in the kinematic chain will give a definite and predictable motion relative to each of the others. Usually one of the links of the kinematic chain is fixed in a mechanism.
Fig.1.20 Slider crank and four bar mechanisms.
If, for a particular position of a link of the chain, the positions of each of the other links of the chain can not be predicted, then it is called as unconstrained kinematic chain and it is not mechanism.
Fig.1.21 Unconstrained kinematic chain
Machine: A machine is a mechanism or collection of mechanisms, which transmit force from the source of power to the resistance to be overcome. Though all machines are mechanisms, all mechanisms are not machines. Many instruments are mechanisms but are not machines, because they do no useful work nor do they transform energy. Eg. Mechanical clock, drafter.
Fig.1.21 Drafter
Planar mechanisms: When all the links of a mechanism have plane motion, it is called as a planar mechanism. All the links in a planar mechanism move in planes parallel to the reference plane.
7
Degrees of freedom/mobility of a mechanism: It is the number of inputs (number of independent coordinates) required to describe the configuration or position of all the links of the mechanism, with respect to the fixed link at any given instant.
Grubler’s equation: Number of degrees of freedom of a mechanism is given by
F = 3(n-1)-2l-h. Where,F = Degrees of freedomn = Number of links = n2 + n3 +……+nj, where, n2 = number of binary links, n3 = number of ternary links…etc.l = Number of lower pairs, which is obtained by counting the number of joints. If more than two links are joined together at any point, then, one additional lower pair is to be considered for every additional link.h = Number of higher pairs
Examples of determination of degrees of freedom of planar mechanisms:
(i)
F = 3(n-1)-2l-hHere, n2 = 4, n = 4, l = 4 and h = 0.F = 3(4-1)-2(4) = 1I.e., one input to any one link will result in definite motion of all the links.
(ii)
F = 3(n-1)-2l-hHere, n2 = 5, n = 5, l = 5 and h = 0.F = 3(5-1)-2(5) = 2I.e., two inputs to any two links are required to yield definite motions in all the links.
(iii)
F = 3(n-1)-2l-hHere, n2 = 4, n3 =2, n = 6, l = 7 and h = 0.F = 3(6-1)-2(7) = 1I.e., one input to any one link will result in definite motion of all the links.
8
(iv)
F = 3(n-1)-2l-hHere, n2 = 5, n3 =1, n = 6, l = 7 (at the intersection of 2, 3 and 4, two lower pairs are to be considered) and h = 0.F = 3(6-1)-2(7) = 1
(v)
F = 3(n-1)-2l-hHere, n = 11, l = 15 (two lower pairs at the intersection of 3, 4, 6; 2, 4, 5; 5, 7, 8; 8, 10, 11) and h = 0.F = 3(11-1)-2(15) = 0
(vi) Determine the mobility of the following mechanisms.
(a)
F = 3(n-1)-2l-hHere, n = 4, l = 5 and h = 0.F = 3(4-1)-2(5) = -1I.e., it is a structure
(b)
F = 3(n-1)-2l-hHere, n = 3, l = 2 and h = 1.F = 3(3-1)-2(2)-1 = 1
(c)
F = 3(n-1)-2l-hHere, n = 3, l = 2 and h = 1.F = 3(3-1)-2(2)-1 = 1
9
Inversions of mechanism: A mechanism is one in which one of the links of a kinematic chain is fixed. Different mechanisms can be obtained by fixing different links of the same kinematic chain. These are called as inversions of the mechanism. By changing the fixed link, the number of mechanisms which can be obtained is equal to the number of links. Excepting the original mechanism, all other mechanisms will be known as inversions of original mechanism. The inversion of a mechanism does not change the motion of its links relative to each other.
Four bar chain:
Fig 1.22 Four bar chain
One of the most useful and most common mechanisms is the four-bar linkage. In this mechanism, the link which can make complete rotation is known as crank (link 2). The link which oscillates is known as rocker or lever (link 4). And the link connecting these two is known as coupler (link 3). Link 1 is the frame.
Inversions of four bar chain:
Fig.1.23 Inversions of four bar chain.
10
Crank-rocker mechanism: In this mechanism, either link 1 or link 3 is fixed. Link 2 (crank) rotates completely and link 4 (rocker) oscillates. It is similar to (a) or (b) of fig.1.23.
Fig.1.24
Drag link mechanism. Here link 2 is fixed and both links 1 and 4 make complete rotation but with different velocities. This is similar to 1.23(c).
Fig.1.25
Double crank mechanism. This is one type of drag link mechanism, where, links 1& 3 are equal and parallel and links 2 & 4 are equal and parallel.
Fig.1.26
11
Double rocker mechanism. In this mechanism, link 4 is fixed. Link 2 makes complete rotation, whereas links 3 & 4 oscillate (Fig.1.23d)
Slider crank chain: This is a kinematic chain having four links. It has one sliding pair and three turning pairs. Link 2 has rotary motion and is called crank. Link 3 has got combined rotary and reciprocating motion and is called connecting rod. Link 4 has reciprocating motion and is called slider. Link 1 is frame (fixed). This mechanism is used to convert rotary motion to reciprocating and vice versa.
Fig1.27
Inversions of slider crank chain: Inversions of slider crank mechanism is obtained by fixing links 2, 3 and 4.
(a) crank fixed (b) connecting rod fixed (c) slider fixed
Fig.1.28
Rotary engine – I inversion of slider crank mechanism. (crank fixed)
Fig.1.29
12
Whitworth quick return motion mechanism–I inversion of slider crank mechanism.
Fig.1.30
Crank and slotted lever quick return motion mechanism – II inversion of slider crank mechanism (connecting rod fixed).
Fig.1.31
13
Oscillating cylinder engine–II inversion of slider crank mechanism (connecting rod fixed).
Fig.1.32
Pendulum pump or bull engine–III inversion of slider crank mechanism (slider fixed).
Fig.1.33
14
Double slider crank chain: It is a kinematic chain consisting of two turning pairs and two sliding pairs.
Scotch –Yoke mechanism.
Turning pairs – 1&2, 2&3; Sliding pairs – 3&4, 4&1.
Fig.1.34
Inversions of double slider crank mechanism:
Elliptical trammel. This is a device which is used for generating an elliptical profile.
Fig.1.35
In fig. 1.35, if AC = p and BC = q, then, x = q.cosθ and y = p.sinθ.
Rearranging, 1sincos 22
22
=+=
+
θθp
y
q
x. This is the equation of an ellipse. The
path traced by point C is an ellipse, with major axis and minor axis equal to 2p and 2q respectively.
15
Oldham coupling. This is an inversion of double slider crank mechanism, which is used to connect two parallel shafts, whose axes are offset by a small amount.
Fig.1.36
References:
1. Theory of Machines and Mechanisms by Joseph Edward Shigley and John Joseph Uicker,Jr. McGraw-Hill International Editions.
2. Kinematics and Dynamics of Machines by George H.Martin. McGraw-Hill Publications.
3. Mechanisms and Dynamics of Machinery by Hamilton H. Mabie and Fred W. Ocvirk. John Wiley and Sons.
4. Theory of Machines by V.P.Singh. Dhanpat Rai and Co.
5. The Theory of Machines through solved problems by J.S.Rao. New age international publishers.
6. A text book of Theory of Machines by Dr.R.K.Bansal. Laxmi Publications (P) Ltd.
16
Kinematics of Machines {ME44}
CHAPTER – I (contd.)
Quick return motion mechanisms.
Quick return mechanisms are used in machine tools such as shapers and power driven saws for the purpose of giving the reciprocating cutting tool a slow cutting stroke and a quick return stroke with a constant angular velocity of the driving crank. Some of the common types of quick return motion mechanisms are discussed below. The ratio of time required for the cutting stroke to the time required for the return stroke is called the time ratio and is greater than unity.
Drag link mechanism
This is one of the inversions of four bar mechanism, with four turning pairs. Here, link 2 is the input link, moving with constant angular velocity in anti-clockwise direction. Point C of the mechanism is connected to the tool post E of the machine. During cutting stroke, tool post moves from E1 to E2. The corresponding positions of C are C1 and C2 as shown in the fig. 1.37. For the point C to move from C1 to C2, point B moves from B1 to B2, in anti-clockwise direction. IE, cutting stroke takes place when input link moves through angle B1AB2 in anti-clockwise direction and return stroke takes place when input link moves through angle B2AB1 in anti-clockwise direction.
Fig.1.37
The time ratio is given by the following equation.
Whitworth quick return motion mechanism:
This is first inversion of slider mechanism, where, crank 1 is fixed. Input is given to link 2, which moves at constant speed. Point C of the mechanism is connected to the tool post
17
( )( )clockwiseantiBAB
clockwiseantiBAB
urnstrokeTimeforret
wardstrokeTimeforfor
−−
=12
21
ˆ
ˆ
D of the machine. During cutting stroke, tool post moves from D1 to D11. The corresponding positions of C are C1 and C11 as shown in the fig. 1.38. For the point C to move from C1 to C11, point B moves from B1 to B11, in anti-clockwise direction. I.E., cutting stroke takes place when input link moves through angle B1O2B11 in anti-clockwise direction and return stroke takes place when input link moves through angle B11O2B1 in anti-clockwise direction.
Fig.1.38
The time ratio is given by the following equation.
Crank and slotted lever quick return motion mechanism
This is second inversion of slider mechanism, where, connecting rod is fixed. Input is given to link 2, which moves at constant speed. Point C of the mechanism is connected to the tool post D of the machine. During cutting stroke, tool post moves from D1 to D11. The corresponding positions of C are C1 and C11 as shown in the fig. 1.39. For the point C to move from C1 to C11, point B moves from B1 to B11, in anti-clockwise direction. I.E., cutting stroke takes place when input link moves through angle B1O2B11 in anti-clockwise direction and return stroke takes place when input link moves through angle B11O2B1 in anti-clockwise direction.
18
2
1
2
2
ˆ
ˆ
θθ=
′′′′′′
=BoB
BoB
urnstrokeTimeforret
wardstrokeTimeforfor
Fig.1.39
The time ratio is given by the following equation.
Straight line motion mechanisms
Straight line motion mechanisms are mechanisms, having a point that moves along a straight line, or nearly along a straight line, without being guided by a plane surface.
Condition for exact straight line motion:
If point B (fig.1.40) moves on the circumference of a circle with center O and radius OA, then, point C, which is an extension of AB traces a straight line perpendicular to AO, provided product of AB and AC is constant.
19
2
1
2
2
ˆ
ˆ
θθ=
′′′′′′
=BoB
BoB
urnstrokeTimeforret
wardstrokeTimeforfor
Fig.1.40
Locus of pt.C will be a straight line, ┴ to AE if, is constant
Proof:
Peaucellier exact straight line motion mechanism:
Fig.1.41
Here, AE is the input link and point E moves along a circular path of radius AE = AB. Also, EC = ED = PC = PD and BC = BD. Point P of the mechanism moves along exact straight line, perpendicular to BA extended.
20
ACAB×
..,
.
constACifABconstAE
constbutADAD
ACABAE
AE
AB
AC
AD
ABDAEC
=×=∴=
×=∴
=∴
∆≡∆
To prove B, E and P lie on same straight line:
Triangles BCD, ECD and PCD are all isosceles triangles having common base CD and apex points being B, E and P. Therefore points B, E and P always lie on the perpendicular bisector of CD. Hence these three points always lie on the same straight line.
To prove product of BE and BP is constant.
In triangles BFC and PFC, 222 FCFBBC += and 222 FCPFPC +=
( ) ( ) BEBPPFFBPFFBPFFBPCBC ×=−+=−=−∴ 2222
But since BC and PC are constants, product of BP and BE is constant, which is the condition for exact straight line motion. Thus point P always moves along a straight line perpendicular to BA as shown in the fig.1.41.
Approximate straight line motion mechanism: A few four bar mechanisms with certain modifications provide approximate straight line motions.
Robert’s mechanism
Fig.1.42
This is a four bar mechanism, where, PCD is a single integral link. Also, dimensions AC, BD, CP and PD are all equal. Point P of the mechanism moves very nearly along line AB.
21
Intermittent motion mechanisms
An intermittent-motion mechanism is a linkage which converts continuous motion into intermittent motion. These mechanisms are commonly used for indexing in machine tools.
Geneva wheel mechanism
Fig.1.43
In the mechanism shown (Fig.1.43), link A is driver and it contains a pin which engages with the slots in the driven link B. The slots are positioned in such a manner, that the pin enters and leaves them tangentially avoiding impact loading during transmission of motion. In the mechanism shown, the driven member makes one-fourth of a revolution for each revolution of the driver. The locking plate, which is mounted on the driver, prevents the driven member from rotating except during the indexing period.
Ratchet and pawl mechanism
Fig.1.44
Ratchets are used to transform motion of rotation or translation into intermittent rotation or translation. In the fig.1.44, A is the ratchet wheel and C is the pawl. As lever B is made
22
to oscillate, the ratchet wheel will rotate anticlockwise with an intermittent motion. A holding pawl D is provided to prevent the reverse motion of ratchet wheel.
Other mechanisms
Toggle mechanism
Fig.1.45
Toggle mechanisms are used, where large resistances are to be overcome through short distances. Here, effort applied will be small but acts over large distance. In the mechanism shown in fig.1.45, 2 is the input link, to which, power is supplied and 6 is the output link, which has to overcome external resistance. Links 4 and 5 are of equal length.
Considering the equilibrium condition of slider 6,
For small angles of α, F (effort) is much smaller than P(resistance).
This mechanism is used in rock crushers, presses, riveting machines etc.
23
α
α
tan2
2tan
PFP
F
=∴
=
Pantograph
Pantographs are used for reducing or enlarging drawings and maps. They are also used for guiding cutting tools or torches to fabricate complicated shapes.
Fig.1.46
In the mechanism shown in fig.1.46 path traced by point A will be magnified by point E to scale, as discussed below.
In the mechanism shown, AB = CD; AD =BC and OAE lie on a straight line.
When point A moves to A′ , E moves to E′ and EAO ′′ also lies on a straight line.
From the fig.1.46, OCEODA ∆≡∆ and ECOADO ′′∆≡′′∆ .
CE
DA
OE
OA
OC
OD ==∴ and EC
AD
EO
AO
CO
DO′′′′
=′′
=′′
But, .;; EOEAOAEO
AO
OE
OA
CO
DO
OC
OD ′∆≡′∆∴′′
=∴′′
=
AAEE ′′∴ //
And OD
OC
OA
OE
AA
EE ==′′
′=′∴
OD
OCAAEE
Where
OD
OC is the magnification factor.
24
Hooke’s joint (Universal joints)
Hooke’s joins is used to connect two nonparallel but intersecting shafts. In its basic shape, it has two U –shaped yokes ‘a’ and ‘b’ and a center block or cross-shaped piece, C. (fig.1.47(a))
The universal joint can transmit power between two shafts intersecting at around 300
angles (α). However, the angular velocity ratio is not uniform during the cycle of operation. The amount of fluctuation depends on the angle (α) between the two shafts. For uniform transmission of motion, a pair of universal joints should be used (fig.1.47(b)). Intermediate shaft 3 connects input shaft 1 and output shaft 2 with two universal joints. The angle α between 1 and 2 is equal to angle α between 2 and 3. When shaft 1 has uniform rotation, shaft 3 varies in speed; however, this variation is compensated by the universal joint between shafts 2 and 3. One of the important applications of universal joint is in automobiles, where it is used to transmit power from engine to the wheel axle.
Fig.1.47(a)
Fig.1.47(b)
Steering gear mechanism
The steering mechanism is used in automobiles for changing the directions of the wheel axles with reference to the chassis, so as to move the automobile in the desired path.
25
Usually, the two back wheels will have a common axis, which is fixed in direction with reference to the chassis and the steering is done by means of front wheels.
In automobiles, the front wheels are placed over the front axles (stub axles), which are pivoted at the points A & B as shown in the fig.1.48. When the vehicle takes a turn, the front wheels, along with the stub axles turn about the pivoted points. The back axle and the back wheels remain straight.
Always there should be absolute rolling contact between the wheels and the road surface. Any sliding motion will cause wear of tyres. When a vehicle is taking turn, absolute rolling motion of the wheels on the road surface is possible, only if all the wheels describe concentric circles. Therefore, the two front wheels must turn about the same instantaneous centre I which lies on the axis of the back wheel.
Condition for perfect steering
The condition for perfect steering is that all the four wheels must turn about the same instantaneous centre. While negotiating a curve, the inner wheel makes a larger turning angle θ than the angle φ subtended by the axis of the outer wheel.
In the fig.1.48, a = wheel track, L = wheel base, w = distance between the pivots of front axles.
Fig.1.48
From ,IAE∆ cotθ = L
AE
EI
AE = and
from ,BEI∆ cotφ = ( ) ( )
L
w
L
w
L
EA
L
wEA
EI
ABEA
EI
EB +=+=+=+= θcot
26
L
w=−∴ θφ cotcot . This is the fundamental equation for correct steering. If this
condition is satisfied, there will be no skidding of the wheels when the vehicle takes a turn.
Ackermann steering gear mechanism
Fig.1.49
R S
A B
A'
B'd x x
d
c
P
Q
fig.1.50
Ackerman steering mechanism, RSAB is a four bar chain as shown in fig.1.50. Links RA and SB which are equal in length are integral with the stub axles. These links are connected with each other through track rod AB. When the vehicle is in straight ahead position, links RA and SB make equal angles α with the center line of the vehicle. The dotted lines in fig.1.50 indicate the position of the mechanism when the vehicle is turning left.
27
Let AB=l, RA=SB=r; α== BSQARP ˆˆ and in the turned position, φθ == 11 ˆ&ˆ BSBARA . IE, the stub axles of inner and outer wheels turn by θ and φ angles respectively.
Neglecting the obliquity of the track rod in the turned position, the movements of A and B in the horizontal direction may be taken to be same (x).
Then, ( )r
xd +=+ θαsin and ( )r
xd −=− φαsin
Adding, ( ) ( ) αφαθα sin22
sinsin ==−++r
d[1]
Angle α can be determined using the above equation. The values of θ and φ to be taken in
this equation are those found for correct steering using the equation L
w=− θφ cotcot . [2]
This mechanism gives correct steering in only three positions. One, when θ = 0 and other two each corresponding to the turn to right or left (at a fixed turning angle, as determined by equation [1]).
The correct values of φ, [φc] corresponding to different values of θ, for correct steering can be determined using equation [2]. For the given dimensions of the mechanism, actual values of φ, [φa] can be obtained for different values of θ. T he difference between φc and φa will be very small for small angles of θ, but the difference will be substantial, for larger values of θ. Such a difference will reduce the life of tyres because of greater wear on account of slipping.
But for larger values of θ, the automobile must take a sharp turn; hence is will be moving at a slow speed. At low speeds, wear of the tyres is less. Therefore, the greater difference between φc and φa larger values of θ ill not matter.
As this mechanism employs only turning pairs, friction and wear in the mechanism will be less. Hence its maintenance will be easier and is commonly employed in automobiles.
References:
7. Theory of Machines and Mechanisms by Joseph Edward Shigley and John Joseph Uicker,Jr. McGraw-Hill International Editions.
8. Kinematics and Dynamics of Machines by George H.Martin. McGraw-Hill Publications.
9. Mechanisms and Dynamics of Machinery by Hamilton H. Mabie and Fred W. Ocvirk. John Wiley and Sons.
10. Theory of Machines by V.P.Singh. Dhanpat Rai and Co.
11. The Theory of Machines through solved problems by J.S.Rao. New age international publishers.
6. A text book of Theory of Machines by Dr.R.K.Bansal. Laxmi Publications (P) Ltd.Chapter VI
28
CAMS
INTRODUCTION
A cam is a mechanical device used to transmit motion to a follower by direct contact. The driver is called the cam and the driven member is called the follower. In a cam follower pair, the cam normally rotates while the follower may translate or oscillate. A familiar example is the camshaft of an automobile engine, where the cams drive the push rods (the followers) to open and close the valves in synchronization with the motion of the pistons.
Types of cams
Cams can be classified based on their physical shape.
a) Disk or plate cam (Fig. 6.1a and b): The disk (or plate) cam has an irregular contour to impart a specific motion to the follower. The follower moves in a plane perpendicular to the axis of rotation of the camshaft and is held in contact with the cam by springs or gravity.
Fig. 6.1 Plate or disk cam.
b) Cylindrical cam (Fig. 6.2): The cylindrical cam has a groove cut along its cylindrical surface. The roller follows the groove, and the follower moves in a plane parallel to the axis of rotation of the cylinder.
Fig. 6.2 Cylindrical cam.
c) Translating cam (Fig. 6.3a and b). The translating cam is a contoured or grooved plate sliding on a guiding surface(s). The follower may oscillate (Fig. 6.3a) or reciprocate
29
(Fig. 6.3b). The contour or the shape of the groove is determined by the specified motion of the follower.
Fig. 6.3 Translating cam
Types of followers:
(i) Based on surface in contact. (Fig.6.4)
(a) Knife edge follower
(b) Roller follower
(c) Flat faced follower
(d) Spherical follower
Fig. 6.4 Types of followers
(ii) Based on type of motion: (Fig.6.5)
(a) Oscillating follower
(b) Translating follower
30
Fig.6.5
(iii) Based on line of motion:
(a) Radial follower: The lines of movement of in-line cam followers pass through the centers of the camshafts (Fig. 6.4a, b, c, and d).
(b) Off-set follower: For this type, the lines of movement are offset from the centers of the camshafts (Fig. 6.6a, b, c, and d).
Fig.6.6 Off set followers
Cam nomenclature (Fig. 6.7):
31
Fig.6.7
Cam Profile The contour of the working surface of the cam.
Tracer Point The point at the knife edge of a follower, or the center of a roller, or the center of a spherical face.
Pitch Curve The path of the tracer point.
Base Circle The smallest circle drawn, tangential to the cam profile, with its center on the axis of the camshaft. The size of the base circle determines the size of the cam.
Prime Circle The smallest circle drawn, tangential to the pitch curve, with its center on the axis of the camshaft.
Pressure Angle The angle between the normal to the pitch curve and the direction of motion of the follower at the point of contact.
Types of follower motion:
Cam follower systems are designed to achieve a desired oscillatory motion. Appropriate displacement patterns are to be selected for this purpose, before designing the cam surface. The cam is assumed to rotate at a constant speed and the follower raises, dwells, returns to its original position and dwells again through specified angles of rotation of the cam, during each revolution of the cam.
