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3.1 3.2 3.3 3.4 Introduction
Objectives
3.5
3.6
3.1 INTRODUCTION
In Unit 2, you were introduced to degrees of freedom, kinematic pairs and links. In this unit, you will be explained how to get different mechanisms by using four bar chain which is a basic kinematic chain. The four bar chain has four links which are connected with each other with the help of four lower kinematic pairs. This chain provides different mechanisms of common usage. For example, one mechanism, provided by this, is used in petrol engine, diesel engine, steam engine, compressors, etc. One mechanism makes possible to complete idle stroke in machine tool in lesser time than cutting stroke which reduces machining time. This mechanism being termed as quick return mechanism. Similarly, there are some mechanisms which can provide rocking motion which can be used in materials handling.
Objectives
After studying this unit, you should be able to know inversions of different kinematic chains, understand utility of various mechanisms of four bar kinematic chain, make kinematic design of a mechanism, evolve criteria for different mechanisms of 4R-kinematic chain, and check movability of mechanism. 41
Basic Concepts
4R-kinematic chain which has all the four kinematic pairs as revolute pairs. 3R-1P kinematic chain which has three revolute pairs and one prismatic pair. 2R-2P kinematic chain which has two revolute pairs and two prismatic pairs.
3 B R3 A 3 R3 B 4
R4 1 O4
Figure 3.1
SAQ 1
Form a kinematic chain using three revolute pairs and one prismatic pair.
2 1
1 3 2 2 1 4 1 3
Figure 3.2
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SAQ 2
How a four bar kinematic chain works as a mechanism by fixing one link?
T4
Figure 3.3
Figure 3.4
The position of O4B1 is obtained when point A is A1 whereas position O4B2 is obtained when A is at A2. It may be observed that crank angles for the two strokes (forward and backward) of oscillating link O4B are not same. It may also be noted that the length of the crank is very short. If l1, l2, l3 and l4 are lengths of links 1, 2, 3 and 4 respectively, the proportions of the link may be as follows :
(l1 + l2 ) < (l3 + l4 )
SAQ 3
In this mechanism, if length of link 2 is equal to that of link 4 and link 4 has lengths equal to that of link 2 which mechanism will result and analyse motion.
Basic Concepts
A1 A B1 2 I2 O2 A2 O4 I3 B I4 B2
Figure 3.5
Link O2A oscillates between positions O2A1 and O2A2 whereas O4B oscillates between positions O4B1 and O4B2. Position O4B2 is obtained when O2A and AB are along straight line and position O2A1 is obtained when AB and O4B are along straight line. This mechanism must satisfy the following relations.
(l3 + l4 ) < (l1 + l2 ) (l2 + l3 ) < (l1 + l4 )
It may be observed that link AB has shorter length as compared to other links. If links 2 and 4 are of equal lengths and l1 > l3, this mechanism forms automobile steering gear.
Figure 3.6
The familiar example is coupling of the locomotive wheels where wheels act as cranks of equal length and length of the coupling rod is equal to centre distance between the two coupled wheels. Drag Link Mechanism In this mechanism also links 2 and 4 make full rotation. As the link 2 and 4 rotate sometimes link 4 rotate faster and sometimes it becomes slow in rotation.
A1
B1 A
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B2
B B
B A4
B B
O2
B B
O4
B B
B4
B B
Figure 3.7
and
l3 < (l2 + l4 l1 )
It may be observed from Figure 3.7 that length of link 1 is smaller as compared to other links.
SAQ 4
(a) (b) Determine degrees of freedom of 4R-kinematic chain. Why 4R-kinematic chain does not provide four different mechanisms?
Figure 3.8
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2 3 4
Basic Concepts
Figure 3.9
This mechanism is also known as slider crank chain or reciprocating engine mechanism because it is used in internal combustion engines. It is also used in reciprocating pumps as it converts rotatory motion into reciprocating motion and vice-versa.
(2 ) 2 = =
1 T1 2 T2 3 T3 4 3 S 2 4 B 3 O4 1 2 P A1 O2 A Q A2 5 Ram 6 1 4
Figure 3.10
2 4 1
S 3
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3
A1
O4
The motion of link 4 in crank and slotted lever quick return motion mechanism can be taped through link 5 and can be transferred to ram. O2A1 and O2A2 are two positions of crank when link 4 will be tangential to the crank circle and corresponding to which ram will have extreme positions. When crank travels from position O2A1 and O2A2 forward stroke takes place. When crank moves further from position O2A2 to O2A1 return stroke takes place. Therefore, for constant angular velocity for crank .
Time for forward stroke Quick Return Ratio = = Time for return stroke
(2 ) 2 =
3 1 2
3 1 T1
B B
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2 T2
B B
T3
B B
Basic Concepts
S2
Figure 3.13
x = OA sin
1 T1 T2 2 3 S1 4
S2 A s2 4 3 S1 2 T1 O 1 1 T2
T2
B B
S1
B B
provided in links 3 and 1. The centre of this link will move on a circle with diameter equal to eccentricity.
S1 3 2 T2 4
2 T1
S2
xD = AD sin or sin =
xD AD
yD = CD sin or cos =
Since,
sin 2 + cos 2 = 1
yD CD
Substituting for sin and cos in this equation, the following equation of ellipse is obtained. =1 AD 2 CD 2 The semi-major axis of the ellipse is AD and semi-minor axis is CD.