Some of the standard follower motions are as follows:
They are, follower motion with,
32
(a) Uniform velocity
(b) Modified uniform velocity
(c) Uniform acceleration and deceleration
(d) Simple harmonic motion
(e) Cycloidal motion
Displacement diagrams: In a cam follower system, the motion of the follower is very important. Its displacement can be plotted against the angular displacement θ of the cam and it is called as the displacement diagram. The displacement of the follower is plotted along the y-axis and angular displacement θ of the cam is plotted along x-axis. From the displacement diagram, velocity and acceleration of the follower can also be plotted for different angular displacements θ of the cam. The displacement, velocity and acceleration diagrams are plotted for one cycle of operation i.e., one rotation of the cam. Displacement diagrams are basic requirements for the construction of cam profiles. Construction of displacement diagrams and calculation of velocities and accelerations of followers with different types of motions are discussed in the following sections.
(a) Follower motion with Uniform velocity:
Fig.6.8 shows the displacement, velocity and acceleration patterns of a follower having uniform velocity type of motion. Since the follower moves with constant velocity, during rise and fall, the displacement varies linearly with θ. Also, since the velocity changes from zero to a finite value, within no time, theoretically, the acceleration becomes infinite at the beginning and end of rise and fall.
33
Fig.6.8
(b) Follower motion with modified uniform velocity:
It is observed in the displacement diagrams of the follower with uniform velocity that the acceleration of the follower becomes infinite at the beginning and ending of rise and return strokes. In order to prevent this, the displacement diagrams are slightly modified. In the modified form, the velocity of the follower changes uniformly during the beginning and end of each stroke. Accordingly, the displacement of the follower varies parabolically during these periods. With this modification, the acceleration becomes
34
constant during these periods, instead of being infinite as in the uniform velocity type of motion. The displacement, velocity and acceleration patterns are shown in fig.6.9.
fig.6.9
(c) Follower motion with uniform acceleration and retardation (UARM):
Here, the displacement of the follower varies parabolically with respect to angular displacement of cam. Accordingly, the velocity of the follower varies uniformly with respect to angular displacement of cam. The acceleration/retardation of the follower becomes constant accordingly. The displacement, velocity and acceleration patterns are shown in fig. 6.10.
35
Fig.6.10
s = Stroke of the follower
θo and θr = Angular displacement of the cam during outstroke and return stroke.
ω = Angular velocity of cam.
Time required for follower outstroke = to = ωθo
Time required for follower return stroke = tr = ωθ r
36
Average velocity of follower = t
s
Average velocity of follower during outstroke = 22
2 maxmin vovo
t
st
s
oo
+==
vomin = 0
oo
s
t
svo
θω22
max ==∴ = Max. velocity during outstroke.
Average velocity of follower during return stroke = 22
2 maxmin vrvr
t
st
s
rr
+==
vrmin = 0
rr
s
t
svr
θω22
max ==∴ = Max. velocity during return stroke.
Acceleration of the follower during outstroke = 2
2max 4
2oo
o
st
voa
θω==
Similarly acceleration of the follower during return stroke = 2
24
r
r
sa
θω=
(d) Simple Harmonic Motion: In fig.6.11, the motion executed by point Pl, which is the projection of point P on the vertical diameter is called simple harmonic motion. Here, P moves with uniform angular velocity ωp, along a circle of radius r (r = s/2).
ax
y
y
pp'
r
37
Fig.6.11
Displacement = trry pωα sinsin == ; ry =max [d1]
Velocity = try pp ωω cos= ; pry ω=max [d2]
Acceleration = ytry ppp22 sin ωωω −=−= ;
2max pry ω−= [d3]
Fig.6.11
s= Stroke or displacement of the follower.
θo = Angular displacement during outstroke.
θr = Angular displacement during return stroke
ω = Angular velocity of cam.
to = Time taken for outstroke = ωθo
tr = Time taken for return stroke = ωθ r
Max. velocity of follower during outstroke = vomax = rωp (from d2)
38
vomax = oo
s
t
s
θπωπ22
=
Similarly Max. velocity of follower during return stroke = , vrmax = rr
s
t
s
θπωπ22
=
Max. acceleration during outstroke = aomax = rω2p (from d3) =
2
222
22oo
s
t
s
θωππ =
Similarly, Max. acceleration during return stroke = armax = rr
s
t
s2
222
22 θωππ =
39
(e) Cycloidal motion:
Cycloid is the path generated by a point on the circumference of a circle, as the circle rolls without slipping, on a straight/flat surface. The motion executed by the follower here, is similar to that of the projection of a point moving along a cyloidal curve on a vertical line as shown in figure 6.12.
21
aa1
a2
a3
a4
a5
a6
a7
CYCLOIDALMOTION
FOLLOWER MOTION
66
Fig.6.12
The construction of displacement diagram and the standard patterns of velocity and acceleration diagrams are shown in fig.6.13. Compared to all other follower motions, cycloidal motion results in smooth operation of the follower.
The expressions for maximum values of velocity and acceleration of the follower are shown below.
s = Stroke or displacement of the follower.
d = dia. of cycloid generating circle = πs
θo = Angular displacement during outstroke.
θr = Angular displacement during return stroke
ω = Angular velocity of cam.
to = Time taken for outstroke = ωθo
tr = Time taken for return stroke = ωθ r
vomax = Max. velocity of follower during outstroke = o
s
θω2
40
vrmax = Max. velocity of follower during return stroke = r
s
θω2
aomax = Max. acceleration during outstroke = 2
22
o
s
θπω
armax = Max. acceleration during return stroke = r
s2
22
θπω
Fig. 6.13
41
42
Solved problems
(1) Draw the cam profile for following conditions:
Follower type = Knife edged, in-line; lift = 50mm; base circle radius = 50mm; out stroke with SHM, for 600 cam rotation; dwell for 450 cam rotation; return stroke with SHM, for 900 cam rotation; dwell for the remaining period. Determine max. velocity and acceleration during out stroke and return stroke if the cam rotates at 1000 rpm in clockwise direction.
Displacement diagram:
OUT STROKE DWELL RETURN STROKE DWELL
LIFT = 50mm
0 1 2 3 4 5 6 7 8 9 10 11 12
a
b
c
d
ef g
h
i
j
k
1
2
3
4
56
l
Cam profile: Construct base circle. Mark points 1,2,3…..in direction opposite to the direction of cam rotation. Transfer points a,b,c…..l from displacement diagram to the cam profile and join them by a smooth free hand curve. This forms the required cam profile.
43
123
45
6
ab
cde
f
7
g
60°
45°
8
9
1011 12
h
ij
k
l
90°
50
Calculations:
Angular velocity of cam = 60
10002
60
2 ××== ππω N=104.76 rad/sec
Max. velocity of follower during outstroke = vomax = o
s
θπω2
=
= 32
5076.104π
π×
×× =7857mm/sec =7.857m/sec
Similarly Max. velocity of follower during return stroke = , vrmax = r
s
θπω2
=
= 22
5076.104π
π×
×× = 5238mm/sec = 5.238m/sec
Max. acceleration during outstroke = aomax = rω2p (from d3) = 2
22
2 o
s
θωπ
=
44
= ( )
( ) =×
××2
22
32
5076.104
ππ
2469297.96mm/sec2 = 2469.3m/sec2
Similarly, Max. acceleration during return stroke = armax = r
s2
22
2θωπ
=
= ( )
( ) =×
××2
22
22
5076.104
ππ
1097465.76mm/sec2 = 1097.5m/sec2
45
(2) Draw the cam profile for the same operating conditions of problem (1), with the follower off set by 10 mm to the left of cam center.
Displacement diagram: Same as previous case.
Cam profile: Construction is same as previous case, except that the lines drawn from 1,2,3…. are tangential to the offset circle of 10mm dia. as shown in the fig.
12
34
56
7
8
910 11 12
ab
cde
f
g
h
i jk
l
60°
45°
90°
50mm
10
46
(3) Draw the cam profile for following conditions:
Follower type = roller follower, in-line; lift = 25mm; base circle radius = 20mm; roller radius = 5mm; out stroke with UARM, for 1200 cam rotation; dwell for 600 cam rotation; return stroke with UARM, for 900 cam rotation; dwell for the remaining period. Determine max. velocity and acceleration during out stroke and return stroke if the cam rotates at 1200 rpm in clockwise direction.
Displacement diagram:
25
0 1 2 3 4 5 6 7 8 9 10 11 12
a
b
c
d
ef g
hi
j
k
l
OUT STROKE DWELL RETURN STROKE DWELL
LIFT
Cam profile: Construct base circle and prime circle (25mm radius). Mark points 1,2,3…..in direction opposite to the direction of cam rotation, on prime circle. Transfer points a,b,c…..l from displacement diagram. At each of these points a,b,c… draw circles of 5mm radius, representing rollers. Starting from the first point of contact between roller and base circle, draw a smooth free hand curve, tangential to all successive roller positions. This forms the required cam profile.
47
120°
60° 90°
01
2
3
4
5
6
7 89
1011
12
ab
c
d
e
f
gh
i
j
k
l
20mm
Calculations:
Angular velocity of the cam = =××==60
12002
60
2 ππω N125.71rad/sec
Max. velocity during outstroke =oo
s
t
svo
θω22
max == =
= =×
××
32
2571.1252π 2999.9mm/sec =2.999m/sec
Max. velocity during return stroke = =××===2
2571.125222max πθ
ωrr
s
t
svr
= 3999.86mm/sec = 3.999m/sec
Acceleration of the follower during outstroke = 2
2max 4
2oo
o
st
voa
θω== =
= ( )( ) =
×××
2
2
32
2571.1254
π 359975mm/sec2 = 359.975m/sec2
Similarly acceleration of the follower during return stroke = 2
24
r
r
sa
θω= =
48
= ( )
( ) =××2
2
2
2571.1254
π 639956mm/sec2 = 639.956m/sec2
49
(4) Draw the cam profile for conditions same as in (3), with follower off set to right of cam center by 5mm and cam rotating counter clockwise.
Displacement diagram: Same as previous case.
Cam profile: Construction is same as previous case, except that the lines drawn from 1,2,3…. are tangential to the offset circle of 10mm dia. as shown in the fig.
60°
120°
90°
1
2
3
4
5
6
78
910
11
12
ab
c
d
e
f
g
h
i
j
k
l
20mm5
50
(5) Draw the cam profile for following conditions:
Follower type = roller follower, off set to the right of cam axis by 18mm; lift = 35mm; base circle radius = 50mm; roller radius = 14mm; out stroke with SHM in 0.05sec; dwell for 0.0125sec; return stroke with UARM, during 0.125sec; dwell for the remaining period. During return stroke, acceleration is 3/5 times retardation. Determine max. velocity and acceleration during out stroke and return stroke if the cam rotates at 240 rpm.
Calculations:
Cam speed = 240rpm. Therefore, time for one rotation = sec25.0240
60 =
Angle of out stroke = 07236025.0
05.0 =×=oθ
Angle of first dwell = 01 18360
25.0
0125.0 =×=wθ
Angle of return stroke = 018036025.0
125.0 =×=rθ
Angle of second dwell = 02 90=wθ
Since acceleration is 3/5 times retardation during return stroke,
ra5
3= (from acceleration diagram) 5
3=∴r
a
But 5
3; maxmax ==∴==
a
r
ra t
t
r
a
t
vr
t
va
Displacement diagram is constructed by selecting ta and tr accordingly.
51
OUT STROKE DWELL RETURN STROKE DWELL
LIFT = 35 mm
0 1 2 3 4 5 6 7
a
b
c
d
ef
1
2
3
4
56
8 9 10 11 12 13 14
gh i
j
k
l
mn
v
a
vr-max
a
r
tatr
Angular velocity of cam = 60
2402
60
2 ××== ππω N=25.14 rad/sec
Max. velocity of follower during outstroke = vomax = o
s
θπω2
=
= ( )522
3514.25π
π××
×× = 1099.87mm/sec =1.1m/sec
Similarly Max. velocity during return stroke = =××==πθ
ω 3514.2522max
r
svr
= 559.9 mm/sec = 0.56m/sec
Max. acceleration during outstroke = aomax = rω2p (from d3) = 2
22
2 o
s
θωπ
=
= ( )
( ) =××
××2
22
522
3514.25
ππ
69127.14mm/sec2 = 69.13m/sec2
52
acceleration of the follower during return stroke =
( )ππθπ
ω
ωπ
θω
××××=
××××=
××
==5
3514.2516
5
16
85
2 22max
r
r
ar
ss
t
vra = 7166.37 mm/sec2 =
7.17m/sec2
similarly retardation of the follower during return stroke =
( )ππθπ
ω
ωπ
θω
××××=
××××=
××
==3
3514.2516
3
16
83
2 22max
r
r
rr
ss
t
vrr = 11943.9 mm/sec2 =
11.94m/sec2
72°
18°
180°
18
1
23
4
5
6
7
8
9
1011
12
13
14
a b cd
e
f
g
h
i
jk
l
m
n
53
(6) Draw the cam profile for following conditions:
Follower type = knife edged follower, in line; lift = 30mm; base circle radius = 20mm; out stroke with uniform velocity in 1200 of cam rotation; dwell for 600; return stroke with uniform velocity, during 900 of cam rotation; dwell for the remaining period.
Displacement diagram:
1 2 3 4 5 6 7 8 9 10 11 12
ab
cd
ef g
hi
jk
l
30mm
OUT STROKE RETURN STROKEDWELL DWELL
Cam profile:
120°
60° 90°
90°1
32
4
5
6
7 8 91011
12
abc
d
e
f
gh
i
j
k
l
54
55
(7) Draw the cam profile for following conditions:
Follower type = oscillating follower with roller as shown in fig.; base circle radius = 20mm; roller radius = 7mm; follower to rise through 400 during 900 of cam rotation with cycloidal motion; dwell for 300; return stroke with cycloidal motion during 1200 of cam rotation; dwell for the remaining period. Also determine the max. velocity and acceleration during outstroke and return stroke, if the cam rotates at 600 rpm.
76
36
40°
76
A
B
O
Lift of the follower = S = length AB ≈ arc AB = 180
4076πθ ××=×OA = 53 mm.
Radius of cycloid generating circle = π×2
53 = 8.4 mm
Displacement diagram;
56
12
3
4 5
61 2 3 4 5 6
7
89
10
11 12
7 8 9 10 11 12
53
16.8
OUT STROKE RETURN STROKEDWELL DWELL
a
b
c
d
ef g h
i
j
kl
57
Angular velocity of cam = 60
6002
60
2 ××== ππω N = 62.86 rad/sec
vomax = Max. velocity of follower during outstroke = 2
5386.6222πθ
ω ××=o
s = 4240.2
mm/sec
vrmax = Max. velocity of follower during return stroke = 3
25386.6222
πθω
×××=
r
s = 3180
mm/sec
aomax = Max. acceleration during outstroke = ( )( )2
2
2
2
2
5386.6222
ππ
θπω ×××=
o
s = 533077
mm/sec2
= 533.1 m/sec2.
armax = Max. acceleration during return stroke = ( )
( )2
2
2
2
32
5386.6222
ππ
θπω
××××=
r
s =
= 299855.8mm/sec2 = 299.8 m/sec2.
Cam profile: Draw base circle and prime circle. Draw another circle of radius equal to the distance between cam center and follower pivot point. Take the line joining cam center and pivot point as reference and draw lines indicating successive angular displacements of cam. Divide these into same number of divisions as in the displacement diagram. Show points 1’, 2’, 3’… on the outer circle. With these points as centers and radius equal to length of follower arm, draw arcs, cutting the prime circle at 1,2,3…. Transfer points a,b,c.. on to these arcs from displacement diagram. At each of these points a,b,c… draw circles of 7mm radius, representing rollers. Starting from the first point of contact between roller and base circle, draw a smooth free hand curve, tangential to all successive roller positions. This forms the required cam profile.
58
90°
30°
120°
120°
12
34
5
6
ab
c
d
e
f7
89 10 11
12
g
hi
k
l
m
36
76
1'
2'
3'
4'
5'
6'
7'8'
9'
10'
11'
12'
59
(8) Draw the cam profile for following conditions:
Follower type = knife edged follower, in line; follower rises by 24mm with SHM in 1/4 rotation, dwells for 1/8 rotation and then raises again by 24mm with UARM in 1/4 rotation and dwells for 1/16 rotation before returning with SHM. Base circle radius = 30mm.
Angle of out stroke (1) = θ01 = 00 903604
1 =×
Angle of dwell (1) = 00 453608
1 =×
Angle of out stroke (2) = θ02 = 00 903604
1 =×
Angle of dwell (2) = 00 5.2236016
1 =×
Angle of return stroke = θr = 00 5.112360
16
5360
16
1
4
1
8
1
4
11 =×=×
+++−
Displacement diagram:
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19
ab
c
de
f g hi
jk
l
m n
o
p
q
r
s
OUT STROKE 1 DWELL 1 OUT STROKE 2 DWELL 2 RETURN STROKE
24mm
24
Cam profile:
60
90°
45°
90°
22.5°
112.5°
12
3
4
5
6
7
89
10 11
12 13
14
15
16
17
1819
abcd
e
f
g
h
i
jk
l
m
n
o
p
qrs
60
61
(9) Draw the cam profile for following conditions:
Follower type = flat faced follower, in line; follower rises by 20mm with SHM in 1200 of cam rotation, dwells for 300 of cam rotation; returns with SHM in 1200 of cam rotation and dwells during the remaining period. Base circle radius = 25mm.
Displacement diagram:
1 2 3 4 5 6 7 8 9 10 11 12
ab
cd
e f g hi
jk
l
20
OUT STROKE RETURN STROKEDWELL DWELL
Cam profile: Construct base circle. Mark points 1,2,3…..in direction opposite to the direction of cam rotation, on prime circle. Transfer points a,b,c…..l from displacement diagram. At each of these points a,b,c… draw perpendicular lines to the radials, representing flat faced followers. Starting from the first point of contact between follower and base circle, draw a smooth free hand curve, tangential to all successive follower positions. This forms the required cam profile.
62
12
3
4
5
6
78 9 10
11
12
ab
c
d
e
f
g
hi
j
k
l
25
120°
30°120°
90°
63
(10) Draw the cam profile for following conditions:
Follower type = roller follower, in line; roller dia. = 5mm; follower rises by 25mm with SHM in 1800 of cam rotation, falls by half the distance instantaneously; returns with Uniform velocity in 1800 of cam rotation. Base circle radius = 20m.
Displacement diagram:
1 2 3 4 5 6 7 8 9 10 11a
b
cd e
f
g
h i j k l
2512.5
OUT STROKE RETURN STROKE
Cam profile:
4520 R
1
2
3
4
5 67
8
9
10
11
ab
c
d
e
f
gh
i
j
k
l
64
(11) Draw the cam profile for following conditions:
Follower type = roller follower, off-set to the right by 5mm; lift = 30mm; base circle radius = 25mm; roller radius = 5mm; out stroke with SHM, for 1200 cam rotation; dwell for 600 cam rotation; return stroke during 1200 cam rotation; first half of return stroke with Uniform velocity and second half with UARM; dwell for the remaining period.
Displacement diagram:
1 2 3 4 5 6 7 8 9 10 11 12 13 1415 1617 18
ab
c
d e
f g
hi
j k l mn o
pq r
30
Cam profile:
65
120°
60°
120°
60°
1
2
3
4
5
6
789
1011
12
13
14
15
1617
18
ab
c
d
e
f
g
h
i
j
k
l
m
n
o
p
q
r
5
(12) A push rod of valve of an IC engine ascends with UARM, along a path inclined to the vertical at 600. The same descends with SHM. The base circle diameter of the cam is 50mm and the push rod has a roller of 60mm diameter, fitted to its end. The axis of the roller and the cam fall on the same vertical line. The stroke of the follower is 20mm. The angle of action for the outstroke and the return stroke is 600 each, interposed by a dwell period of 600. Draw the profile of the cam.
Displacement diagram:
66
20
OUT STROKE DWELL RETURN STROKE DWELL
1 2 3 4 5 6 7 8 9 10 11 12a
b
c
de
f g
h
i
j
k l
Cam profile:
60°
1 2 34
56
a bc d e f
7
89
101112
g
h
ij
kl
5066
16
60°
60°
60°
67
4.0 Gears:
Introduction: The slip and creep in the belt or rope drives is a common phenomenon, in the transmission of motion or power between two shafts. The effect of slip is to reduce the velocity ratio of the drive. In precision machine, in which a definite velocity ratio is importance (as in watch mechanism, special purpose machines..etc), the only positive drive is by means of gears or toothed wheels.
Friction Wheels: Kinematiclly, the motion and power transmitted by gears is equivalent to that transmitted by friction wheels or discs in contact with sufficient friction between them. In order to understand motion transmitted by two toothed wheels, let us consider the two discs placed together as shown in the figure 4.1.
When one of the discs is rotated, the other disc will be rotate as long as the tangential force exerted by the driving disc does not exceed the maximum frictional resistance between the two discs. But when the tangential force exceeds the frictional resistance, slipping will take place between the two discs. Thus the friction drive is not positive a drive, beyond certain limit.
Gears are machine elements that transmit motion by means of successively engaging teeth. The gear teeth act like small levers. Gears are highly efficient (nearly 95%) due to primarily rolling contact between the teeth, thus the motion transmitted is considered as positive.
Gears essentially allow positive engagement between teeth so high forces can be transmitted while still undergoing essentially rolling contact. Gears do not depend on friction and do best when friction is minimized.
Some common places that gears can normally be found are:
Printing machinery parts Newspaper Industry Book binding machinesRotary die cutting machines
Plastics machinery builders Injection molding machinery
Blow molding machinery Motorcycle Transmissions (street and race applications)
Heavy earth moving to personal vehicles
Agricultural equipment Polymer pumps High volume water pumps for municipalities
High volume vacuum pumps
Turbo boosters for automotive applications
Marine applications
Boat out drives Special offshore racing drive systems
Canning and bottling machinery builders
Hoists and Cranes Commercial and Military Military offroad vehicles
68
Figure 4.1
operationsAutomotive prototype and reproduction
Low volume automotive production
Stamping presses
Diesel engine builders Special gear box builders Many different special machine tool builders
4.1 Gear Classification: Gears may be classified according to the relative position of the axes of revolution. The axes may be
1. Gears for connecting parallel shafts,2. Gears for connecting intersecting shafts, 3. Gears for neither parallel nor intersecting shafts.
Gears for connecting parallel shafts
1. Spur gears: Spur gears are the most common type of gears. They have straight teeth, and are mounted on parallel shafts. Sometimes, many spur gears are used at once to create very large gear reductions. Each time a gear tooth engages a tooth on the other gear, the teeth collide, and this impact makes a noise. It also increases the stress on the gear teeth. To reduce the noise and stress in the gears, most of the gears in your car are helical.
Spur gears are the most commonly used gear type. They are characterized by teeth, which are perpendicular to the face of the gear. Spur gears are most commonly available, and are generally the least expensive.
• Limitations: Spur gears generally cannot be used when a direction change between the two shafts is required.
• Advantages: Spur gears are easy to find, inexpensive, and efficient.
2. Parallel helical gears: The teeth on helical gears are cut at an angle to the face of the gear. When two teeth on a helical gear system engage, the contact starts at one end of the tooth and gradually spreads as the gears rotate, until the two teeth are in full engagement.
69
External contact
Iinternal contact
Spur gears (Emerson Power Transmission Corp)
Helical gears (EmersonPower Transmission Corp) Herringbone gears (or double-helical gears)
This gradual engagement makes helical gears operate much more smoothly and quietly than spur gears. For this reason, helical gears are used in almost all car transmission.
Because of the angle of the teeth on helical gears, they create a thrust load on the gear when they mesh. Devices that use helical gears have bearings that can support this thrust load.
One interesting thing about helical gears is that if the angles of the gear teeth are correct, they can be mounted on perpendicular shafts, adjusting the rotation angle by 90 degrees.
Helical gears to have the following differences from spur gears of the same size:
o Tooth strength is greater because the teeth are longer, o Greater surface contact on the teeth allows a helical gear to carry more load than a
spur gear o The longer surface of contact reduces the efficiency of a helical gear relative to a spur
gear
Rack and pinion (The rack is like a gear whose axis is at infinity.): Racks are straight gears that are used to convert rotational motion to translational motion by means of a gear mesh. (They are in theory a gear with an infinite pitch diameter). In theory, the torque and angular velocity of the pinion gear are related to the Force and the velocity of the rack by the radius of the pinion gear, as is shown.
Perhaps the most well-known application of a rack is the rack and pinion steering system used on many cars in the past
Gears for connecting intersecting shafts: Bevel gears are useful when the direction of a shaft's rotation needs to be changed. They are usually mounted on shafts that are 90 degrees apart, but can be designed to work at other angles as well.
The teeth on bevel gears can be straight, spiral or hypoid. Straight bevel gear teeth actually have the same problem as straight spur gear teeth, as each tooth engages; it impacts the corresponding tooth all at once.
70
Just like with spur gears, the solution to this problem is to curve the gear teeth. These spiral teeth engage just like helical teeth: the contact starts at one end of the gear and progressively spreads across the whole tooth.
Straight bevel gears Spiral bevel gears
On straight and spiral bevel gears, the shafts must be perpendicular to each other, but they must also be in the same plane. The hypoid gear, can engage with the axes in different planes.
This feature is used in many car differentials. The ring gear of the differential and the input pinion gear are both hypoid. This allows the input pinion to be mounted lower than the axis of the ring gear. Figure shows the input pinion engaging the ring gear of the differential. Since the driveshaft of the car is connected to the input pinion, this also lowers the driveshaft. This means that the driveshaft doesn't pass into the passenger compartment of the car as much, making more room for people and cargo.
Neither parallel nor intersecting shafts: Helical gears may be used to mesh two shafts that are not parallel, although they are still primarily use in parallel shaft applications. A special application in which helical gears are used is a crossed gear mesh, in which the two shafts are perpendicular to each other.
Crossed-helical gears
Worm and worm gear: Worm gears are used when large gear reductions are needed. It is common for worm gears to have reductions of 20:1, and even up
to 300:1 or greater.
71
Hypoid gears (Emerson Power Transmission Corp)
Many worm gears have an interesting property that no other gear set has: the worm can easily turn the gear, but the gear cannot turn the worm. This is because the angle on the worm is so shallow that when the gear tries to spin it, the friction between the gear and the worm holds the worm in place.
This feature is useful for machines such as conveyor systems, in which the locking feature can act as a brake for the conveyor when the motor is not turning. One other very interesting usage of worm gears is in the Torsen differential, which is used on some high-performance cars and trucks.
4.3 Terminology for Spur Gears
72
Figure 4-4 Spur Gear
73
Terminology:
Addendum: The radial distance between the Pitch Circle and the top of the teeth.
Arc of Action: Is the arc of the Pitch Circle between the beginning and the end of the engagement of a given pair of teeth.
Arc of Approach: Is the arc of the Pitch Circle between the first point of contact of the gear teeth and the Pitch Point.
Arc of Recession: That arc of the Pitch Circle between the Pitch Point and the last point of contact of the gear teeth.
Backlash: Play between mating teeth.
Base Circle: The circle from which is generated the involute curve upon which the tooth profile is based.
Center Distance: The distance between centers of two gears.
Chordal Addendum: The distance between a chord, passing through the points where the Pitch Circle crosses the tooth profile, and the tooth top.
Chordal Thickness: The thickness of the tooth measured along a chord passing through the points where the Pitch Circle crosses the tooth profile.
Circular Pitch: Millimeter of Pitch Circle circumference per tooth.
Circular Thickness: The thickness of the tooth measured along an arc following the Pitch Circle
Clearance: The distance between the top of a tooth and the bottom of the space into which it fits on the meshing gear.
74
Contact Ratio: The ratio of the length of the Arc of Action to the Circular Pitch.
Dedendum: The radial distance between the bottom of the tooth to pitch circle.
Diametral Pitch: Teeth per mm of diameter.
Face: The working surface of a gear tooth, located between the pitch diameter and the top of the tooth.
Face Width: The width of the tooth measured parallel to the gear axis.
Flank: The working surface of a gear tooth, located between the pitch diameter and the bottom of the teeth
Gear: The larger of two meshed gears. If both gears are the same size, they are both called "gears".
Land: The top surface of the tooth.
Line of Action: That line along which the point of contact between gear teeth travels, between the first point of contact and the last.
Module: Millimeter of Pitch Diameter to Teeth.
Pinion: The smaller of two meshed gears.
Pitch Circle: The circle, the radius of which is equal to the distance from the center of the gear to the pitch point.
Diametral pitch: Teeth per millimeter of pitch diameter.
Pitch Point: The point of tangency of the pitch circles of two meshing gears, where the Line of Centers crosses the pitch circles.
Pressure Angle: Angle between the Line of Action and a line perpendicular to the Line of Centers.
Profile Shift: An increase in the Outer Diameter and Root Diameter of a gear, introduced to lower the practical tooth number or acheive a non-standard Center Distance.
Ratio: Ratio of the numbers of teeth on mating gears.
Root Circle: The circle that passes through the bottom of the tooth spaces.
Root Diameter: The diameter of the Root Circle.
75
Working Depth: The depth to which a tooth extends into the space between teeth on the mating gear.
4.2 Gear-Tooth Action
4.2.1 Fundamental Law of Gear-Tooth Action
Figure 5.2 shows two mating gear teeth, in which
• Tooth profile 1 drives tooth profile 2 by acting at the instantaneous contact point K.
• N1N2 is the common normal of the two profiles.
• N1 is the foot of the perpendicular from O1
to N1N2 • N2 is the foot of the perpendicular from O2
to N1N2.
Although the two profiles have different velocities V1 and V2 at point K, their velocities along N1N2 are equal in both magnitude and direction. Otherwise the two tooth profiles would separate from each other. Therefore, we have
( )1.4222111 ωω NONO =
or
( )2.411
22
2
1
NO
NO=
ωω
We notice that the intersection of the tangency N1N2 and the line of center O1O2 is point P, and from the similar triangles,
( )3.42211 PNOPNO ∆=∆
Thus, the relationship between the angular velocities of the driving gear to the driven gear, or velocity ratio, of a pair of mating teeth is
76
Figure 5-2 Two gearing tooth profiles
φ
( )4.41
2
2
1
PO
PO=
ωω
Point P is very important to the velocity ratio, and it is called the pitch point. Pitch point divides the line between the line of centers and its position decides the velocity ratio of the two teeth. The above expression is the fundamental law of gear-tooth action.
From the equations 4.2 and 4.4, we can write,
( )5.411
22
1
2
2
1
NO
NO
PO
PO==
ωω
which determines the ratio of the radii of the two base circles. The radii of the base circles is given by:
( )6.4coscos 222111 φφ PONOandPONO ==
Also the centre distance between the base circles:
( )7.4coscoscos
221122112121 φφφ
NONONONOPOPOOO
+=+=+=
where φ is the pressure angle or the angle of obliquity. It is the angle which the common normal to the base circles make with the common tangent to the pitch circles.
4.2.2 Constant Velocity Ratio
For a constant velocity ratio, the position of P should remain unchanged. In this case, the motion transmission between two gears is equivalent to the motion transmission between two imagined slip-less cylinders with radius R1 and R2 or diameter D1 and D2. We can get two circles whose centers are at O1 and O2, and through pitch point P. These two circles are termed pitch circles. The velocity ratio is equal to the inverse ratio of the diameters of pitch circles. This is the fundamental law of gear-tooth action.
The fundamental law of gear-tooth action may now also be stated as follow (for gears with fixed center distance)
A common normal (the line of action) to the tooth profiles at their point of contact must, in all positions of the contacting teeth, pass through a fixed point on the line-of-centers called the pitch pointAny two curves or profiles engaging each other and satisfying the law of gearing are conjugate curves, and the relative rotation speed of the gears will be constant(constant velocity ratio).
77
4.2.3 Conjugate Profiles
To obtain the expected velocity ratio of two tooth profiles, the normal line of their profiles must pass through the corresponding pitch point, which is decided by the velocity ratio. The two profiles which satisfy this requirement are called conjugate profiles. Sometimes, we simply termed the tooth profiles which satisfy the fundamental law of gear-tooth action the conjugate profiles.
Although many tooth shapes are possible for which a mating tooth could be designed to satisfy the fundamental law, only two are in general use: the cycloidal and involute profiles. The involute has important advantages; it is easy to manufacture and the center distance between a pair of involute gears can be varied without changing the velocity ratio. Thus close tolerances between shaft locations are not required when using the involute profile. The most commonly used conjugate tooth curve is the involute curve. (Erdman & Sandor).
conjugate action : It is essential for correctly meshing gears, the size of the teeth ( the module ) must be the same for both the gears.
Another requirement - the shape of teeth necessary for the speed ratio to remain constant during an increment of rotation; this behavior of the contacting surfaces (ie. the teeth flanks) is known as conjugate action.
4.3 Involute Curve
The following examples are involute spur gears. We use the word involute because the contour of gear teeth curves inward. Gears have many terminologies, parameters and principles. One of the important concepts is the velocity ratio, which is the ratio of the rotary velocity of the driver gear to that of the driven gears.
4.1 Generation of the Involute Curve
The curve most commonly used for gear-tooth profiles is the involute of a circle. This involute curve is the path traced by a point on a line as the line rolls without slipping on the circumference of a circle. It may also be defined
78
Figure 4.3 Involute curve
as a path traced by the end of a string, which is originally wrapped on a circle when the string is unwrapped from the circle. The circle from which the involute is derived is called the base circle.
4.2 Properties of Involute Curves
1. The line rolls without slipping on the circle. 2. For any instant, the instantaneous center of the motion of the line is its point of tangent
with the circle.
Note: We have not defined the term instantaneous center previously. The instantaneous center or instant center is defined in two ways.
1. When two bodies have planar relative motion, the instant center is a point on one body about which the other rotates at the instant considered.
2. When two bodies have planar relative motion, the instant center is the point at which the bodies are relatively at rest at the instant considered.
3. The normal at any point of an involute is tangent to the base circle. Because of the property (2) of the involute curve, the motion of the point that is tracing the involute is perpendicular to the line at any instant, and hence the curve traced will also be perpendicular to the line at any instant.
There is no involute curve within the base circle.
Cycloidal profile:
Epicycliodal Profile:
79
Hypocycliodal Profile:
The involute profile of gears has important advantages;
• It is easy to manufacture and the center distance between a pair of involute gears can be varied without changing the velocity ratio. Thus close tolerances between shaft locations are not required. The most commonly used conjugate tooth curve is the involute curve. (Erdman & Sandor).
2. In involute gears, the pressure angle, remains constant between the point of tooth engagement and disengagement. It is necessary for smooth running and less wear of gears.
But in cycloidal gears, the pressure angle is maximum at the beginning of engagement, reduces to zero at pitch point, starts increasing and again becomes maximum at the end of engagement. This results in less smooth running of gears.
3. The face and flank of involute teeth are generated by a single curve where as in cycloidal gears, double curves (i.e. epi-cycloid and hypo-cycloid) are required for the face and flank respectively. Thus the involute teeth are easy to manufacture than cycloidal teeth.
In involute system, the basic rack has straight teeth and the same can be cut with simple tools.
Advantages of Cycloidal gear teeth:
1. Since the cycloidal teeth have wider flanks, therefore the cycloidal gears are stronger than the involute gears, for the same pitch. Due to this reason, the cycloidal teeth are preferred specially for cast teeth.
2. In cycloidal gears, the contact takes place between a convex flank and a concave surface, where as in involute gears the convex surfaces are in contact. This condition results in less wear in cycloidal gears as compared to involute gears. However the difference in wear is negligible
80
3. In cycloidal gears, the interference does not occur at all. Though there are advantages of cycloidal gears but they are outweighed by the greater simplicity and flexibility of the involute gears.
Properties of involute teeth:
1. A normal drawn to an involute at pitch point is a tangent to the base circle.
2. Pressure angle remains constant during the mesh of an involute gears.
3. The involute tooth form of gears is insensitive to the centre distance and depends only on the dimensions of the base circle.
4. The radius of curvature of an involute is equal to the length of tangent to the base circle.
5. Basic rack for involute tooth profile has straight line form.
6. The common tangent drawn from the pitch point to the base circle of the two involutes is the line of action and also the path of contact of the involutes.
7. When two involutes gears are in mesh and rotating, they exhibit constant angular velocity ratio and is inversely proportional to the size of base circles. (Law of Gearing or conjugate action)
8. Manufacturing of gears is easy due to single curvature of profile.
The 14½O composite system is used for general purpose gears.
It is stronger but has no interchangeability. The tooth profile of this system has cycloidal curves at the top and bottom and involute curve at the middle portion.
The teeth are produced by formed milling cutters or hobs.
System of Gear Teeth
The following four systems of gear teeth are commonly used in practice:
1. 14 ½O Composite system
2. 14 ½O Full depth involute system
3. 20O Full depth involute system
4. 20O Stub involute system
81
The tooth profile of the 14½O full depth involute system was developed using gear hobs for spur and helical gears.
The tooth profile of the 20o full depth involute system may be cut by hobs.
The increase of the pressure angle from 14½o to 20o results in a stronger tooth, because the tooth acting as a beam is wider at the base.
The 20o stub involute system has a strong tooth to take heavy loads.
Involutometry
The study of the geometry of the involute profile for gear teeth is called involumetry. Consider an involute of base circle radius ra and two points B and C on the involute as shown in figure. Draw normal to the involute from the points B and C. The normal BE and CF are tangents to the Base circle.
Let
ra= base circle radius of gear
rb= radius of point B on the involute
rc= radius of point C on the involute
and
Φb= pressure angle for the point B
Φc= pressure angle for the point C
82
ra
Pitch CircleAddendum Circle
Base Circle
EF
BC
Gear
O
A
r
tb= tooth thickness along the arc at B
tc= tooth thickness along the arc at C
From the properties of the Involute:
Arc AE = Length BE and
Arc AF = Length CF
Similarly:
83
( )2cos
)1(cos
cca
bba
rr
rr
OCF
andOBEFrom
φφ
×=×=∆∆
ccbb rr
Therefore
φφ coscos ×=×
( )
−−=∴
−=−∠=∠
===∠
functioninvolutecalled
isExpression
Inv
AOEAOBOE
BE
OE
ArcAEAOE
bb
bbb
bbb
b
φφφφφ
φφφ
φ
tan
tan.
tan
tan
ccc
CCc
c
Inv
AOFAOCOF
BE
OF
ArcAFAOF
φφφφφφ
φ
−=∴−=−∠=∠
===∠
tan.
tan
tan
b
bbb
b
b
r
t
r
tAOBAOD
BpotheAt
2tan
2
int
+−=
+∠=∠
φφ
c
ccc
b
c
r
t
r
tAOCAOD
CpotheAt
2tan
2
int
+−=
+∠=∠
φφ
Using this equation and knowing tooth thickness at any point on the tooth, it is possible to calculate the thickness of the tooth at any point
Path of contact:
Consider a pinion driving wheel as shown in figure. When the pinion rotates in clockwise, the contact between a pair of involute teeth begins at K (on the near the base circle of pinion or the outer end of the tooth face on the wheel) and ends at L (outer end of the tooth face on the pinion or on the flank near the base circle of wheel).
MN is the common normal at the point of contacts and the common tangent to the base circles. The point K is the intersection of the addendum circle of wheel and the common tangent. The point L is the intersection of the addendum circle of pinion and common tangent.
The length of path of contact is the length of common normal cut-off by the addendum circles of the wheel and the pinion. Thus the length of part of contact is KL which is the sum
84
PitchCircle
Pinion
WheelO2
O1
P
Base Circle
Base Circle
PitchCircle
AddendumCircles
φ
φ
φ
r
ra
RA
RN
K
L
M
Catthicknesstooth
rr
tinvinvt
r
tinv
r
tinv
r
t
r
t
equationsabovetheEquating
cb
bcbc
c
cc
b
bb
c
ccc
b
bbb
=
+−=
+=+
+−=+−
22
..
2.
2.
2tan
2tan
:
φφ
φφ
φφφφ
of the parts of path of contacts KP and PL. Contact length KP is called as path of approach and contact length PL is called as path of recess.
ra = O1L = Radius of addendum circle of pinion,
and
R A = O2K = Radius of addendum circle of wheel
r = O1P = Radius of pitch circle of pinion,
and
R = O2P = Radius of pitch circle of wheel.
Radius of the base circle of pinion = O1M = O1P cosφ = r cosφ
and
radius of the base circle of wheel = O2N = O2P cos φ = R cosφ
From right angle triangle O2KN
Path of approach: KP
Similarly from right angle triangle O1ML
Path of recess: PL
Length of path of contact = KL
85
( ) ( )( ) φ222
22
22
cosRR
NOKOKN
A −=
−=
φφ sinsin2 RPOPN ==
( ) φφ sincos222 RRR
PNKNKP
A −−=
−=
( ) ( )( ) φ222
21
21
cosrr
MOLOML
a −=
−=
φφ sinsin1 rPOMP ==
( ) φφ sincos222 rrr
MPMLPL
a −−=
−=
( ) ( ) ( ) φφφ sincoscos 222222 rRrrRR
PLKPKL
aA +−−+−=
+=
Arc of contact: Arc of contact is the path traced by a point on the pitch circle from the beginning to the end of engagement of a given pair of teeth. In Figure, the arc of contact is EPF or GPH.
Considering the arc of contact GPH.
The arc GP is known as arc of approach and the arc PH is called arc of recess. The angles subtended by these arcs at O1 are called angle of approach and angle of recess respectively.
Length of arc of approach = arc GP
Length of arc of recess = arc PH
Length of arc contact = arc GPH = arc GP + arc PH
Contact Ratio (or Number of Pairs of Teeth in Contact)
The contact ratio or the number of pairs of teeth in contact is defined as the ratio of the length of the arc of contact to the circular pitch.
Mathematically,
86
M
L
K
NR
RA
ra
r
φ
φ
φ
AddendumCircles
PitchCircle
Base Circle
P
O1
O2
Pinion
PitchCircle
H
FE
GGearProfile
Wheel
φφ coscos
KPapproachofpathofLenght ==
φφ coscos
PLrecessofpathofLenght ==
φφφφ coscoscoscos
contactofpathofLengthKLPLKP ==+=
CP
contactofarctheofLengthratioContat =
Where: and m = Module.
87
mpitchCircularPC ×== π
Number of Pairs of Teeth in Contact
Continuous motion transfer requires two pairs of teeth in contact at the ends of the path of contact, though there is only one pair in contact in the middle of the path, as in Figure.
The average number of teeth in contact is an important parameter - if it is too low due to the use of inappropriate profile shifts or to an excessive centre distance.The manufacturing inaccuracies may lead to loss of kinematic continuity - that is to impact, vibration and noise.
The average number of teeth in contact is also a guide to load sharing between teeth; it is termed the contact ratio
Length of path of contact for Rack and Pinion:
88
R
r
RACK c
T
a
bh
Pc
PITCH LINE
Base Circle
φ°
c
φ
φ
RACK
PINION
PITCH LINE
Let
r = Pitch circle radius of the pinion = O1P
Φ = Pressure angle
ra. = Addendu m radius of the pinion
a = Addendum of rack
EF = Length of path of contact
EF = Path of approach EP + Path of recess PF
From triangle O1NF:
Exercise problems refer presentation slides
Interference in Involute Gears
89
φφφφ
φ
φ
coscos
sinsin
:
)3(
)2(sin
)1(sin
11
1
1
rPONO
rPONP
NPOtriangleFrom
NPNFPFrecessofPath
aEPapproachofPath
EP
a
EP
AP
====
−==
==
==
( ) ( )
( )
( ) φφφ
φφ
φ
sincossin
sincos
)3(
cos
2
1222
2
1222
2
12222
12
12
1
rrra
PFEPEFcontactoflengthofPath
rrrPFracessofPath
equationtheinvaluesNFandNPngSubstituti
rrNOFONF
a
a
a
−−+=
+==∴−−==
−=−=
PitchCircle
Pinion
WheelO2
O1
P
Base Circle
Base Circle
PitchCircle
AddendumCircles
φ
φ
φ
r
ra
RA
RN
K
L
M
Figure shows a pinion and a gear in mesh with their center as O1andO2 respectively. MN is the common tangent to the basic circles and KL is the path of contact between the two mating teeth.
Consider, the radius of the addendum circle of pinion is increased to O1N, the point of contact L will moves from L to N. If this radius is further increased, the point of contact L will be inside of base circle of wheel and not on the involute profile of the pinion.
The tooth tip of the pinion will then undercut the tooth on the wheel at the root and damages part of the involute profile. This effect is known as interference, and occurs when the teeth are being cut and weakens the tooth at its root.
In general, the phenomenon, when the tip of tooth undercuts the root on its mating gear is known as interference.
Similarly, if the radius of the addendum circles of the wheel increases beyond O2M, then the tip of tooth on wheel will cause interference with the tooth on pinion. The points M and N are called interference points.
Interference may be avoided if the path of the contact does not extend beyond interference points. The limiting value of the radius of the addendum circle of the pinion is O1N and of the wheel is O2M.
The interference may only be prevented, if the point of contact between the two teeth is always on the involute profiles and if the addendum circles of the two mating gears cut the common tangent to the base circles at the points of tangency.
When interference is just prevented, the maximum length of path of contact is MN.
90
Wheel
Undercut Pinion
φsinrMPapproachofpathMaximum ==φsinRPNrecessofpathMaximum ==
( ) φsinRrPNMPMN
MNcontactofpathoflengthMaximum
+=+==
( ) ( ) φφ
φtan
cos
sinRr
RrcontactofarcoflengthMaximum +=+=
Methods to avoid Interference
1. Height of the teeth may be reduced.
2. Under cut of the radial flank of the pinion.
3. Centre distance may be increased. It leads to increase in pressure angle.
4. By tooth correction, the pressure angle, centre distance and base circles remain unchanged, but tooth thickness of gear will be greater than the pinion tooth thickness.
Minimum number of teeth on the pinion avoid Interference
The pinion turns clockwise and drives the gear as shown in Figure.
Points M and N are called interference points. i.e., if the contact takes place beyond M and N, interference will occur.
The limiting value of addendum circle radius of pinion is O1N and the limiting value of addendum circle radius of gear is O2M. Considering the critical addendum circle radius of gear, the limiting number of teeth on gear can be calculated.
Let
Ф = pressure angle
R = pitch circle radius of gear = ½mT
r = pitch circle radius of pinion = ½mt
T & t = number of teeth on gear & pinion
m = module
91
PitchCircle
Pinion
WheelO2
O1
P
Base Circle
Base Circle
PitchCircle
Max.AddendumCircles
φ
φ
φ
r
ra
RA
RN
K
L
M
aw = Addendum constant of gear (or) wheel
ap = Addendum constant of pinion
aw. m = Addendum of gear ap. m = Addendum of pinion
G = Gear ratio = T/t
From triangle O1NP, Applying cosine rule
Limiting radius of the pinion addendum circle:
Addendum of the pinion = O1N - O1P
Addendum of the pinion = O1N - O1P
92
( )
( )φφ
φφφ
φφφφφ
sinsin
sin21sin2sin
1
sin2sin
90cossin2sin
cos2
2
222
2
222
2222
222
1122
12
1
RPOPN
r
R
r
Rr
r
R
r
Rr
RrRr
RrRr
PNOPNPONPPONO
==
++=
++=
++=+−+=
××−+=
2
1
22
1
21 sin21
2sin21
++=
++= φφ
t
T
t
Tmt
r
R
r
RrNO
−
++=
−
++=
1sin212
2sin21
2
2
1
2
2
1
2
φ
φ
t
T
t
Tmt
mt
t
T
t
Tmtmap
( )( )
−++
=
−
++=
1sin21
2
1sin212
2
12
2
1
2
φ
φ
GG
at
t
T
t
Tta
p
p
The equation gives minimum number of teeth required on the pinion to avoid interference.
If the number of teeth on pinion and gear is same: G=1
1. 14 ½O Composite system = 12 2. 14 ½O Full depth involute system = 323. 20O Full depth involute system = 184. 20O Stub involute system = 14
Minimum number of teeth on the wheel avoid Interference
From triangle O2MP, applying cosine rule and simplifying, The limiting radius of wheel addendum circle:
Addendum of the pinion = O2 M- O2P
93
( )
−+
=1sin31
2
2
12 φ
pat
PitchCircle
Pinion
WheelO2
O1
P
Base Circle
Base Circle
PitchCircle
Max.AddendumCircles
φ
φ
φ
r
ra
RA
RN
K
L
M
2
1
2
2
1
22
sin212
sin21
++=
++=
φ
φ
T
t
T
tmT
R
r
R
rRMO
The equation gives minimum number of teeth required on the wheel to avoid interference.
Minimum number of teeth on the pinion for involute rack to avoid Interference
The rack is part of toothed wheel of infinite diameter. The base circle diameter and profile of the involute teeth are straight lines.
94
−
++= 1sin21
2
2
1
2 φT
t
T
tmTmaw
−
++= 1sin21
2
2
1
2 φT
t
T
tTaw
−
++
=
1sin211
1
2
2
1
2 φGG
aT W
φ°
φ
PITCH LINE
φ
Pc
Th
a
bRACK
c
PITCH LINE
PINION
RACK
φ
c
φ°M
L
HP
K
Let
t = Minimum number of teeth on the pinion
r = Pitch circle radius of the pinion = ½ mt
Φ = Pressure angle
AR.m = Addendum of rack
The straight profiles of the rack are tangential to the pinion profiles at the point of contact and perpendicular to the tangent PM. Point L is the limit of interference.
Addendum of the rack:
Backlash:
The gap between the non-drive face of the pinion tooth and the adjacent wheel tooth is known as backlash.
If the rotational sense of the pinion were to reverse, then a period of unrestrained pinion motion would take place until the backlash gap closed and contact with the wheel tooth re-established impulsively.
Backlash is the error in motion that occurs when gears change direction. The term "backlash" can also be used to refer to the size of the gap, not just the phenomenon it causes; thus, one could speak of a pair of gears as having, for example, "0.1 mm of backlash."
A pair of gears could be designed to have zero backlash, but this would presuppose perfection in manufacturing, uniform thermal expansion characteristics throughout the system, and no lubricant.
Therefore, gear pairs are designed to have some backlash. It is usually provided by reducing the tooth thickness of each gear by half the desired gap distance.
95
( )
φ
φ
φφ
φφφ
2
2
2
2
sin
2:ceinterferen
sin2
sin
sin
sinsin
sin
R
R
AtavoidTo
mt
r
OP
OP
PLLHmA
=∴
=
===
==×
In the case of a large gear and a small pinion, however, the backlash is usually taken entirely off the gear and the pinion is given full sized teeth.
Backlash can also be provided by moving the gears farther apart. For situations, such as instrumentation and control, where precision is important, backlash can be minimised through one of several techniques.
Let
r = standard pitch circle radius of pinion
R = standard pitch circle radius of wheel
c = standard centre distance = r +R
r’ = operating pitch circle radius of pinion
R’ = operating pitch circle radius of wheel
c’ = operating centre distance = r’ + R’
Ф = Standard pressure angle
Ф’ = operating pressure angle
h = tooth thickness of pinion on standard pitch circle= p/2
96
M'
N'
RR'
r'r
Base Circle
Base Circle
P
O1
O2
M
NR
RA
rar
φ
φ
φ
P
O1
O2
Wheel
Pinion
Standard(cutting)Pitch Circle
Standard(cutting)Pitch Circle
c
Standard(cutting)Pitch Circle
Standard(cutting)Pitch Circle
∆c
c' OperatingPitch Circle
φ'
φ'
Figure a
Pinion
Figure b
Wheel
h’ = tooth thickness of pinion on operating pitch circle
Let
H = tooth thickness of gear on standard pitch circle
H1 = tooth thickness of gear on operating pitch circle
p = standard circular pitch = 2п r/ t = 2пR/T
p’ = operating circular pitch = 2п r1/t = 2пR1/T
∆C = change in centre distance
B = Backlash
t = number of teeth on pinion
T = number of teeth on gear.
Involute gears have the invaluable ability of providing conjugate action when the gears' centre distance is varied either deliberately or involuntarily due to manufacturing and/or mounting errors.
On the operating pitch circle:
97
−=−=−=∆
=∴
×=×
==
1'cos
cos
'cos
cos'
'cos
cos'
cos'cos''''
φφ
φφ
φφ
φφ
ccccccNow
cc
ccc
c
R
R
r
r
)1(''' BHhp
BacklashthicknesstoothofsumpitchOperating
++=+=
+−=
+−=
R
hinvinvRH
r
hinvinvrh
tryinvolutomeBy
2'..'2'
2'..'2'
:
φφ
φφ
Substituting h’ and H’ in the equation (1):
There is an infinite number of possible centre distances for a given pair of profile shifted gears, however we consider only the particular case known as the extended centre distance.
Non Standard Gears:
The important reason for using non standard gears are to eliminate undercutting, to prevent interference and to maintain a reasonable contact ratio.
The two main non- standard gear systems:
(1) Long and short Addendum system and
(2) Extended centre distance system.
Long and Short Addendum System:
The addendum of the wheel and the addendum of the pinion are generally made of equal lengths.
Here the profile/rack cutter is advanced to a certain increment towards the gear blank and the same quantity of increment will be withdrawn from the pinion blank.
98
( ) ( )
Binvcinvcc
c
c
chp
BRrinvRrinvR
R
r
rhp
BR
hinvinvR
r
hinvinvrp
+−+
+=
++−++
+=
+
+−+
+−=
'.'2.'2''
'
'''.2''.2''
'
2'..'2
2'..'2'
φφ
φφ
φφφφ
[ ]
[ ]
[ ]φφπ
φφππ
φφ
.'.'2'
'2
.'.'2'
2
22
'2
.'.'2'
2
invinvcc
crr
tB
invinvcc
c
t
r
t
rB
invinvcc
chpB
−+
−=
−+−=
−+−=∴
[ ]
[ ]φφ
φφπ
.'.'2
.'.'2'
'2
invinvcBBacklash
invinvcr
rrr
tB
−==
−+
−=
Therefore an increased addendum for the pinion and a decreased addendum for the gear is obtained. The amount of increase in the addendum of the pinion should be exactly equal to the addendum of the wheel is reduced.
The effect is to move the contact region from the pinion centre towards the gear centre, thus reducing approach length and increasing the recess length. In this method there is no change in pressure angle and the centre distance remains standard.
Extended centre distance system:
Reduction in interference with constant contact ratio can be obtained by increasing the centre distance. The effect of changing the centre distance is simply in increasing the pressure angle.
In this method when the pinion is being cut, the profile cutter is withdrawn a certain amount from the centre of the pinion so the addendum line of the cutter passes through the interference point of pinion. The result is increase in tooth thickness and decrease in tooth space.
Now If the pinion is meshed with the gear, it will be found that the centre distance has been increased because of the decreased tooth space. Increased centre distance will have two undesirable effects.
NOTE: Please refer presentation slides also for more figure, photos and exercise problems
References:
12. Theory of Machines and Mechanisms by Joseph Edward Shigley and John Joseph Uicker,Jr. McGraw-Hill International Editions.
13. Kinematics and Dynamics of Machines by George H.Martin. McGraw-Hill Publications.
14. Mechanisms and Dynamics of Machinery by Hamilton H. Mabie and Fred W. Ocvirk. John Wiley and Sons.
15. Theory of Machines by V.P.Singh. Dhanpat Rai and Co.
16. The Theory of Machines through solved problems by J.S.Rao. New age international publishers.
17. A text book of Theory of Machines by Dr.R.K.Bansal. Laxmi Publications (P) Ltd.
18. Internet: Many Web based e notes
99
Chapter 5: Gears Trains
A gear train is two or more gear working together by meshing their teeth and turning each other in a system to generate power and speed. It reduces speed and increases torque. To create large gear ratio, gears are connected together to form gear trains. They often consist of multiple gears in the train.
The most common of the gear train is the gear pair connecting parallel shafts. The teeth of this type can be spur, helical or herringbone. The angular velocity is simply the reverse of the tooth ratio.
Any combination of gear wheels employed to transmit motion from one shaft to the other is called a gear train. The meshing of two gears may be idealized as two smooth discs with their edges touching and no slip between them. This ideal diameter is called the Pitch Circle Diameter (PCD) of the gear.
Simple Gear TrainsThe typical spur gears as shown in diagram. The direction of rotation is reversed from one gear to another. It has no affect on the gear ratio. The teeth on the gears must all be the same size so if gear A advances one tooth, so does B and C.
The velocity v of any point on the circle must be the same for all the gears, otherwise they would be slipping.
100
(Idler gear)GEAR 'C'GEAR 'B'GEAR 'A'
v
v
CωBωAω
.
module
module
mesh would notrwise theygears othe
all e same formust be th
and
t
D =m =
in rpmN = speed meter,circle diaD = Pitch
r,on the gea of teeth t = number
r= D
cle. v = on the cir velocity v = linear
.r velocity = angula
= m tDand = m tD; = m tD
t
D =
t
D =
t
Dm =
CCBBAA
C
C
B
B
A
A
ωω
ω
2
CCBBAA
CCBBAA
CCBBAA
CCBBAA
CC
BB
AA
tNtNtN
revoftermsinor
ttt
tmtmtm
DDD
DDDv
==
====
==
===
min/
222
ωωωωωω
ωωω
ωωω
Application:a) to connect gears where a large center distance is required
b) to obtain desired direction of motion of the driven gear ( CW or CCW)
c) to obtain high speed ratio
Torque & Efficiency The power transmitted by a torque T N-m applied to a shaft rotating at N rev/min is given by:
In an ideal gear box, the input and output powers are the same so;
It follows that if the speed is reduced, the torque is increased and vice versa. In a real gear box, power is lost through friction and the power output is smaller than the power input. The efficiency is defined as:
Because the torque in and out is different, a gear box has to be clamped in order to stop the case or body rotating. A holding torque T3 must be applied to the body through the clamps.
The total torque must add up to zero. T1 + T2 + T3 = 0
If we use a convention that anti-clockwise is positive and clockwise is negative we can determine the holding torque. The direction of rotation of the output shaft depends on the design of the gear box.
Compound Gear train
101
60
2 TNP
π=
GRN
N
T
TTNTN
TNTNP
==⇒=
==
2
1
1
22211
2211
60
2
60
2 ππ
11
22
11
22
602
602
TN
TN
TN
TN
InPower
outPower =××××==
ππη
GEAR 'A'
GEAR 'B'
GEAR 'C'
GEAR 'D'
Compound Gears
A
C
BD
Output
Input
Compound gears are simply a chain of simple gear trains with the input of the second being the output of the first. A chain of two pairs is shown below. Gear B is the output of the first pair and gear C is the input of the second pair. Gears B and C are locked to the same shaft and revolve at the same speed.For large velocities ratios, compound gear train arrangement is preferred.
The velocity of each tooth on A and B are the same so:ωA tA = ωB tB -as they are simple gears.
Likewise for C and D, ωC tC = ωD tD.
Reverted Gear trainThe driver and driven axes lies on the same line. These are used in speed reducers, clocks and machine tools.
If R and T=Pitch circle radius & number of teeth of the gear
RA + RB = RC + RD and tA + tB = tC + tD
102
C
D
A
B
DB
CA
C
DD
A
BBCA
C
DDC
A
BBA
C
D
D
C
A
B
B
A
t
t
t
t
t
t
t
t
T
tand
t
t
ttand
tt
×=××
×××=×
×=×=
==
ωωωω
ωωωω
ωωωω
ωωωω
( )( ) GR
t
t
t
t
OutN
InN
aswritten
bemayratiogearThe
NSince
GRt
t
t
t
shaftsametheonareCandBgearSince
C
D
A
B
C
D
A
B
D
A
CB
=×=
××=
=×=
=
:
2 πωωω
ωω
CA
DB
D
A
tt
tt
N
NGR
××==
Epicyclic gear train:
Epicyclic means one gear revolving upon and around another. The design involves planet and sun gears as one orbits the other like a planet around the sun. Here is a picture of a typical gear box.
This design can produce large gear ratios in a small space and are used on a wide range of applications from marine gearboxes to electric screwdrivers.
Basic Theory
103
Arm 'A'
B
C
Planet wheel
Sun wheel
Arm
B
C
The diagram shows a gear B on the end of an arm. Gear B meshes with gear C and revolves around it when the arm is rotated. B is called the planet gear and C the sun.
First consider what happens when the planet gear orbits the sun gear.
Observe point p and you will see that gear B also revolves once on its own axis. Any object orbiting around a center must rotate once. Now consider that B is free to rotate on its shaft and meshes with C. Suppose the arm is held stationary and gear C is rotated once. B spins about its own center and the
number of revolutions it makes is the ratioB
C
t
t. B will rotate by this number for every complete
revolution of C.
Now consider that C is unable to rotate and the arm A is revolved once. Gear B will revolve B
C
t
t+1
because of the orbit. It is this extra rotation that causes confusion. One way to get round this is to imagine that the whole system is revolved once. Then identify the gear that is fixed and revolve it back one revolution. Work out the revolutions of the other gears and add them up. The following tabular method makes it easy.
Suppose gear C is fixed and the arm A makes one revolution. Determine how many revolutions the planet gear B makes.Step 1 is to revolve everything once about the center.Step 2 identify that C should be fixed and rotate it backwards one revolution keeping the arm fixed as it should only do one revolution in total. Work out the revolutions of B.Step 3 is simply add them up and we find the total revs of C is zero and for the arm is 1.
Step Action A B C1 Revolve all once 1 1 1
2Revolve C by –1 revolution,
keeping the arm fixed0
B
C
t
t+ -1
3 Add 1B
C
t
t+1 0
The number of revolutions made by B is
+
B
C
t
t1 Note that if C revolves -1, then the direction of B
is opposite so B
C
t
t+ .
Example: A simple epicyclic gear has a fixed sun gear with 100 teeth and a planet gear with 50 teeth. If the arm is revolved once, how many times does the planet gear revolve?
Solution:
Step Action A B C1 Revolve all once 1 1 1
2Revolve C by –1 revolution,
keeping the arm fixed0
50
100+ -1
3 Add 1 3 0
104
Gear B makes 3 revolutions for every one of the arm.The design so far considered has no identifiable input and output. We need a design that puts an input and output shaft on the same axis. This can be done several ways.
Problem 1: In an ecicyclic gear train shown in figure, the arm A is fixed to the shaft S. The wheel B having 100 teeth rotates freely on the shaft S. The wheel F having 150 teeth driven separately. If the arm rotates at 200 rpm and wheel F at 100 rpm in the same direction; find (a) number of teeth on the gear C and (b) speed of wheel B.
Solution:TB=100; TF=150; NA=200rpm; NF=100rpm:
CgearsonteethofNumberT
T
TTT
rrr
gearsallforsameisuletheSince
C
C
CBF
CBF
→=×+=
+=⇒+=∴
25
2100150
2
2
:cirlcepitch the toalproportion is gears on the teeth ofnumber the
:mod
The gear B and gear F rotates in the opposite directions:
105
Arm A
C
S B100B
F150
C 200 rpm
100 rpm
350200
200100
150
100
)exp(
=⇒−−=−
−−
=−∴
−−
=−−
=
−=∴
EB
AB
AF
F
B
AB
AF
ArmF
ArmL
F
B
NN
NN
NN
T
T
traingearepicyclicforressiongeneralNN
NN
NN
NNTValso
T
TvalueTrain
The Gear B rotates at 350 rpm in the same direction of gears F and Arm A.
Problem 2: In a compound epicyclic gear train as shown in the figure, has gears A and an annular gears D & E free to rotate on the axis P. B and C is a compound gear rotate about axis Q. Gear A rotates at 90 rpm CCW and gear D rotates at 450 rpm CW. Find the speed and direction of rotation of arm F and gear E. Gears A,B and C are having 18, 45 and 21 teeth respectively. All gears having same module and pitch.
Solution:TA=18 ; TB=45; TC=21;NA = -90rpm; ND=450rpm:
DgearonteethT
TTTT
rrrr
and
D
CBAD
CBAD
84214518
:cirlcepitch the toalproportion is gears on the teeth ofnumber the
:gearsallforsamearepitch moduletheSince
=++=++=⇒
++=∴
106
Q
P
C Arm F
D
AE
B
Annular 'A'
Spider 'L'
Sun Wheel 'S'
Planet Wheel 'P'
Gears A and D rotates in the opposite directions:
CWrpmArmofSpeedN
N
N
NN
NN
T
T
T
T
NN
NN
NN
NNTValso
T
T
T
TvalueTrain
F
F
F
FA
FD
D
C
B
A
FA
FD
ArmF
ArmL
D
C
B
A
−==⇒−−−
=××−
−−
=×−∴
−−
=−−
=
×−=∴
9.400
90
450
8445
2118
Now consider gears A, B and E:
EgearonteethofNumberT
T
TTT
rrr
E
E
BAE
BAE
→=×+=
+=⇒+=
108
45218
2
2
Gears A and E rotates in the opposite directions:
CWrpmEgearofSpeedN
N
NN
NN
T
T
NN
NNTValso
T
TvalueTrain
E
E
FA
FE
E
A
FA
FE
E
A
−==⇒−−−
=−
−−
=−∴
−−
=
−=∴
72.4829.40090
9.400
108
18
Problem 3: In an epicyclic gear of sun and planet type shown in figure 3, the pitch circle diameter of the annular wheel A is to be nearly 216mm and module 4mm. When the annular ring is stationary, the spider that carries three planet wheels P of equal size to make one revolution for every five revolution of the driving spindle carrying the sun wheel. Determine the number of teeth for all the wheels and the exact pitch circle diameter of the annular wheel. If an input torque of 20 N-m is applied to the spindle carrying the sun wheel, determine the fixed torque on the annular wheel.
107
Solution: Module being the same for all the meshing gears: TA = TS + 2TP
teethm
AofPCDTA 54
4
216 ===
OperationSpider arm L
Sun Wheel S
TS
Planet wheel P
TP
Annular wheel A
TA = 54Arm L is fixed & Sun wheel S is
given +1 revolution 0 +1
P
S
T
T−
A
S
A
P
P
S
T
T
T
T
T
T−=×−
Multiply by m (S rotates through
m revolution) 0 m m
T
T
P
S− mT
T
A
S−
Add n revolutions to all elements
n m+n mT
Tn
P
S− mT
Tn
A
S−
If L rotates +1 revolution: ∴ n = 1 (1)The sun wheel S to rotate +5 revolutions correspondingly:
∴ n + m = 5 (2)From (1) and (2) m = 4
When A is fixed:
teethT
TTmT
Tn
S
SAA
S
5.134
54
40
==∴
=⇒=−
But fractional teeth are not possible; therefore TS should be either 13 or 14 and TA
correspondingly 52 and 56.
Trial 1: Let TA = 52 and TS = 13
108
Figure 4
C Arm
B
D
A
HG
E
F
teethTT
T SAP 5.19
4
1352
2=−=
−=∴ - This is impracticable
Trial 2: Let TA = 56 and TS = 14
teethTT
T SAP 21
4
1456
2=−=
−=∴ - This is practicable
∴ TA = 56, TS = 14 and TP = 21⇒ PCD of A = 56 × 4 = 224 mm
AlsoTorque on L × ωL = Torque on S × ωS
Torque on L × ωL = mN −=× 1001
520
∴ Fixing torque on A = (TL – TS) = 100 – 20 = 80 N-m
]
Problem 4: The gear train shown in figure 4 is used in an indexing mechanism of a milling machine. The drive is from gear wheels A and B to the bevel gear wheel D through the gear train. The following table gives the number of teeth on each gear.
How many revolutions does D makes for one revolution of A under the following situations:
a. If A and B are having the same speed and same directionb. If A and B are having the same speed and opposite directionc. If A is making 72 rpm and B is at restd. If A is making 72 rpm and B 36 rpm in the same direction
Solution: Gear D is external to the epicyclic train and thus C and D constitute an ordinary train.
OperationArm
C (60)E (28) F (24) A (72) B (72) G (28) H (24)
Gear A B C D E FNumber of
teeth72 72 60 30 28 24
Diametral pitch in mm
08 08 12 12 08 08
109
P2
A2
A1
P1
P
S1
S2
Q
Figure 5
Arm or C is fixed & wheel A is given
+1 revolution0 -1
6
7
24
28 −=− +1 -1 +16
7
24
28 =
Multiply by m(A rotates through
m revolution)0 -m m
6
7− +m -m +m m6
7
Add n revolutions to all elements
n n - m mn6
7− n + m n - m n + m mn6
7+
(i) For one revolution of A: n + m = 1 (1)For A and B for same speed and direction: n + m = n – m (2)From (1) and (2): n = 1 and m = 0
∴ If C or arm makes one revolution, then revolution made by D is given by:
CD
D
C
C
D
NN
T
T
N
N
2
230
60
=∴
===
(ii) A and B same speed, opposite direction: (n + m) = - (n – m) (3)n = 0; m = 1
∴ When C is fixed and A makes one revolution, D does not make any revolution.
(iii) A is making 72 rpm: (n + m) = 72B at rest (n – m) = 0 ⇒ n = m = 36 rpm
∴ C makes 36 rpm and D makes rpm7230
6036 =×
(iv) A is making 72 rpm and B making 36 rpm(n + m) = 72 rpm and (n – m) = 36 rpm(n + (n – m)) = 72; ⇒ n = 54
∴ D makes rpm10830
6054 =×
Problem 5: Figure 5 shows a compound epicyclic gear train, gears S1 and S2 being rigidly attached to the shaft Q. If the shaft P rotates at 1000 rpm clockwise, while the annular A2 is driven in counter clockwise direction at 500 rpm, determine the speed and direction of rotation of shaft Q. The number of teeth in the wheels are S1 = 24; S2 = 40; A1 = 100; A2 = 120.
Solution: Consider the gear train P A1 S1:
110
OperationArmP
A1
(100)S1 (24) Operation
ArmP
A1
(100)
S1 (24)
Arm P is fixed & wheel A1 is given
+1 revolution0 +1
6
25
24
100 1
1
−=
−×+P
P
ORArm P is fixed & wheel A1 is
given -1 revolution
0 -1
1
1
1
1
1
1
S
A
S
P
P
A
+=
−×−
Multiply by m(A1 rotates through
m revolution)0 +m m
6
25− 0 -16
25
24
100 =
Add n revolutions to all elements
n n+ m mn6
25−Add +1
revolutions to all elements
+1 06
311
6
25 =+
If A1 is fixed: n+ m; gives n = - m
1
631
625
1
31
6
31
61
SP
S
P
NN
nn
n
N
N
=∴
==+
=
Now consider whole gear train:
OperationA1
(100)A2
(120)S1 (24), S2 (40)
and Q Arm P
A1 is fixed & wheel A2 is given
+1 revolution0 +1
3
40
120 2
2
−=
−×+P
P
31
1831
63
−=
×−
Multiply by m(A1 rotates through
m revolution)0 +m m3− m
31
18−
Add n revolutions to all elements
n n+ m mn 3− mn31
18−
When P makes 1000 rpm: mn31
18− = 1000 (1)
and A2 makes – 500 rpm: n+ m = -500 (2)
111
from (1) and (2): 100031
18500 =−−− mm
( ) ( )
rpmnand
rpmm
m
449500949
949
4931500100031
=−=−=∴
−=×+×
∴ NQ = n – 3 m = 449 – (3 × -949) = 3296 rpm
Problem 6. An internal wheel B with 80 teeth is keyed to a shaft F. A fixed internal wheel C with 82 teeth is concentric with B. A Compound gears D-E meshed with the two internal wheels. D has 28 teeth and meshes with internal gear C while E meshes with B. The compound wheels revolve freely on pin which projects from a arm keyed to a shaft A co-axial with F. if the wheels have the same pitch and the shaft A makes 800 rpm, what is the speed of the shaft F? Sketch the arrangement.
Data: tB = 80; tC = 82; D = 28; NA = 800 rpm
Solution: The pitch circle radius is proportional to the number of teeth:
112
F
DE
C
A
B Arm C
B
E
D
A
B80C82D28N A=800rpm
Egearonteethofnumber
t
t
tttt
rrrr
E
E
EBDC
EBDC
−=
−=−−=−−=−
26
802882
m+nnAdd n
revolutions to all elements
+m0
Multiply by m
(B rotates through mrevolution)
+10Arm is fixed & Bis given ONE
revolution (CW)
D (28)E(26)C (82)
Compound Gear wheelB (80)ArmOperation
m+nnAdd n
revolutions to all elements
+m0
Multiply by m
(B rotates through mrevolution)
+10Arm is fixed & Bis given ONE
revolution (CW)
D (28)E(26)C (82)
Compound Gear wheelB (80)ArmOperation
26
80+26
80+82
28
26
80 ×+
m13
40+ m13
40+ m41
14
13
40 ×+
nm +13
40 nm +13
40nm +×
41
14
13
40
Since the wheel C is fixed and the arm (shaft) A makes 800 rpm,
Problem 7: The fig shows an Epicyclic gear train. Wheel E is fixed and wheels C and D are integrally cast and mounted on the same pin. If arm A makes one revolution per sec (Counter clockwise) determine the speed and direction of rotation of the wheels B and F.
113
rpmm
m
nm
rpmn
42.761
080041
14
13
40
041
14
13
40
800
−=
=+×
=+×
=⇒
rpmFshaftofSpeedBgearofSpeed
rpmnmBgearofSpeed
58.38
58.3880042.761
===+−=+=
Arm
B20
C35
D15E20 F30
Solution:
Data: tB = 20; tC = 35; tD = 15; tE = 20; tF = 30 NA = 1rps-(CCW)
Since the wheel E is fixed and the arm A makes 1 rps-CCW
Problem 7: In the gear train shown, the wheel C is fixed, the gear B, is keyed to the input shaft and the gear F is keyed to the output shaft.
114
m+nnAdd n
revolutions to all elements
+m0
Multiply by m
(B rotates through mrevolution)
+10Arm is fixed &
B is given ONE
revolution (CW)
C (35)D (15)
F (30)E (20)Compound Gear
wheelB (20)ArmOperation
m+nnAdd n
revolutions to all elements
+m0
Multiply by m
(B rotates through mrevolution)
+10Arm is fixed &
B is given ONE
revolution (CW)
C (35)D (15)
F (30)E (20)Compound Gear
wheelB (20)ArmOperation
15
20−
3
720
35
3
4
+=
−×−
30
20
3
7 −×15
20−
m3
4− m3
4− m3
7 m9
14−
mn3
4− nm +3
7mn
9
14−mn3
4−
429.07
301
3
7
03
71
==⇒=−
=+−=⇒
mm
nmandrpsn
)(667.1429.09
141
9
14
)(571.01429.0
CCWmnFgearofSpeed
CCWrpsnmBgearofSpeed
−=−−=−=
−=−=+=
D60
C80
B20F32
E30
InputShaft
OutputShaft A
The arm A, carrying the compound wheels D and E turns freely on the out put shaft. If the input speed is 1000 rpm (ccw) when seen from the right, determine the speed of the output shaft. The number of teeth on each gear is indicated in the figures. Find the output torque to keep the wheel C fixed if the input power is 7.5 kW.
Solution: Data : tB = 20; tC = 80; tD = 60; tE = 30; tF = 32; NB = 1000 rpm (ccw) (input speed); P = 7.5 kW
Input shaft speed = 1000 rpm (ccw)i.e., gear B rotates – 1000 rpm
115
m+nnAdd n
revolutions to all elements
m0
Multiply by m
(B rotates through mrevolution)
+10Arm is fixed & B is given +1
revolution
E (30)D (60)
F (32)C (80)Compound Gear
wheelB (20) Input
ArmOperation
m+nnAdd n
revolutions to all elements
m0
Multiply by m
(B rotates through mrevolution)
+10Arm is fixed & B is given +1
revolution
E (30)D (60)
F (32)C (80)Compound Gear
wheelB (20) Input
ArmOperation
3
1
60
20 =
4
180
60
3
1
−=
−×
16
532
30
3
1
−
−×3
1
m3
1 m3
1m
4
1− m16
5−
mn4
1− mn16
5−nm +3
1 nm +3
1
2008001000
80025.1
1000
025.01000
04
1;
1000
−=+−=
−=−=
=−−−
=−
−=+
n
m
mm
mnfixedisCGear
nm
Figure 6
A2
A1
S2
P2P1
S1
The Torque required to hold the wheel C = 1360.21 Nm in the same direction of wheel
Problem 8: Find the velocity ratio of two co-axial shafts of the epicyclic gear train as shown in figure 6. S1 is the driver. The number of teeth on the gears are S1 = 40, A1 = 120, S2 = 30, A2 = 100 and the sun wheel S2 is fixed. Determine also the magnitude and direction of the torque required to fix S2, if a torque of 300 N-m is applied in a clockwise direction to S1
116
)(50
5016
5800200
16
5
CWrpmFshaftoutputtheofSpeed
mnFofSpeed
+=
=+−=
−=
NmT
T
TNPpowerInput
B
BB
59.7110002
60750060
1000210005.7
60
2
−=×××−=
×−××=×
××==
π
π
π
B
NmT
T
NTNT
NfixedisCSince
NTNTNT
equationenergytheFrom
F
F
FFB
C
CCFFB
8.1431
050100059.71
0
0:
0
;
+==×+×−
=+==++
B
B
NmT
T
TTT
equationtorquetheFrom
C
C
CF
21.1360
08.143159.71
0
:
−=∴=++−
=++B
2AT
2ST2Aω
1Sω
1ST
Solution: Consider first the gear train S1, A1 and A2 for which A2 is the arm, in order to find the speed ratio of S1 to A2, when A1 is fixed.
(a) Consider gear train S1, A1 and A2:
OperationA2
(100)A1
(120)S1 (40)
A2 is fixed & wheel A1 is given
+1 revolution0 +1 3
40
120 −=−
Multiply by m(A1 rotates through
m revolution)0 +m m3−
Add n revolutions to all elements
n n+ m mn 3−
A1 is fixed: nm −=
21
2
1
4
43
AS
A
S
NN
n
nn
N
N
=∴
=+
=
(b) Consider complete gear train:
Operation A1 (120) A2 (100) S1 (40) S2 (30)
A1 is fixed & wheel S2 is given +1 revolution
010
3
100
30 −=−5
64
10
3 −=×− +1
Multiply by m(A1 rotates through m revolution)
0 m10
3−= m5
6− +m
Add n revolutions to all elements n mn10
3− mn5
6− n+ m
S2 is fixed ⇒ m = - n
13
22
13
10
5
11
10
35
6
2
1 =×=+
+=
nn
nn
N
N
A
S
Input torque on S1 = TS1 = 300 N-m, in the direction of rotation.
∴ Resisting torque on A2;
117
rotationofdirectiojntoopposite
mNTA
→
−=×= 7.50713
223002
∴ Referring to the figure:
)(7.2073007.5072 CWmNTS −=−=
118
Subject: KINEMATICS OF MACHINES
Topic: VELOCITY AND ACCELERATION
Session – I
• Introduction
Kinematics deals with study of relative motion between the various parts of the machines. Kinematics does not involve study of forces. Thus motion leads study of displacement, velocity and acceleration of a part of the machine.
Study of Motions of various parts of a machine is important for determining their velocities and accelerations at different moments.
As dynamic forces are a function of acceleration and acceleration is a function of velocities, study of velocity and acceleration will be useful in the design of mechanism of a machine. The mechanism will be represented by a line diagram which is known as configuration diagram. The analysis can be carried out both by graphical method as well as analytical method.
• Some important Definitions
Displacement: All particles of a body move in parallel planes and travel by same distance is known, linear displacement and is denoted by ‘x’.
A body rotating about a fired point in such a way that all particular move in circular path angular displacement and is denoted by ‘θ’.
Velocity: Rate of change of displacement is velocity. Velocity can be linear velocity of angular velocity.
Linear velocity is Rate of change of linear displacement= V = dt
dx
Angular velocity is Rate of change of angular displacement = ω = dt
dθ
Relation between linear velocity and angular velocity.
x = rθ
dt
dx = r
dt
dθ
119
V = rω
ω = dt
dθ
Acceleration: Rate of change of velocity
f = 2
2
dt
xd
dt
dv = Linear Acceleration (Rate of change of linear velocity)
Thirdly α = 2
2
dt
d
dt
d θω = Angular Acceleration (Rate of change of angular velocity)
We also have,
Absolute velocity: Velocity of a point with respect to a fixed point (zero velocity point).
Va = ω2 x r
Va = ω2 x O2 A
Ex: Vao2 is absolute velocity.
Relative velocity: Velocity of a point with respect to another point ‘x’
Ex: Vba Velocity of point B with respect to A
Note: Capital letters are used for configuration diagram. Small letters are used for velocity vector diagram.
O2
ω2
A
O2
O4
2
A3
B
4
120
This is absolute velocity
Velocity of point A with respect to O2 fixed point, zero velocity point.
Vba = or Vab
Vba = or Vab Equal in magnitude but opposite in direction.
Vb Absolute velocity is velocity of B with respect to O4 (fixed point, zero velocity point)
Velocity vector diagram
Vector aO2 = Va= Absolute velocity
Vector ab = Vab
ba = Va
Vab is equal magnitude with Vba but is apposite in direction.
A3
B
O4
B
bV
ba
Vab
Vb
O2, O
4
a
121
Relative velocity
Vector bO4 = Vb absolute velocity.
To illustrate the difference between absolute velocity and relative velocity. Let, us consider a simple situation.
A link AB moving in a vertical plane such that the link is inclined at 30o to the horizontal with point A is moving horizontally at 4 m/s and point B moving vertically upwards. Find velocity of B.
Va = 4 m/s ab Absolute velocity Horizontal direction
(known in magnitude and directors)
Vb = ? ab Absolute velocity Vertical direction
(known in directors only)
Velocity of B with respect to A is equal in magnitude to velocity of A with respect to B but opposite in direction.
• Relative Velocity Equation
C
O
Vb
Vba
aVa
Vab
30o
B
4 m/sA
O4
ya
y
R
A
θ
xA
x
Rigid body
O
122
Fig. 1 Point O is fixed and End A is a point on rigid body.
Rotation of a rigid link about a fixed centre.
Consider rigid link rotating about a fixed centre O, as shown in figure. The distance between O and A is R and OA makes and angle ‘θ’ with x-axis next link
xA = R cos θ, yA = R sin θ.
Differentiating xA with respect to time gives velocity.
( )dt
dsinR
dt
d xA θθ−=
= - Rω sin θ
Similarly, ( )dt
θdθcosR
dt
dyA −=
= - Rω cos θ
Let, xA
xA Vdt
d = yA
yA Vdt
d=
ω = dt
θd = angular velocity of OA
xAV∴ = - Rω sin θ
yAV = - Rω cos θ
∴ Total velocity of point A is given by
VA = ( ) ( ) 22 θcossin ωθω RR −+−
VA = Rω
• Relative Velocity Equation of Two Points on a Rigid link
123
Fig. 2 Points A and B are located on rigid body
From Fig. 2
xB = xA + R cos θ yB = yA + R sin θ
Differentiating xB and yB with respect to time
we get,
( )dt
dsinR
dt
dV
dt
d xAxB
xB θθ−+==
θωω sinVθsin RRdt
d xA
xA −=+=
Similarly, ( )dt
θdθoscR
dt
dV
dt
d yAyB
yB +==
θcosVθcos ωω RRdt
d yA
yA −=+=
VA = xAV y
AV = Total velocity of point A
Similarly, VB = xBV y
BV = Total velocity of point B
= xAV (Rω sin θ) y
AV Rω cos θ
xA
R sin θ
A
yB
x
Rigid body
yA
B
R cos θ
xB
124
= ( xAV y
AV ) (Rω sin θ + R ωcos θ)
= ( xAV y
AV ) VA Similarly, ( R ωsin θ + Rω cos θ) = Rω
∴VB = VA Rω = VA VBA
∴VBA = VB – VA
Velocity analysis of any mechanism can be carried out by various methods.
1. By graphical method
2. By relative velocity method
3. By instantaneous method
• By Graphical Method
The following points are to be considered while solving problems by this method.
1. Draw the configuration design to a suitable scale.
2. Locate all fixed point in a mechanism as a common point in velocity diagram.
3. Choose a suitable scale for the vector diagram velocity.
4. The velocity vector of each rotating link is ⊥r to the link.
5. Velocity of each link in mechanism has both magnitude and direction. Start from a point whose magnitude and direction is known.
6. The points of the velocity diagram are indicated by small letters.
To explain the method let us take a few specific examples.
1. Four – Bar Mechanism : In a four bar chain ABCD link AD is fixed and in 15 cm long. The crank AB is 4 cm long rotates at 180 rpmω (cw) while link CD rotates
about D is 8 cm long BC = AD and BAD| = 60o. Find angular velocity of link CD.
60o
wBA
A D
B
C
15 cm
15 cm
8 cm
125
Configuration Diagram
Velocity vector diagram
Vb = ωr = ωba x AB = 4x60
120x2π = 50.24 cm/sec
Choose a suitable scale
1 cm = 20 m/s = ab
Vcb = bc
Vc = dc = 38 cm/s = Vcd
We know that V =ω R
Vcd = ωCD x CD
WcD = 75.48
38Vcd ==CD
rad/s (cw)
2. Slider Crank Mechanism:
In a crank and slotted lover mechanism crank rotates of 300 rpm in a counter clockwise direction. Find
(i) Angular velocity of connecting rod and
(ii) Velocity of slider.
⊥r to CD
⊥r to BC
⊥r to AB
a, d
b
c Vcb
126
Configuration diagram
Step 1: Determine the magnitude and velocity of point A with respect to 0,
VA = ωO1A x O2A = 60x60
300x2π
= 600 π mm/sec
Step 2: Choose a suitable scale to draw velocity vector diagram.
Velocity vector diagram
Vab = ab =1300mm/sec
ωba = 66.8150
1300 ==BA
Vba rad/sec
Vb = ob velocity of slider
Note: Velocity of slider is along the line of sliding.
3. Shaper Mechanism:
In a crank and slotted lever mechanisms crank O2A rotates at ω rad/sec in CCW direction. Determine the velocity of slider.
60 mm
45o
A
B
150 mm
O
Vaa
b
⊥r to AB ⊥r to OA
Along sides B
127
Configuration diagram
Velocity vector diagram
Va = ω2 x O2A
CO
cO
BO
bO
1
1
1
1 =
To locate point C
=∴
BO
CObOcO
1
111
To Determine Velocity of Rubbing
4
O1
O2
C
B
3
2
ω
5
6 D Scale 1 cm = ……x…. m
Scale 1 cm = ……x…. m/s
d O1O
2
VDC
c
a
b
VBA
VAO2
= VA
VBO1
128
Two links of a mechanism having turning point will be connected by pins. When the links are motion they rub against pin surface. The velocity of rubbing of pins depends on the angular velocity of links relative to each other as well as direction.
For example: In a four bar mechanism we have pins at points A, B, C and D.
∴ Vra = ωab x ratios of pin A (rpa)
+ sign is used ωab is CW and Wbc is CCW i.e. when angular velocities are in opposite directions use + sign when angular velocities are in some directions use -ve
sign.
VrC = (ωbc + ωcd) radius r
VrD = ω cd rpd
Problems on velocity by velocity vector method (Graphical solutions)
Problem 1:
In a four bar mechanism, the dimensions of the links are as given below:
AB = 50 mm, BC = 66 mm
CD = 56 mm and AD = 100 mm
At a given instant when o60DAB| = the angular velocity of link AB is 10.5
rad/sec in CCW direction.
Determine,
i) Velocity of point C
ii) Velocity of point E on link BC when BE = 40 mm
iii) The angular velocity of link BC and CD
iv) The velocity of an offset point F on link BC, if BF = 45 mm, CF = 30 mm and BCF is read clockwise.
v) The velocity of an offset point G on link CD, if CG = 24 mm, DG = 44 mm and DCG is read clockwise.
vi) The velocity of rubbing of pins A, B, C and D. The ratio of the pins are 30 mm, 40 mm, 25 mm and 35 mm respectively.
129
Solution:
Step -1: Construct the configuration diagram selecting a suitable scale.
Scale: 1 cm = 20 mm
Step – 2: Given the angular velocity of link AB and its direction of rotation determine velocity of point with respect to A (A is fixed hence, it is zero velocity point).
Vba = ωBA x BA
= 10.5 x 0.05 = 0.525 m/s
Step – 3: To draw velocity vector diagram choose a suitable scale, say 1 cm = 0.2 m/s.
• First locate zero velocity points.
• Draw a line ⊥r to link AB in the direction of rotation of link AB (CCW) equal to 0.525 m/s.
• From b draw a line ⊥r to BC and from d. Draw d line ⊥r to CD to interest at C.
• Vcb is given vector bc Vbc = 0.44 m/s
• Vcd is given vector dc Vcd = 0.39 m/s
Step – 4: To determine velocity of point E (Absolute velocity) on link BC, first locate the position of point E on velocity vector diagram. This can be done by taking corresponding ratios of lengths of links to vector distance i.e.
60o
A D
B
C
F
G
C
fV
ed
a, d
e, g
Vba
= 0.525 m/s
b
130
BC
BE
bc
be =
∴ be = BC
BEx Vcb =
066.0
04.0x 0.44 = 0.24 m/s
Join e on velocity vector diagram to zero velocity points a, d / vector de = Ve = 0.415 m/s.
Step 5: To determine angular velocity of links BC and CD, we know Vbc and Vcd.
∴ Vbc =ω BC x BC
∴ WBC = )(./6.6066.0
44.0cwsr
BC
Vbc ==
Similarly, Vcd = WCD x CD
∴ WCD = s/r96.6056.0
39.0
CD
Vcd == (CCW)
Step – 6: To determine velocity of an offset point F
• Draw a line ⊥r to CF from C on velocity vector diagram.
• Draw a line ⊥r to BF from b on velocity vector diagram to intersect the previously drawn line at ‘f’.
• From the point f to zero velocity point a, d and measure vector fa/fd to get Vf = 0.495 m/s.
Step – 7: To determine velocity of an offset point.
• Draw a line ⊥r to GC from C on velocity vector diagram.
• Draw a line ⊥r to DG from d on velocity vector diagram to intersect previously drawn line at g.
• Measure vector dg to get velocity of point G.
Vg = s/m305.0dg =
Step – 8: To determine rubbing velocity at pins
• Rubbing velocity at pin A will be
131
Vpa = ωab x r of pin A
Vpa = 10.5 x 0.03 = 0.315 m/s
• Rubbing velocity at pin B will be
Vpb = (ωab + ωcb) x rad of point at B.
[ωab CCW and ωcbCW]
Vpb = (10.5 + 6.6) x 0.04 = 0.684 m/s.
• Rubbing velocity at point C will be
= 6.96 x 0.035 = 0.244 m/s
Problem 2:
In a slider crank mechanism the crank is 200 mm long and rotates at 40 rad/sec in a CCW direction. The length of the connecting rod is 800 mm. When the crank turns through 60o from Inner-dead centre.
Determine,
i) The velocity of the slider
ii) Velocity of point E located at a distance of 200 mm on the connecting rod extended.
iii) The position and velocity of point F on the connecting rod having the least absolute velocity.
iv) The angular velocity of connecting rod.
v) The velocity of rubbing of pins of crank shaft, crank and cross head having pins diameters 80,60 and 100 mm respectively.
Solution:
Step 1: Draw the configuration diagram by selecting a suitable scale.
Va = Woa x OA
45o
B
F
EA
O G
132
Va = 40 x 0.2
Va = 8 m/s
Step 2: Choose a suitable scale for velocity vector diagram and draw the velocity vector diagram.
• Mark zero velocity point o, g.
• Draw oa ⊥r to link OA equal to 8 m/s
• From a draw a line ⊥r to AB and from o, g draw a horizontal line (representing the line of motion of slider B) to Xseet the previously drawn line at b.
• ab give Vba=4.8 m/sec
Step – 3: To mark point ‘e’ since ‘E’ is on the extension of link AB drawn be = abxAB
BE
mark the point e on extension of vector ba. Join e to o, g. ge will give velocity of point
E.
Ve = ge =8.4 m/sec
Step 4: To mark point F on link AB such that this has least velocity (absolute).
Draw a line ⊥r to ab passing through o, g to cut the vector ab at f. From f to o, g.
gf will have the least absolute velocity.
• To mark the position of F on link AB.
Find BF by using the relation.
AB
ab
BF
fb =
ea
f
b o, g
Scale: 1 cm = 2 m/s
133
ABxab
fbBF = =200mm
Step – 5: To determine the angular velocity of connecting rod.
We know that Vab = ωab x AB
∴ ωab = AB
Vab = 6 rad/sec
Step – 6: To determine velocity of rubbing of pins.
• Vpcrankshaft = ωao x radius of crankshaft pin
= 8 x 0.08
= 0.64 m/s
• VPcrank pin = (ωab + ωoa) rcrank pin= (6 +8)0.06 =0.84 m/sec
• VP cross head = ωab x rcross head = 6 x 0.1 = 0.6 m/sec
• Problem 3: A quick return mechanism of crank and slotted lever type shaping machine is shown in Fig. the dimensions of various links are as follows.
O1O2 = 800 mm, O1B = 300 mm, O2D = 1300 mm and DR = 400 mm
The crank O1B makes an angle of 45o with the vertical and relates at 40 rpm in the CCW direction. Find:
i) Velocity of the Ram R, velocity of cutting tool, and
ii) Angular velocity of link O2D.
• Solution:
Step 1: Draw the configuration diagram.
134
Step 2: Determine velocity of point B.
Vb = ωO1B x O1B
ωO1B = sec/rad18.460
40x2
60
N2 B1O =π=π
Vb = 4.18 x 0.3 = 1.254 m/sec
Step 3: Draw velocity vector diagram.
Choose a suitable scale 1 cm = 0.3 m/sec
o Draw O1b ⊥r to link O1B equal to 1.254 m/s.
O2
O1
D
C B
245o
R
O2
O1
D
C on O2D
B on orank, O, B
R Tool
200
r O1O
2
d
b
c
135
o From b draw a line along the line of O2B and from O1O2 draw a line ⊥r to O2B.
This intersects at c bc will measure velocity of sliding of slider and CO2 will
measure the velocity of C on link O2C.
o Since point D is on the extension of link O2C measure dO2 such that
dO2 = CO
DOCO
2
22 . dO2 will give velocity of point D.
o From d draw a line ⊥r to link DR and from O1O2. Draw a line along the line
of stroke of Ram R (horizontal), These two lines will intersect at point r rO2
will give the velocity of Ram R.
o To determine the angular velocity of link O2D determine Vd = dO2.
We know that Vd = ωO2D x O2D.
∴ DO
dO
2
2dO2 =ω r/s
• Problem 4: Figure below shows a toggle mechanisms in which the crank OA rotates at 120 rpm. Find the velocity and acceleration of the slider D.
• Solution:
136
Configuration Diagram
Step 1: Draw the configuration diagram choosing a suitable scal.
Step 2: Determine velocity of point A with respect to O.
Vao = ωOA x OA
Vao = s/m024.54.060
120x2 ==π
Step 3: Draw the velocity vector diagram.
o Choose a suitable scale
o Mark zero velocity points O,q
o Draw vector oa ⊥r to link OA and magnitude = 5.024 m/s.
Velocity vector diagram
o From a draw a line ⊥r to AB and from q draw a line ⊥r to QB to intersect at b.
100
190
135 120
120
D
B
A45o
40
All the dimensions in mm
a b
DO,q
137
bqba VqbandVab == .
o Draw a line ⊥r to BD from b from q draw a line along the slide to intersect at d.
)velocityslider(Vdq d=
• Problem 5: A whitworth quick return mechanism shown in figure has the following dimensions of the links.
The crank rotates at an angular velocity of 2.5 r/s at the moment when crank makes an angle of 45o with vertical. Calculate
a) the velocity of the Ram S
b) the velocity of slider P on the slotted level
c) the angular velocity of the link RS.
• Solution:
Step 1: To draw configuration diagram to a suitable scale.
Configuration Diagram
Step 2: To determine the absolute velocity of point P.
VP = ωOP x OP
S
R
A
O
B
P on slider Q on BA45o
138
OP (crank) = 240 mm
OA = 150 mm
AR = 165 mm
RS = 430 mm
Vao = s/m6.024.0x60
240x2 =π
Step 3: Draw the velocity vector diagram by choosing a suitable scale.
Velocity vector diagram
o Draw op ⊥r link OP = 0.6 m.
o From O, a, g draw a line ⊥r to AP/AQ and from P draw a line along AP to
intersect previously draw, line at q. Pq = Velocity of sliding.
aq = Velocity of Q with respect to A.
Vqa = aq =
o Angular velocity of link RS = SR
srRS =ω rad/sec
• Problem 6: A toggle mechanism is shown in figure along with the diagrams of the links in mm. find the velocities of the points B and C and the angular velocities of links AB, BQ and BC. The crank rotates at 50 rpm in the clockwise direction.
q
r
P
S
O, a, g
0.6 m
139
• Solution
Step 1: Draw the configuration diagram to a suitable scale.
Step 2: Calculate the magnitude of velocity of A with respect to O.
Va = ωOA x OA
Va = s/m1507.0s/m05.003.0x60
50x2 =π=
π
Vector velocity diagram
Step 3: Draw the velocity vector diagram by choosing a suitable scale.
o Draw Oa ⊥r to link OA = 0.15 m/s
o From a draw a link ⊥r to AB and from O, q draw a link ⊥r to BQ to intersect at b.
B
A
100Q
C
140
O
50 rpm
All dimensions are in mm
OA = 30
AB = 80
BQ = 100
BC = 100
ba
O, q c
140
== baVab and s/m13.0Vqb b ==
ωab = )ccw(s/r74.0AB
ab = ωbq )ccw(s/r3.1aB
qb =
o From b draw a line ⊥r to Be and from O, q these two lines intersect at C.
s/m106.0VOC C ==
== CbVbC
)ccw(s/r33.1BC
bcBC ==ω
• Problem 7: The mechanism of a stone crusher has the dimensions as shown in figure in mm. If crank rotates at 120 rpm CW. Find the velocity of point K when crank OA is inclined at 30o to the horizontal. What will be the torque required at the crank to overcome a horizontal force of 40 kN at K.
Configuration diagram
• Solution:
Step 1: Draw the configuration diagram to a suitable scale.
Step 2: Given speed of crank OA determine velocity of A with respect to ‘o’.
Va = ωOA x OA = s/m26.11.0x60
120x2 =
π
200
360
400
200
600
320
500
100100
60o
600
MA
B C
D
K
hzh
2
141
Velocity vector diagram
Step 3: Draw the velocity vector diagram by selecting a suitable scale.
o Draw Oa ⊥r to link OA = 1.26 m/s
o From a draw a link ⊥r to AB and from q draw a link ⊥r to BQ to intersect at b.
o From b draw a line ⊥r to BC and from a, draw a line ⊥r to AC to intersect at c.
o From c draw a line ⊥r to CD and from m draw a line ⊥r to MD to intersect at d.
o From d draw a line ⊥r to KD and from m draw a line ⊥r to KM to x intersect the previously drawn line at k.
o Since we have to determine the torque required at OA to overcome a horizontal force of 40 kN at K. Draw a the horizontal line from o, q, m and c line ⊥r to this line from k.
( ) ( )P
OP
I TT ω=ω∴
V = ωR T = F x P F = r
T
∴ ωOA TOA = Fk Vk horizontal
∴ TOA = ( )
OA
hzkk VF
ω
TOA = 6.12
45.0X40000 = N-m
c a
d
b
k
Vk(hz) o, q, m
142
• Problem 8: In the mechanism shown in figure link OA = 320 mm, AC = 680 mm and OQ = 650 mm.
Determine,
i) The angular velocity of the cylinder
ii) The sliding velocity of the plunger
iii) The absolute velocity of the plunger
When the crank OA rotates at 20 rad/sec clockwise.
• Solution:
Step 1: Draw the configuration diagram.
Step 2: Draw the velocity vector diagram
o Determine velocity of point A with respect to O.
Va = ωOA x OA = 20 x 0.32 = 6.4 m/s
o Select a suitable scale to draw the velocity vector diagram.
o Mark the zero velocity point. Draw vector oa ⊥r to link OA equal to 6.4 m/s.
o From a draw a line ⊥r to AB and from o, q, draw a line perpendicular to AB.
A
O R
B on AR (point on AR below Q)
60o C
O, q
b
c
a
143
o To mark point c on ab
We know that AC
AB
ac
ab =
∴ AB
ACxabac = =
o Mark point c on ab and joint this to zero velocity point.
o Angular velocity of cylinder will be.
ωab = AB
Vab = 5.61 rad/sec (cω)
o Studying velocity of player will be
qb = 4.1 m/s
o Absolute velocity of plunger = qc
OC = 4.22 m/s
• Problem 9: In a swiveling joint mechanism shown in figure link AB is the driving crank which rotates at 300 rpm clockwise. The length of the various links are:
Determine,
i) The velocity of slider block S
ii) The angular velocity of link EF
iii) The velocity of link EF in the swivel block.
• Solution:
Step 1: Draw the configuration diagram.
144
AB = 650 mm
AB = 100 mm
BC = 800 mm
DC = 250 mm
BE = CF
EF = 400 mm
OF = 240 mm
FS = 400 mm
Step 2: Determine the velocity of point B with respect to A.
Vb = ωBA x BA
Vb = 60
300x2π x 0.1 = 3.14 m/s
Step 3: Draw the velocity vector diagram choosing a suitable scale.
o Mark zero velocity point a, d, o, g.
Velocity vector diagram
o From ‘a’ draw a line ⊥r to AB and equal to 3.14 m/s.
o From ‘b’ draw a line ⊥r to DC to intersect at C.
45o
300
400
400
BE
O
A D
P
S
G
F
a, d, o, g
c
b
P
f
S
145
o Mark a point ‘e’ on vector bc such that
BC
BExbcbe =
o From ‘e’ draw a line ⊥r to PE and from ‘a,d’ draw a line along PE to intersect at P.
o Extend the vector ep to ef such that EFxEP
efef =
o From ‘f’ draw a line ⊥r to Sf and from zero velocity point draw a line along the slider ‘S’ to intersect the previously drawn line at S.
o Velocity of slider s/m6.2gS = . Angular Velocity of link EF.
o Velocity of link F in the swivel block = s/m85.1OP = .
• Problem 10: Figure shows two wheels 2 and 4 which rolls on a fixed link 1. The angular uniform velocity of wheel is 2 is 10 rod/sec. Determine the angular velocity of links 3 and 4, and also the relative velocity of point D with respect to point E.
• Solution:
Step 1: Draw the configuration diagram.
Step 2: Given ω2 = 10 rad/sec. Calculate velocity of B with respect to G.
Vb = ω2 x BG
Vb = 10 x 43 = 430 mm/sec.
φ 50 mm
φ 40 mm
30o60 mm3
ω2
G
2
B
C
D
F
4
A
146
Step 3: Draw the velocity vector diagram by choosing a suitable scale.
Redrawn configuration diagram
• Velocity vector diagram
o Draw gb = 0.43 m/s ⊥r to BG.
o From b draw a line ⊥r to BC and from ‘f’ draw a line ⊥r to CF to intersect at C.
o From b draw a line ⊥r to BE and from g, f draw a line ⊥r to GE to intersect at e.
o From c draw a line ⊥r to CD and from f draw a line ⊥r to FD to intersect at d.
• Problem 11: For the mechanism shown in figure link 2 rotates at constant angular velocity of 1 rad/sec construct the velocity polygon and determine.
i) Velocity of point D.
ii) Angular velocity of link BD.
30o
G
E
B
F
D
C
50 mm
e g, fd
b
c
147
iii) Velocity of slider C.
• Solution:
Step 1: Draw configuration diagram.
Step 2: Determine velocity of A with respect to O2.
Vb = ω2 x O2A
Vb = 1 x 50.8 = 50.8 mm/sec.
Step 3: Draw the velocity vector diagram, locate zero velocity points O2O6.
o From O2, O6 draw a line ⊥r to O2A in the direction of rotation equal to 50.8 mm/sec.
4C
O2 = 50.8 mm
AB = 102 mm
BD = 102 mm
DO6 = 102 mm
AC = 203 mm
102 mmA
O6
D
5
6
B3
O2
45o
O2O
6
C
b
Vd
ad
Udb
148
o From a draw a line ⊥r to Ac and from O2, O6 draw a line along the line of stocks of c to intersect the previously drawn line at c.
o Mark point b on vector ac such that ABxAC
abab =
o From b draw a line ⊥r to BD and from O2, O6 draw a line ⊥r to O6D to intersect at d.
Step 4: Vd = dO6 = 32 mm/sec
ωbd = BD
bd =
Vc = CO2 =
ADDITIONAL PROBLEMS FOR PRACTICE
• Problem 1: In a slider crank mechanism shown in offset by a perpendicular distance of 50 mm from the centre C. AB and BC are 750 mm and 200 mm long respectively crank BC is rotating eω at a uniform speed of 200 rpm. Draw the velocity vector diagram and determine velocity of slider A and angular velocity of link AB.
• Problem 2: For the mechanism shown in figure determine the velocities at points C, E and F and the angular velocities of links, BC, CDE and EF.
A
C
50 mm
B
149
• The crank op of a crank and slotted lever mechanism shown in figure rotates at 100 rpm in the CCW direction. Various lengths of the links are OP = 90 mm, OA = 300 mm, AR = 480 mm and RS = 330 mm. The slider moves along an axis perpendicular to ⊥r AO and in 120 mm from O. Determine the velocity of the slider when AOP| is 135o and also mention the maximum velocity of slider.
• Problem 4: Find the velocity of link 4 of the scotch yoke mechanism shown in figure. The angular speed of link 2 is 200 rad/sec CCW, link O2P = 40 mm.
F
E
C
B
A
120
D
150 100
50
100 rpm
60
120o
120
All dimensions are in mm
D
BO
45o
A
C
45o
3
P4
2Q on link 4
150
• Problem 5: In the mechanism shown in figure link AB rotates uniformly in Cω direction at 240 rpm. Determine the linear velocity of B and angular velocity of EF.
F
B
A
E C
45o
AB = 160 mm
BC = 160 mm
CD = 100 mm
AD = 200 mm
EF = 200 mm
CE = 40 mm100 mm
151
II Method• Instantaneous Method
To explain instantaneous centre let us consider a plane body P having a non-linear motion relative to another body q consider two points A and B on body P having velocities as Va and Vb respectively in the direction shown.
Fig. 1
If a line is drawn ⊥r to Va, at A the body can be imagined to rotate about some point on the line. Thirdly, centre of rotation of the body also lies on a line ⊥r to the direction of Vb at B. If the intersection of the two lines is at I, the body P will be rotating about I at that instant. The point I is known as the instantaneous centre of rotation for the body P. The position of instantaneous centre changes with the motion of the body.
Fig. 2
In case of the ⊥r lines drawn from A and B meet outside the body P as shown in Fig 2.
Fig. 3If the direction of Va and Vb are parallel to the ⊥r at A and B met at ∞. This is the case when the body has linear motion.
AV
a
Vb
B
I P
q
AV
a
Vb
B
I
P
q
AV
a
I at ∞
B Vb
152
153
Subject: KINEMATICS OF MACHINES
Topic: VELOCITY AND ACCELERATION
Session – I
• Introduction
Kinematics deals with study of relative motion between the various parts of the machines. Kinematics does not involve study of forces. Thus motion leads study of displacement, velocity and acceleration of a part of the machine.
Study of Motions of various parts of a machine is important for determining their velocities and accelerations at different moments.
As dynamic forces are a function of acceleration and acceleration is a function of velocities, study of velocity and acceleration will be useful in the design of mechanism of a machine. The mechanism will be represented by a line diagram which is known as configuration diagram. The analysis can be carried out both by graphical method as well as analytical method.
• Some important Definitions
Displacement: All particles of a body move in parallel planes and travel by same distance is known, linear displacement and is denoted by ‘x’.
A body rotating about a fired point in such a way that all particular move in circular path angular displacement and is denoted by ‘θ’.
Velocity: Rate of change of displacement is velocity. Velocity can be linear velocity of angular velocity.
Linear velocity is Rate of change of linear displacement= V = dt
dx
Angular velocity is Rate of change of angular displacement = ω = dt
dθ
Relation between linear velocity and angular velocity.
x = rθ
dt
dx = r
dt
dθ
V = rω
154
ω = dt
dθ
Acceleration: Rate of change of velocity
f = 2
2
dt
xd
dt
dv = Linear Acceleration (Rate of change of linear velocity)
Thirdly α = 2
2
dt
d
dt
d θω = Angular Acceleration (Rate of change of angular velocity)
We also have,
Absolute velocity: Velocity of a point with respect to a fixed point (zero velocity point).
Va = ω2 x r
Va = ω2 x O2 A
Ex: Vao2 is absolute velocity.
Relative velocity: Velocity of a point with respect to another point ‘x’
Ex: Vba Velocity of point B with respect to A
Note: Capital letters are used for configuration diagram. Small letters are used for velocity vector diagram.
This is absolute velocity
O2
ω2
A
O2
O4
2
A3
B
4
155
Velocity of point A with respect to O2 fixed point, zero velocity point.
Vba = or Vab
Vba = or Vab Equal in magnitude but opposite in direction.
Vb Absolute velocity is velocity of B with respect to O4 (fixed point, zero velocity point)
Velocity vector diagram
Vector aO2 = Va= Absolute velocity
Vector ab = Vab
ba = Va
Vab is equal magnitude with Vba but is apposite in direction.
Vector bO4 = Vb absolute velocity.
A3
B
O4
B
bV
ba
Vab
Vb
O2, O
4
a
156
Relative velocity
To illustrate the difference between absolute velocity and relative velocity. Let, us consider a simple situation.
A link AB moving in a vertical plane such that the link is inclined at 30o to the horizontal with point A is moving horizontally at 4 m/s and point B moving vertically upwards. Find velocity of B.
157
Va = 4 m/s ab Absolute velocity Horizontal direction
(known in magnitude and directors)
Vb = ? ab Absolute velocity Vertical direction
(known in directors only)
Velocity of B with respect to A is equal in magnitude to velocity of A with respect to B but opposite in direction.
• Relative Velocity Equation
Fig. 1 Point O is fixed and End A is a point on rigid body.
Rotation of a rigid link about a fixed centre.
Consider rigid link rotating about a fixed centre O, as shown in figure. The distance between O and A is R and OA makes and angle ‘θ’ with x-axis next link
xA = R cos θ, yA = R sin θ.
C
O
Vb
Vba
aVa
Vab
30o
B
4 m/sA
O4
ya
y
R
A
θ
xA
x
Rigid body
O
158
Differentiating xA with respect to time gives velocity.
( )dt
dsinR
dt
d xA θθ−=
= - Rω sin θ
Similarly, ( )dt
θdθcosR
dt
dyA −=
= - Rω cos θ
Let, xA
xA Vdt
d = yA
yA Vdt
d=
ω = dt
θd = angular velocity of OA
xAV∴ = - Rω sin θ
yAV = - Rω cos θ
∴ Total velocity of point A is given by
VA = ( ) ( ) 22 θcossin ωθω RR −+−
VA = Rω
• Relative Velocity Equation of Two Points on a Rigid link
159
Fig. 2 Points A and B are located on rigid body
From Fig. 2
xB = xA + R cos θ yB = yA + R sin θ
Differentiating xB and yB with respect to time
we get,
( )dt
dsinR
dt
dV
dt
d xAxB
xB θθ−+==
θωω sinVθsin RRdt
d xA
xA −=+=
Similarly, ( )dt
θdθoscR
dt
dV
dt
d yAyB
yB +==
θcosVθcos ωω RRdt
d yA
yA −=+=
VA = xAV y
AV = Total velocity of point A
Similarly, VB = xBV y
BV = Total velocity of point B
= xAV (Rω sin θ) y
AV Rω cos θ
xA
R sin θ
A
yB
x
Rigid body
yA
B
R cos θ
xB
160
= ( xAV y
AV ) (Rω sin θ + R ωcos θ)
= ( xAV y
AV ) VA Similarly, ( R ωsin θ + Rω cos θ) = Rω
∴VB = VA Rω = VA VBA
∴VBA = VB – VA
Velocity analysis of any mechanism can be carried out by various methods.
4. By graphical method
5. By relative velocity method
6. By instantaneous method
• By Graphical Method
The following points are to be considered while solving problems by this method.
7. Draw the configuration design to a suitable scale.
8. Locate all fixed point in a mechanism as a common point in velocity diagram.
9. Choose a suitable scale for the vector diagram velocity.
10. The velocity vector of each rotating link is ⊥r to the link.
11. Velocity of each link in mechanism has both magnitude and direction. Start from a point whose magnitude and direction is known.
12. The points of the velocity diagram are indicated by small letters.
To explain the method let us take a few specific examples.
4. Four – Bar Mechanism : In a four bar chain ABCD link AD is fixed and in 15 cm long. The crank AB is 4 cm long rotates at 180 rpm (cw) while link CD rotates about
D is 8 cm long BC = AD and BAD| = 60o. Find angular velocity of link CD.
161
Configuration Diagram
Velocity vector diagram
Vb = ωr = ωba x AB = 4x60
120x2π = 50.24 cm/sec
Choose a suitable scale
1 cm = 20 m/s = ab
Vcb = bc
Vc = dc = 38 cm/sec = Vcd
We know that V =ω R
Vcd = ωCD x CD
ωcD = 75.48
38Vcd ==CD
rad/sec (cw)
5. Slider Crank Mechanism:
60o
ωBA
A D
B
C
15 cm
15 cm
8 cm
⊥r to CD
⊥r to BC
⊥r to AB
a, d
b
c Vcb
162
In a crank and slotted lever mechanism crank rotates of 300 rpm in a counter clockwise direction. Find
(iii) Angular velocity of connecting rod and
(iv) Velocity of slider.
Configuration diagram
Step 1: Determine the magnitude and velocity of point A with respect to 0,
VA = ωO1A x O2A = 60x60
300x2π
= 600 π mm/sec
Step 2: Choose a suitable scale to draw velocity vector diagram.
Velocity vector diagram
Vab = ab =1300mm/sec
ωba = 66.8150
1300 ==BA
Vba rad/sec
Vb = ob velocity of slider
Note: Velocity of slider is along the line of sliding.
60 mm
45o
A
B
150 mm
O
Vaa
b
⊥r to AB ⊥r to OA
Along sides B
163
6. Shaper Mechanism:
In a crank and slotted lever mechanisms crank O2A rotates at ω rad/sec in CCW direction. Determine the velocity of slider.
Configuration diagram
Velocity vector diagram
Va = ω2 x O2A
CO
cO
BO
bO
1
1
1
1 =
To locate point C
=∴
BO
CObOcO
1
111
4
O1
O2
C
B
3
2
ω
5
6 D Scale 1 cm = ……x…. m
Scale 1 cm = ……x…. m/s
d O1O
2
VDC
c
a
b
VBA
VAO2
= VA
VBO1
164
To Determine Velocity of Rubbing
Two links of a mechanism having turning point will be connected by pins. When the links are motion they rub against pin surface. The velocity of rubbing of pins depends on the angular velocity of links relative to each other as well as direction.
For example: In a four bar mechanism we have pins at points A, B, C and D.
∴ Vra = ωab x ratios of pin A (rpa)
+ sign is used ωab is CW and Wbc is CCW i.e. when angular velocities are in opposite directions use + sign when angular velocities are in some directions use -ve
sign.
Vrb = (ωab + ωbc) radius rpb
VrC = (ωbc + ω cd) radius rpc
VrD = ω cd rpd
Problems on velocity by velocity vector method (Graphical solutions)
Problem 1:
In a four bar mechanism, the dimensions of the links are as given below:
AB = 50 mm, BC = 66 mm
CD = 56 mm and AD = 100 mm
At a given instant when o60DAB| = the angular velocity of link AB is 10.5
rad/sec in CCW direction.
Determine,
i) Velocity of point C
ii) Velocity of point E on link BC when BE = 40 mm
iii) The angular velocity of link BC and CD
iv) The velocity of an offset point F on link BC, if BF = 45 mm, CF = 30 mm and BCF is read clockwise.
165
v) The velocity of an offset point G on link CD, if CG = 24 mm, DG = 44 mm and DCG is read clockwise.
vi) The velocity of rubbing of pins A, B, C and D. The ratio of the pins are 30 mm, 40 mm, 25 mm and 35 mm respectively.
Solution:
Step -1: Construct the configuration diagram selecting a suitable scale.
Scale: 1 cm = 20 mm
Step – 2: Given the angular velocity of link AB and its direction of rotation determine velocity of point with respect to A (A is fixed hence, it is zero velocity point).
Vba = ωBA x BA
= 10.5 x 0.05 = 0.525 m/s
Step – 3: To draw velocity vector diagram choose a suitable scale, say 1 cm = 0.2 m/s.
• First locate zero velocity points.
• Draw a line ⊥r to link AB in the direction of rotation of link AB (CCW) equal to 0.525 m/s.
• From b draw a line ⊥r to BC and from d. Draw d line ⊥r to CD to interest at C.
• Vcb is given vector bc Vbc = 0.44 m/s
60o
A D
B
C
F
G
C
fV
ed
a, d
e, g
Vba
= 0.525 m/s
b
166
• Vcd is given vector dc Vcd = 0.39 m/s
Step – 4: To determine velocity of point E (Absolute velocity) on link BC, first locate the position of point E on velocity vector diagram. This can be done by taking corresponding ratios of lengths of links to vector distance i.e.
BC
BE
bc
be =
∴ be = BC
BEx Vcb =
066.0
04.0x 0.44 = 0.24 m/s
Join e on velocity vector diagram to zero velocity points a, d / vector de = Ve = 0.415 m/s.
Step 5: To determine angular velocity of links BC and CD, we know Vbc and Vcd.
∴ Vbc =ω BC x BC
∴ ωBC = )(./6.6066.0
44.0cwsr
BC
Vbc ==
Similarly, Vcd = ωCD x CD
∴ ωCD = s/r96.6056.0
39.0
CD
Vcd == (CCW)
Step – 6: To determine velocity of an offset point F
• Draw a line ⊥r to CF from C on velocity vector diagram.
• Draw a line ⊥r to BF from b on velocity vector diagram to intersect the previously drawn line at ‘f’.
• From the point f to zero velocity point a, d and measure vector fa to get
Vf = 0.495 m/s.
Step – 7: To determine velocity of an offset point.
• Draw a line ⊥r to GC from C on velocity vector diagram.
• Draw a line ⊥r to DG from d on velocity vector diagram to intersect previously drawn line at g.
• Measure vector dg to get velocity of point G.
167
Vg = s/m305.0dg =
Step – 8: To determine rubbing velocity at pins
• Rubbing velocity at pin A will be
Vpa = ωab x r of pin A
Vpa = 10.5 x 0.03 = 0.315 m/s
• Rubbing velocity at pin B will be
Vpb = (ωab + ωcb) x rpb of point at B.
[ωab CCW and ωcbCW]
Vpb = (10.5 + 6.6) x 0.04 = 0.684 m/s.
• Rubbing velocity at point C will be
= 6.96 x 0.035 = 0.244 m/s
Problem 2:
In a slider crank mechanism the crank is 200 mm long and rotates at 40 rad/sec in a CCW direction. The length of the connecting rod is 800 mm. When the crank turns through 60o from Inner-dead centre.
Determine,
vi) The velocity of the slider
vii) Velocity of point E located at a distance of 200 mm on the connecting rod extended.
viii) The position and velocity of point F on the connecting rod having the least absolute velocity.
ix) The angular velocity of connecting rod.
x) The velocity of rubbing of pins of crank shaft, crank and cross head having pins diameters 80,60 and 100 mm respectively.
Solution:
Step 1: Draw the configuration diagram by selecting a suitable scale.
168
Va = Woa x OA
Va = 40 x 0.2
Va = 8 m/s
Step 2: Choose a suitable scale for velocity vector diagram and draw the velocity vector diagram.
• Mark zero velocity point o, g.
• Draw oa ⊥r to link OA equal to 8 m/s
• From a draw a line ⊥r to AB and from o, g draw a horizontal line (representing the line of motion of slider B) to intersect the previously drawn line at b.
• ab give Vba=4.8 m/sec
Step – 3: To mark point ‘e’ since ‘E’ is on the extension of link AB drawn be = abxAB
BE
mark the point e on extension of vector ba. Join e to o, g. ge will give velocity of point
E.
Ve = ge =8.4 m/sec
Step 4: To mark point F on link AB such that this has least velocity (absolute).
45o
B
F
EA
O G
ea
f
b o, g
Scale: 1 cm = 2 m/s
169
Draw a line ⊥r to ab passing through o, g to cut the vector ab at f. From f to o, g.
gf will have the least absolute velocity.
• To mark the position of F on link AB.
Find BF by using the relation.
AB
ab
BF
fb =
ABxab
fbBF = =200mm
Step – 5: To determine the angular velocity of connecting rod.
We know that Vab = ωab x AB
∴ ωab = AB
Vab = 6 rad/sec
Step – 6: To determine velocity of rubbing of pins.
• Vpcrankshaft = ωao x radius of crankshaft pin
= 8 x 0.08
= 0.64 m/s
• VPcrank pin = (ωab + ωoa) rcrank pin= (6 +8)0.06 =0.84 m/sec
• VP cross head = ωab x rcross head = 6 x 0.1 = 0.6 m/sec
170
• Problem 3: A quick return mechanism of crank and slotted lever type shaping machine is shown in Fig. the dimensions of various links are as follows.
O1O2 = 800 mm, O1B = 300 mm, O2D = 1300 mm and DR = 400 mm
The crank O1B makes an angle of 45o with the vertical and relates at 40 rpm in the CCW direction. Find:
iii) Velocity of the Ram R, velocity of cutting tool, and
iv) Angular velocity of link O2D.
• Solution:
Step 1: Draw the configuration diagram.
Step 2: Determine velocity of point B.
Vb = ωO1B x O1B
ωO1B = sec/rad18.460
40x2
60
N2 B1O =π=π
Vb = 4.18 x 0.3 = 1.254 m/sec
O2
O1
D
C B
245o
R
O2
O1
D
C on O2D
B on orank, O, B
R Tool
200
171
172
Step 3 : Draw velocity vector diagram.
Choose a suitable scale 1 cm = 0.3 m/sec
o Draw O1b ⊥r to link O1B equal to 1.254 m/s.
o From b draw a line along the line of O2B and from O1O2 draw a line ⊥r to O2B.
This intersects at c bc will measure velocity of sliding of slider and CO2 will
measure the velocity of C on link O2C.
o Since point D is on the extension of link O2C measure dO2 such that
dO2 = CO
DOCO
2
22 . dO2 will give velocity of point D.
o From d draw a line ⊥r to link DR and from O1O2. Draw a line along the line
of stroke of Ram R (horizontal), These two lines will intersect at point r rO2
will give the velocity of Ram R.
o To determine the angular velocity of link O2D determine Vd = dO2.
We know that Vd = ωO2D x O2D.
∴ DO
dO
2
2dO2 =ω r/s
r O1O
2
d
b
c
173
• Problem 4: Figure below shows a toggle mechanisms in which the crank OA rotates at 120 rpm. Find the velocity and acceleration of the slider D.
• Solution:
Configuration Diagram
Step 1: Draw the configuration diagram choosing a suitable scal.
Step 2: Determine velocity of point A with respect to O.
Vao = ωOA x OA
Vao = s/m024.54.060
120x2 ==π
Step 3: Draw the velocity vector diagram.
o Choose a suitable scale
o Mark zero velocity points O,q
o Draw vector oa ⊥r to link OA and magnitude = 5.024 m/s.
100
190
135 120
120
D
B
A45o
40
All the dimensions in mm
174
Velocity vector diagram
o From a draw a line ⊥r to AB and from q draw a line ⊥r to QB to intersect at b.
bqba VqbandVab == .
o Draw a line ⊥r to BD from b from q draw a line along the slide to intersect at d.
)velocityslider(Vdq d=
• Problem 5: A whitworth quick return mechanism shown in figure has the following dimensions of the links.
The crank rotates at an angular velocity of 2.5 r/s at the moment when crank makes an angle of 45o with vertical. Calculate
d) the velocity of the Ram S
e) the velocity of slider P on the slotted level
f) the angular velocity of the link RS.
• Solution:
Step 1: To draw configuration diagram to a suitable scale.
a b
DO,q
175
OP (crank) = 240 mm
OA = 150 mm
AR = 165 mm
RS = 430 mm
Configuration Diagram
S
R
A
O
B
P on slider Q on BA45o
176
Step 2 : To determine the absolute velocity of point P.
VP = ωOP x OP
Vao = s/m6.024.0x60
240x2 =π
Step 3: Draw the velocity vector diagram by choosing a suitable scale.
Velocity vector diagram
o Draw op ⊥r link OP = 0.6 m.
o From O, a, g draw a line ⊥r to AP/AQ and from P draw a line along AP to
intersect previously draw, line at q. Pq = Velocity of sliding.
aq = Velocity of Q with respect to A.
Vqa = aq =
o Angular velocity of link RS = SR
srRS =ω rad/sec
q
r
P
S
O, a, g
0.6 m
177
• Problem 6: A toggle mechanism is shown in figure along with the diagrams of the links in mm. find the velocities of the points B and C and the angular velocities of links AB, BQ and BC. The crank rotates at 50 rpm in the clockwise direction.
• Solution
Step 1: Draw the configuration diagram to a suitable scale.
Step 2: Calculate the magnitude of velocity of A with respect to O.
Va = ωOA x OA
Va = s/m1507.0s/m05.003.0x60
50x2 =π=
π
B
A
100Q
C
140
O
50 rpm
All dimensions are in mm
OA = 30
AB = 80
BQ = 100
BC = 100
178
Vector velocity diagram
Step 3: Draw the velocity vector diagram by choosing a suitable scale.
o Draw Oa ⊥r to link OA = 0.15 m/s
o From a draw a link ⊥r to AB and from O, q draw a link ⊥r to BQ to intersect at b.
== baVab and s/m13.0Vqb b ==
ωab = )ccw(s/r74.0AB
ab = ωbq )ccw(s/r3.1aB
qb =
o From b draw a line ⊥r to Be and from O, q these two lines intersect at C.
s/m106.0VOC C ==
== CbVbC
)ccw(s/r33.1BC
bcBC ==ω
• Problem 7: The mechanism of a stone crusher has the dimensions as shown in figure in mm. If crank rotates at 120 rpm CW. Find the velocity of point K when crank OA is inclined at 30o to the horizontal. What will be the torque required at the crank to overcome a horizontal force of 40 kN at K.
ba
O, q c
179
Configuration diagram
• Solution:
Step 1: Draw the configuration diagram to a suitable scale.
200
360
400
200
600
320
500
100100
60o
600
MA
B C
D
K
hzh
2
180
Step 2 : Given speed of crank OA determine velocity of A with respect to ‘o’.
Va = ωOA x OA = s/m26.11.0x60
120x2 =
π
Velocity vector diagram
Step 3: Draw the velocity vector diagram by selecting a suitable scale.
o Draw Oa ⊥r to link OA = 1.26 m/s
o From a draw a link ⊥r to AB and from q draw a link ⊥r to BQ to intersect at b.
o From b draw a line ⊥r to BC and from a, draw a line ⊥r to AC to intersect at c.
o From c draw a line ⊥r to CD and from m draw a line ⊥r to MD to intersect at d.
o From d draw a line ⊥r to KD and from m draw a line ⊥r to KM to x intersect the previously drawn line at k.
o Since we have to determine the torque required at OA to overcome a horizontal force of 40 kN at K. Draw a the horizontal line from o, q, m and c line ⊥r to this line from k.
( ) ( )P
OP
I TT ω=ω∴
V = ωR T = F x P F = r
T
∴ ωOA TOA = Fk Vk horizontal
c a
d
b
k
Vk(hz) o, q, m
181
∴ TOA = ( )
OA
hzkk VF
ω
TOA = 6.12
45.0X40000 = N-m
• Problem 8: In the mechanism shown in figure link OA = 320 mm, AC = 680 mm and OQ = 650 mm.
Determine,
iv) The angular velocity of the cylinder
v) The sliding velocity of the plunger
vi) The absolute velocity of the plunger
When the crank OA rotates at 20 rad/sec clockwise.
• Solution:
Step 1: Draw the configuration diagram.
Step 2: Draw the velocity vector diagram
o Determine velocity of point A with respect to O.
Va = ωOA x OA = 20 x 0.32 = 6.4 m/s
o Select a suitable scale to draw the velocity vector diagram.
o Mark the zero velocity point. Draw vector oa ⊥r to link OA equal to 6.4 m/s.
A
O R
B on AR (point on AR below Q)
60o C
182
o From a draw a line ⊥r to AB and from o, q, draw a line perpendicular to AB.
o To mark point c on ab
We know that AC
AB
ac
ab =
∴ AB
ACxabac = =
o Mark point c on ab and joint this to zero velocity point.
o Angular velocity of cylinder will be.
ωab = AB
Vab = 5.61 rad/sec (cω)
o Studying velocity of player will be
qb = 4.1 m/s
o Absolute velocity of plunger = qc
OC = 4.22 m/s
• Problem 9: In a swiveling joint mechanism shown in figure link AB is the driving crank which rotates at 300 rpm clockwise. The length of the various links are:
Determine,
iv) The velocity of slider block S
v) The angular velocity of link EF
vi) The velocity of link EF in the swivel block.
O, q
b
c
a
183
AB = 650 mm
AB = 100 mm
BC = 800 mm
DC = 250 mm
BE = CF
EF = 400 mm
OF = 240 mm
FS = 400 mm
• Solution:
Step 1: Draw the configuration diagram.
Step 2: Determine the velocity of point B with respect to A.
Vb = ωBA x BA
Vb = 60
300x2π x 0.1 = 3.14 m/s
Step 3: Draw the velocity vector diagram choosing a suitable scale.
o Mark zero velocity point a, d, o, g.
45o
300
400
400
BE
O
A D
P
S
G
F
a, d, o, g
c
b
P
f
S
184
Velocity vector diagram
o From ‘a’ draw a line ⊥r to AB and equal to 3.14 m/s.
o From ‘b’ draw a line ⊥r to DC to intersect at C.
o Mark a point ‘e’ on vector bc such that
BC
BExbcbe =
o From ‘e’ draw a line ⊥r to PE and from ‘a,d’ draw a line along PE to intersect at P.
o Extend the vector ep to ef such that EFxEP
efef =
o From ‘f’ draw a line ⊥r to Sf and from zero velocity point draw a line along the slider ‘S’ to intersect the previously drawn line at S.
o Velocity of slider s/m6.2gS = . Angular Velocity of link EF.
o Velocity of link F in the swivel block = s/m85.1OP = .
• Problem 10: Figure shows two wheels 2 and 4 which rolls on a fixed link 1. The angular uniform velocity of wheel is 2 is 10 rod/sec. Determine the angular velocity of links 3 and 4, and also the relative velocity of point D with respect to point E.
• Solution:
Step 1: Draw the configuration diagram.
φ 50 mm
φ 40 mm
30o60 mm3
ω2
G
2
B
C
D
F
4
A
185
Step 2: Given ω2 = 10 rad/sec. Calculate velocity of B with respect to G.
Vb = ω2 x BG
Vb = 10 x 43 = 430 mm/sec.
Step 3: Draw the velocity vector diagram by choosing a suitable scale.
Redrawn configuration diagram
30o
G
E
B
F
D
C
50 mm
186
• Velocity vector diagram
o Draw gb = 0.43 m/s ⊥r to BG.
o From b draw a line ⊥r to BC and from ‘f’ draw a line ⊥r to CF to intersect at C.
o From b draw a line ⊥r to BE and from g, f draw a line ⊥r to GE to intersect at e.
o From c draw a line ⊥r to CD and from f draw a line ⊥r to FD to intersect at d.
• Problem 11: For the mechanism shown in figure link 2 rotates at constant angular velocity of 1 rad/sec construct the velocity polygon and determine.
iv) Velocity of point D.
v) Angular velocity of link BD.
vi) Velocity of slider C.
• Solution:
Step 1: Draw configuration diagram.
e g, fd
b
c
187
Step 2: Determine velocity of A with respect to O2.
Vb = ω2 x O2A
Vb = 1 x 50.8 = 50.8 mm/sec.
Step 3: Draw the velocity vector diagram, locate zero velocity points O2O6.
o From O2, O6 draw a line ⊥r to O2A in the direction of rotation equal to 50.8 mm/sec.
o From a draw a line ⊥r to Ac and from O2, O6 draw a line along the line of stocks of c to intersect the previously drawn line at c.
o Mark point b on vector ac such that ABxAC
abab =
o From b draw a line ⊥r to BD and from O2, O6 draw a line ⊥r to O6D to intersect at d.
4C
O2 = 50.8 mm
AB = 102 mm
BD = 102 mm
DO6 = 102 mm
AC = 203 mm
102 mmA
O6
D
5
6
B3
O2
45o
O2O
6
C
b
Vd
ad
Udb
188
Step 4: Vd = dO6 = 32 mm/sec
ωbd = BD
bd =
Vc = CO2 =
ADDITIONAL PROBLEMS FOR PRACTICE
• Problem 1: In a slider crank mechanism shown in offset by a perpendicular distance of 50 mm from the centre C. AB and BC are 750 mm and 200 mm long respectively crank BC is rotating eω at a uniform speed of 200 rpm. Draw the velocity vector diagram and determine velocity of slider A and angular velocity of link AB.
• Problem 2: For the mechanism shown in figure determine the velocities at points C, E and F and the angular velocities of links, BC, CDE and EF.
• The crank op of a crank and slotted lever mechanism shown in figure rotates at 100 rpm in the CCW direction. Various lengths of the links are OP = 90 mm, OA = 300 mm, AR = 480 mm and RS = 330 mm. The slider moves along an axis perpendicular
A
C
50 mm
B
F
E
C
B
A
120
D
150 100
50
100 rpm
60
120o
120
All dimensions are in mm
189
to ⊥r AO and in 120 mm from O. Determine the velocity of the slider when AOP| is 135o and also mention the maximum velocity of slider.
D
BO
45o
A
C
190
• Problem 4: Find the velocity of link 4 of the scotch yoke mechanism shown in figure. The angular speed of link 2 is 200 rad/sec CCW, link O2P = 40 mm.
• Problem 5: In the mechanism shown in figure link AB rotates uniformly in Cω direction at 240 rpm. Determine the linear velocity of B and angular velocity of EF.
45o
3
P4
2Q on link 4
F
B
A
E C
45o
AB = 160 mm
BC = 160 mm
CD = 100 mm
AD = 200 mm
EF = 200 mm
CE = 40 mm100 mm
191
II Method• Instantaneous Method
To explain instantaneous centre let us consider a plane body P having a non-linear motion relative to another body q consider two points A and B on body P having velocities as Va and Vb respectively in the direction shown.
Fig. 1
If a line is drawn ⊥r to Va, at A the body can be imagined to rotate about some point on the line. Thirdly, centre of rotation of the body also lies on a line ⊥r to the direction of Vb at B. If the intersection of the two lines is at I, the body P will be rotating about I at that instant. The point I is known as the instantaneous centre of rotation for the body P. The position of instantaneous centre changes with the motion of the body.
Fig. 2
In case of the ⊥r lines drawn from A and B meet outside the body P as shown in Fig 2.
Fig. 3If the direction of Va and Vb are parallel to the ⊥r at A and B met at ∞. This is the case when the body has linear motion.
AV
a
Vb
B
I P
q
AV
a
Vb
B
I
P
q
AV
a
I at ∞
B Vb
192
• Number of Instantaneous Centers
The number of instantaneous centers in a mechanism depends upon number of links. If N is the number of instantaneous centers and n is the number of links.
N = ( )
2
1nn −
• Types of Instantaneous Centers
There are three types of instantaneous centers namely fixed, permanent and neither fixed nor permanent.
Example: Four bar mechanism. n = 4.
N = ( )
2
1nn −=
( )6
2
144 =−
Fixed instantaneous center I12, I14
Permanent instantaneous center I23, I34
Neither fixed nor permanent instantaneous center I13, I24
• Arnold Kennedy theorem of three centers:
I24
I23
I13
I12
I14
I34
2
1
3
4
193
Statement: If three bodies have motion relative to each other, their instantaneous centers should lie in a straight line.
194
Proof:
Consider a three link mechanism with link 1 being fixed link 2 rotating about I12
and link 3 rotating about I13. Hence, I12 and I13 are the instantaneous centers for link 2 and link 3. Let us assume that instantaneous center of link 2 and 3 be at point A i.e. I23. Point A is a coincident point on link 2 and link 3.
Considering A on link 2, velocity of A with respect to I12 will be a vector VA2 ⊥r to link A I12. Similarly for point A on link 3, velocity of A with respect to I13 will be ⊥r to A I13. It is seen that velocity vector of VA2 and VA3 are in different directions which is impossible. Hence, the instantaneous center of the two links cannot be at the assumed position.
It can be seen that when I23 lies on the line joining I12 and I13 the VA2 and VA3 will be same in magnitude and direction. Hence, for the three links to be in relative motion all the three centers should lie in a same straight line. Hence, the proof.
Steps to locate instantaneous centers:
Step 1: Draw the configuration diagram.
Step 2: Identify the number of instantaneous centers by using the relation N
= ( )
2
n1n −.
Step 3: Identify the instantaneous centers by circle diagram.
Step 4: Locate all the instantaneous centers by making use of Kennedy’s theorem.
To illustrate the procedure let us consider an example.
I12
VA32
2
VA22
I13
I23
A
3
1
195
196
A slider crank mechanism has lengths of crank and connecting rod equal to 200 mm and 200 mm respectively locate all the instantaneous centers of the mechanism for the position of the crank when it has turned through 30o from IOC. Also find velocity of slider and angular velocity of connecting rod if crank rotates at 40 rad/sec.
Step 1: Draw configuration diagram to a suitable scale.
Step 2: Determine the number of links in the mechanism and find number of instantaneous centers.
N = ( )
2
n1n −
n = 4 links N = ( )
2
144 − = 6
Step 3: Identify instantaneous centers.
o Suit it is a 4-bar link the resulting figure will be a square.
30oI12
I12
4
B
I13
A 3
800I23200
2
I24
O 1 1
I14
to ∞ I14
to ∞
197
o Locate fixed and permanent instantaneous centers. To locate neither fixed nor permanent instantaneous centers use Kennedy’s three centers theorem.
Step 4: Velocity of different points.
Va = ω2 AI12 = 40 x 0.2 = 8 m/s
also Va = ω2 x A13
∴ ω3 = 13
a
AI
V
Vb = ω3 x BI13 = Velocity of slider.
• Problem 2:
A four bar mechanisms has links AB = 300 mm, BC = CD = 360 mm and AD =
600 mm. Angle o60BAD| = . Crank AB rotates in Cω direction at a speed of 100 rpm.
Locate all the instantaneous centers and determine the angular velocity of link BC.
• Solution:
Step 1: Draw the configuration diagram to a suitable scale.
Step 2: Find the number of Instantaneous centers
N = ( )
2
n1n −=
( )2
144 − = 6
Step 3: Identify the IC’s by circular method or book keeping method.
1 I12 2
4 I34 3
I41
I23
I24
I13
I12
I23
I34
1 2 3 4
I13
I24
I14
OR
198
Step 4: Locate all the visible IC’s and locate other IC’s by Kennedy’s theorem.
Vb = ω2 x BI12 = sec/m3.0x60
100x2 =π
Also Vb = ω3 x BI13
ω3 = sec/radBI
V
13
b =
• For a mechanism in figure crank OA rotates at 100 rpm clockwise using I.C. method determine the linear velocities of points B, C, D and angular velocities of links AB, BC and CD.
OA = 20 cm AB = 150 cm BC = 60 cm
1 I12 2
4 I34 3
I14
I23
I12
I13
I12
I23
I34
1 2 3 4
I13
I24
I14
OR
I24
I23
I13
I12
I14
I34
2
1
3
4
B
A D
C
199
CD = 50 cm BE = 40 cm OE = 135 cm
Va = ωOA x OA
Va = s/m1.22.0x60
100x2 =π
n = 6 links
N = ( )
152
1nn =−
3
5
2
30o
A
6
10 mm
D
1
O 4B
C
E
1 2 3 4 5 6
12 23 34 45 56
13 24 35 46
14 25 36
15 26
16
54321
---15---
2
1I
12
I23
I13
I16
@ ∞
I14
I45
I16
@ ∞ I16
@ ∞
I56
I34 I
15
3
56
200
Va = ω3AI13
ω3 = sec/rad5.2AI
V
13
a =
Vb = ω3 x BI13 = 2.675 m/s
Also Vb = ω4 x BI14
ω4 = sec/rad37.6BI
V
14
b =
VC = ω4 x CI14 = 1.273 m/s
A
I13
B
3
Link 3
4
C
I14
B
Link 4
C
I15
5 DLink 5
201
VC = ω5 x CI15
ω5 = sec/rad72.1AI
V
15
C =
Vd = ω5 x DI15 = 0.826 m/s
• In the toggle mechanism shown in figure the slider D is constrained to move in a horizontal path the crank OA is rotating in CCW direction at a speed of 180 rpm the dimensions of various links are as follows:
OA = 180 mm CB = 240 mm
AB = 360 mm BD = 540 mm
Find,
i) Velocity of slider
ii) Angular velocity of links AB, CB and BD.
n = 6 links
N = ( )
152
1nn =−
D
C
B
45o
A
O
360
105
202
AnswersVb = 2.675 m/s VC = 1.273 m/sVd = 0.826 m/sωab = 2.5 rad/secωbc = 6.37 rad/secωcd = 1.72 rad/sec
Va = ω2 x AI12 = 3.4 m/s
Va = ω3 x AI13
ω3 = sec/rad44.2AI
V
13
a =
Vb = ω3 x BI13
1 2 3 4 5 6
12 23 34 45 56
13 24 35 46
14 25 36
15 26
16
54321
---15---
4
B
6C
I24
I56
OI
46
I12
I23
I15
I34
I35
2
3
5
A
I45
I13
I16
@ ∞ I16
@ ∞
I16
@ ∞
A
I13
B
ω3
Link 3
203
Vb = ω4 x BI14
ω4 = sec/rad875.11AI
V
14
b =
Vb = ω5 x BI15
ω5 = sec/rad37.4AI
V
15
b =
Vd = ω5 x DI15 = 2 m/s
• Figure shows a six link mechanism. What will be the velocity of cutting tool D and the angular velocities of links BC and CD if crank rotates at 10 rad/sec.
B
I14C
ω4
Link 4
B
D
5
I15Link 5
204
AnswersVd = 2 m/sωab = 2.44 rad/secωbc = 11.875 rad/secωcd = 4.37 rad/sec
D
Q
45
B
30o
15
O
45
15
C
60
All dimensions are in mm
15
25
A
90o
205
Va = ω2 x AI12 = 10 x 0.015
Va = ω2 x AI12 = 0.15 m/s
Va = ω3 x AI13
ω3 = 13
a
AI
V
Vb = ω3 x BI13
6
O
I56
I16
@ ∞
I16
@ ∞
I16
@ ∞
I12
I23
I24
I45
I46
I34
I14
3
2
5
4
I26
I13
I15
A
I13 B
ω3
Link 3
206
Vb = ω4 x BI14
ω4 = sec/rad25.4BI
V
14
b =
VC = ω4 x CI14
VC = ω5 x CI15
ω5 = sec/rad98.1AI
V
15
C =
Vd = ω5 x DI15 = 1.66 m/s
• A whitworth quick return mechanism shown in figure has a fixed link OA and crank OP having length 200 mm and 350 mm respectively. Other lengths are AR = 200 mm and RS = 40 mm. Find the velocity of the rotation using IC method when crank makes an angle of 120o with fixed link and rotates at 10 rad/sec.
C
I14
Qω
4
BLink 4
D I15
C
5
Link 5
207
Answers
Vd = 1.66 m/s
ωbc = 4.25 rad/sec
ωcd = 1.98 rad/sec
Locate the IC’s
n = 6 links
N = ( )
152
1nn =−
6
S
3
A
R
5
4
P
B
1
O 2
1 2 3 4 5 6
12 23 34 45 56
13 24 35 46
14 25 36
15 26
16
54321
---15---
208
VP = ω2 x OP = ……… m/s
• Acceleration Analysis
Rate of change of velocity is acceleration. A change in velocity requires any one of the following conditions to be fulfilled:
o Change in magnitude only
o Change in direction only
o Change in both magnitude and direction
When the velocity of a particle changes in magnitude and direction it has two component of acceleration.
1. Radial or centripetal acceleration
fc = ω2r
Acceleration is parallel to the link and acting towards centre.
I15
5
1
6
I46I
45
I56
I14
I23
I34
3
I24
I12
4
2
I16
@ ∞
209
Va’ = (ω + α δ t) rVelocity of A parallel to OA = 0Velocity of A’ parallel to OA = Va’ sin δ θTherefore change in velocity = Va’ sin δ θ – 0
Centripetal acceleration = fc = ( )
t
rt
δδθαδω sin+
as δt tends to Zero sin δ θ tends to δ θ
( )
t
trr
δδθδαδθω +∴
fc = ωr (dθ/ dt) =ω2r
But V = ωr or ω = V/r Hence, fc =ω2r = V2/r
2. Tnagential Acceleration: Va’ = (ω + α δ t) rVelocity of A perpendicular to OA = VaVelocity of A’ perpendicular to OA = Va’ cos δ θTherefore change in velocity = Va’ cos δ θ – Va
Tnagnetial acceleration = ft = ( )
t
rrt
δωδθαδω −+ cos
Va
A
O
rA’
δθδθ
Va’ cosδθ
Va’ sinδθVa’
O1
oa
a1
ft oa
fc
oa
f oa
210
as δt tends to Zero cos δ θ tends to 1
( )
t
rtrr
δωδαω −+∴
ft = αr
Example:
fCab = ω2AB
Acts parallel to BA and acts from B to A.
ft = αBA acts ⊥r to link.
fBA = frBA + ft
BA
• Problem 1: Four bar mechanism. For a 4-bar mechanism shown in figure draw velocity and acceleration diagram.
B
A
fr
ab
fab
ft
ab
211
60o
A D
B
C66
56ω = 10.5 rad/sec
50
100
All dimensions are in mm
212
• Solution:
Step 1: Draw configuration diagram to a scale.
Step 2: Draw velocity vector diagram to a scale.
Vb = ω2 x AB
Vb = 10.5 x 0.05
Vb = 0.525 m/s
Step 3: Prepare a table as shown below:
Sl. No.
Link Magnitude Direction Sense
1. AB fc = ω2ABr
fc = (10.5)2/0.525
fc = 5.51 m/s2
Parallel to AB A
2. BC fc = ω2BCr
fc = 1.75
ft = αr
Parallel to BC
⊥r to BC
B
–
3. CD fc = ω2CDr
fc = 2.75
ft = ?
Parallel to DC
⊥r to DC
D
–
Step 4: Draw the acceleration diagram.
a1d
Vc C
b
Vbc
213
o Choose a suitable scale to draw acceleration diagram.
o Mark the zero acceleration point a1d1.
o Link AB has only centripetal acceleration. Therefore, draw a line parallel to AB and toward A from a1d1 equal to 5.51 m/s2 i.e. point b1.
o From b1 draw a vector parallel to BC points towards B equal to 1.75 m/s2 (b11).
o From b11 draw a line ⊥r to BC. The magnitude is not known.
o From a1d1 draw a vector parallel to AD and pointing towards D equal to 2.72 m/s2
i.e. point c1.
o From c11 draw a line ⊥r to CD to intersect the line drawn ⊥r to BC at c1, 11cd = fCD
and 11cb = fbc.
To determine angular acceleration.
αBC = sec/rad09.34BC
bc
BC
f 111
tbc == )CCW(
αCD = )CCW(sec/rad11.79CD
cc
CD
f 111
tcd ==
• Problem 2: For the configuration of slider crank mechanism shown in figure below.
Calculate
i) Acceleration of slider B.
ii) Acceleration of point E.
iii) Angular acceleration of link AB.
If crank OA rotates at 20 rad/sec CCW.
• Solution:
c1
a1d
1
c1′
11el to CD
11el to CD
⊥γ to BC
b1 11el to AB
11el to BC
fbc
b1
214
Step 1: Draw configuration diagram.
Step 2: Find velocity of A with respect to O.
Va = ωOA x OA
Va = 20 x 0.48
Va = 9.6 m/s
Step 4: Draw velocity vector diagram.
Step 4:
Sl. No.
Link Magnitude Direction Sense
1. OA fcaO = ω2
OAr = 192 Parallel to OA O
2. AB fcab = ω2
abr = 17.2
ftab –
Parallel to AB
⊥r to AB
A
–
3. Slider B – Parallel to Slider –
All dimensions are mm
480
60o
A
B
1600
G
E450
O1g
a
9.7
e
b
5.25
215
Step 5: Draw the acceleration diagram choosing a suitable scale.
fb
o1g
1f
ab
ft
ab
192
172 a1
e1
fc
ab
ee1
b1
1
216
o Mark o1g1 (zero acceleration point)
o Draw 11go = C acceleration of OA towards ‘O’.
o From a1 draw a1b11 = 17.2 m/s2 towards ‘A’ from b1
1 draw a line ⊥r to AB.
o From o1g1 draw a line along the slider B to intersect previously drawn line at b1,
ab11 fba =
11bg = fb = 72 m/s2.
o Extend 11ba =
11ea such that AE
RA
AB
ba 1111 = .
o Join e1 to δ1g1, 11eg = fe = 236 m/s2.
o αab = 6.1
167
AB
bb
AB
f 11tab == = 104 rad/sec2 (CCW).
Answers:
fb = 72 m/sec2
fe = 236 m/sec2
αab = 104 rad/sec2
• Problem 3: In a toggle mechanism shown in figure the crank OA rotates at 210 rpm CCW increasing at the rate of 60 rad/s2.
• Velocity of slider D and angular velocity of link BD.
• Acceleration of slider D and angular acceleration of link BD.
217
Step 1 Draw the configuration diagram to a scale.
Step 2 Find
Va = ωOA x OA
Va = ( )
2.0x60
2102π = 4.4 m/s
Step 3: Draw the velocity vector diagram.
Step 4:
Sl. No.
Link Magnitude m/s2 Direction Sense
1.AO
fcaO = ω2r = 96.8
ftaO = αr = 12
Parallel to OA
⊥r to OA
O
–
400
300 500
D
B
A
200
45o
Q
D
G
150
d
ba
o1,q,g
218
2.AB
fcab = ω2r = 5.93
ftab = αr =
Parallel to AB
⊥r to AB
A
–
3.BQ
fcbq = ω2r = 38.3
ftbq = αr =
Parallel to BQ
⊥r to BQ
Q
–
4. BD fcbd = ω2r = 20 ⊥r to BD B
5.Slider D
ftbd = αr =
–
⊥r to BD
Parallel to slider motion
–
–
Step 5: Draw the acceleration diagram choosing a suitable scale.
o Mark zero acceleration point.
o Draw o1a11 = fc
OA and a11a = ft
OA ⊥r to OA from
o 11ao = fa
o From a1 draw abc
11 fba = , from b11 draw a line ⊥r to AB.
o From o1q1g1 draw 11
1qo = fcbq and from q1
1 draw a line a line ⊥r to BQ to intersect
the previously drawn line at b1
bq11 fbq = 11ba = fab
o From b1 draw a line parallel to BD = fcbd such that 1
11db = fc
bd.
o From d11 draw a line ⊥r to BD, from o1q1g1 draw a line along slider D to meet the
previously drawn line at .
q1
1
b1
1
a1 ft
OA
d1
1fc
OA
O1q
1g
1
b1
d1
fd
fbd
a1
1
fab
219
od11 fdg = = 16.4 m/sec2.
obd11 fdb = = 5.46 m/sec2.
o αBD = 2bd sec/rad2.1095.0
46.5
BD
f=
Answers:
Vd = 2.54 m/s
ωbd = 6.32 rad/s
Fd = 16.4 m/s2
αbd = 109.2 rad/s2
220
• Coriolis Acceleration: It has been seen that the acceleration of a body may have two components.
• Centripetal acceleration and
• Tangential acceleration.
However, in same cases there will be a third component called as corilis acceleration to illustrate this let us take an example of crank and slotted lever mechanisms.
Assume link 2 having constant angular velocity ω2, in its motions from OP to OP1
in a small interval of time δt. During this time slider 3 moves outwards from position B to B2. Assume this motion also to have constant velocity VB/A. Consider the motion of slider from B to B2 in 3 stages.
1. B to A1 due to rotation of link 2.
2. A1 to B1 due to outward velocity of slider VB/A.
3. B1 to B2 due to acceleration ⊥r to link 2 this component in the coriolis component of acceleration.
We have Arc B1B2 = Arc QB2 – Arc QB1
= Arc QB2 – Arc AA1
∴ Arc B1B2 = OQ dθ - AO dθ
A on link 2
B on link 3
O
dθ ω
2
A1
B2
P1
B1
2
P
3
dθ
Q
221
= A1B1 dθ
= VB/A ω 2dt2
The tangential component of velocity is ⊥r to the link and is given by Vt = ωr. In this case ω has been assumed constant and the slider is moving on the link with constant velocity. Therefore, tangential velocity of any point B on the slider 3 will result in uniform increase in tangential velocity. The equation Vt = ωr remain same but r increases uniformly i.e. there is a constant acceleration ⊥r to rod.
∴ Displacement B1B2 = ½ at2
= ½ f (dt)2
∴ ½ f (dt)2 = VB/A ω2 dt2
fcrB/A = 2ω 2 VB/A coriolis acceleration
The direction of coriolis component is the direction of relative velocity vector for the two coincident points rotated at 90o in the direction of angular velocity of rotation of the link.
Figure below shows the direction of coriolis acceleration in different situation.
(a) Rotation CW slider moving up
(b) Rotation CW slider moving down
ω2 ω
2
fcr
ω2
fcr
222
A quick return mechanism of crank and slotted lever type shaping
machine is shown in Fig. the dimensions of various links are as follows.
O1O2 = 800 mm, O1B = 300 mm, O2D = 1300 mm and DR = 400 mm
The crank O1B makes an angle of 45o with the vertical and rotates at 40
rpm in the CCW direction. Find:
v) Acceleration of the Ram R, velocity of cutting tool, and
vi) Angular Acceleration of link AD.
Solution:
Step 1: Draw the configuration diagram.
(c) Rotation CCW slider moving up
(d) Rotation CCW slider moving down
ω2
ω2
fcr
fcr
223
A
O
D
C B
2 45o
R
A
O
D
C on AD
B on orank, A B
R Tool
200
Step 2: Determine velocity of point B.
Vb = ωOB x OB
ωOB = sec/rad18.460
40x2
60
N2 B1O =π
=π
Vb = 4.18 x 0.3 = 1.254 m/sec
224
Step 3: Draw velocity vector diagram.
Choose a suitable scale 1 cm = 0.3 m/sec
r o.a
d
b
c
Step 4: prepare table showing the acceleration components
Sl. No.
Link Magnitude m/s2 Direction Sense
1. OB fcob = ω2r =5.24
Parallel to OB
O –
2. AC fcac = ω2r ftac = αr
Parallel to AB ⊥r to AB
A –
3. BC fsbc =αr fcc
bc = 2vω = Parallel to AB ⊥r to AC
_ –
4. DR fcbd = ω2r = 20 ftbd =α r
Parallel to DR ⊥r to BD
D _
5. Slider R ftbd = αr
Parallel to slider motion
–
Acceleration of Ram = fr = o1 r
Angular Acceleration of link AD
α bd =
KLENIN’S Construction
This method helps us to draw the velocity and acceleration diagrams on the construction diagram itself. The crank of the configuration diagram represents the velocity and acceleration line of the moving end (crank).
o1a
1
b1
b1
’’
b1
’
b1
’’’
d1
r1
’
r1
fc
ob
ft
ab
fs
ab
fcc
bc
fob
fad
fr
ft
dr
fc
dr
225
BD
fbd
The procedure is given below for a slider crank mechanism.
To draw the velocity vector diagram:
Link OA represents the velocity vector of A with respect to O.
Voa = oa = ω r = ω OA.
Draw a line perpendicular at O, extend the line BA to meet this perpendicular line at b. oab is the velocity vector diagram rotated through 90º opposite to the rotation of the crank.
Acceleration diagram: The line representing Crank OA represents the acceleration of A with respect to O. To draw the acceleration diagram follow the steps given below.
• Draw a circle with OA as radius and A as centre.• Draw another circle with AB as diameter.• The two circles intersect each other at two points C and D.
O
A
B
200800
45º
ω
o
a
b
200800
45º
ωa
ob
226
• Join C and D to meet OB at b1 and AB at E.
O1,a1,ba1and b1 is the required acceleration diagram rotated through 180º.
O1
a1
b1
200800
45º
ω
ba1
B
O1
a
fa
ba1
fc
ab
b1
ft
ab fab
fb
227