T2 2
2 xD
y1 D
T1
S1 4
S2
4 1 O 4 3 A T2 S1 B 2 T1 D X S2
Figure 3.16
SAQ 5
(a) Explain why only three different mechanisms are available from 2R-2P kinematic chain. 49
Basic Concepts
If length of crank in the reciprocating mechanism is 15 cm, find stroke length of the slider. If length of fixed link and crank in crank and slotted lever quick return mechanism are 30 cm and 15 cm respectively, determine quick return ratio. If an ellipse of semi-major axis 30 cm and semi-minor axis 20 cm is to be drawn, what should be the length of link ACD in elliptical trammel.
Figure 3.17
Let
length of the longest link be l length of smallest link be s length of other two links be p, q.
There are three possible cases (a) (b) (c) (l + s ) < ( p + q ) (l + s ) = ( p + q) (l + s ) > ( p + q)
Considering the first case when (l + s ) < ( p + q ) and assuming l2 > l1. If link 2 has to make complete rotation, obviously then it must be able to attain the following two extreme positions shown in Figure 3.18 when A is farthest from O4 and Figure 3.19 when A is nearest to O4. This will be possible if links 3 and 4 do not prevent these maximum and minimum separations between O4 and A. Thus, for O4 AB to exist in both extreme conditions, the link dimensions should satisfy the following
l1 + l2 < l3 + l4 , l4 < l3 + (l2 l1 )
and
l3 < l2 + (l4 l1 )
Therefore, when these conditions are met, link 2 will be capable to work as crank. Similarly link 4 can make complete rotation, if l4 > l1 and get the necessary conditions by interchanging l2 and l4 in the above equations. In this case, four bar kinematic chain shall provide double crank mechanism with smallest link as a frame. If one of the two links l2 and l4 is fixed, link 1 will work as crank, link 3 will oscillate to allow the remaining link to work as rocker or lever. Then similar situation will arise for the case (l + s ) = ( p + q ) with a difference being that there will be instances when links become collinear resulting
B
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3 I3
B B B
4 I4
B
Figure 3.18
in dead centers or change points. When (l + s ) > ( p + q ) , it will result only in a double rocker or double lever mechanism. Therefore, for (l + s ) ( p + q ) (a) (b) (c) when smallest link is frame, a double crank mechanism is obtained, when smallest link is crank or follower crank-rocker or rocker-crank mechanism is obtained, and when smallest link is coupler, double rocker or double lever mechanism is obtained.
B I3 4 I4 3
2 O2 I2
A O4
Figure 3.19
SAQ 6
Explain how the case (l + s ) > ( p + q) will result only in a double rocker mechanism.
3.8 SUMMARY
A four bar kinematic chain may have all the four kinematic pairs as revolute pairs, three revolute pairs and one prismatic pair or two revolute pairs and two prismatic pairs. These kinematic chains provide different mechanisms. Some of them are of common usage. The mechanisms obtained from kinematic chain using four revolute pairs depend on relative lengths of different links. The movability with given lengths of links can be determined by using Grashofs criterion and it can be known what kind of movability can be obtained.
Mechanisms Movability
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Basic Concepts
: Criterion to study movability of four bar linkage using revolute pairs. : The link which makes complete rotation. : The link oscillates between two extreme positions. : It transfers motion from input link to output link or vice-versa.
(a) (b)
Only one coordinate, i.e. angle of crank is required. Therefore, it has one degree of freedom. It can provide four mechanisms but the following two mechanisms (i) (ii) crank-lever mechanism lever-crank mechanism
are similar. Therefore, 4R-kinematic chain provide only three different mechanisms.
SAQ 5
By fixing any of the two sliders in 2R-2P kinematic chain only scotch yoke is obtained. Therefore, only three different mechanisms are obtained. The stroke lengths shall be 15 + 15 = 30 cm.
cos
15 1 = = 2 30 2 = 60o or = 120o 2 Quick Return Ratio = 360 120 240 = =2 120 120
(d)
AD = 30 cm and CD = 20 cm ACD = 30 cm
SAQ 6
FURTHER READINGS
Ghosh, Amitabh, Mallik, A. K., Theory of Mechanisms and Machines, EWP, East-West Press Pvt. Ltd., New Delhi. Bevan, T., The Theory of Machines, Longmans Green, London. Shigley, J. E., Kinematic Analysis of Mechanisms, McGraw-Hill, New York. Ballaney, P. L., Theory of Machines, Khanna Publishers, Delhi. Rattan, S. S., Theory of Machines, Tata McGraw-Hill Publishing Company Limited.
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BASIC CONCEPTS
In first block of Kinematics and Dynamics of Mechanisms, there are three units. The first unit provides introduction to the kinematics and dynamics of machines. This unit 53
Basic Concepts
describes various elementary terms related to this topic. An introduction has been provided to the different types of motion also. Kinematic constraints and kinematic pairs have been described in the second unit. In this unit, you will also study degree of freedom and difference between machine and mechanism. Third unit is on kinematic chains and their inversions. This unit describes different kinematic chains and their inversions. The Grashofs criterion has also been described in this unit.
systematic and scientific approach has become necessary to make a system to achieve an optimal performance. Further the development of new areas like robotics has provided a new impetus to the study of kinematics and dynamics of planar and spatial mechanisms. This course of kinematics and dynamics of mechanisms has been developed to fulfil this desire. This subject was initially random in growth which was characterised by invention and the establishment of a basic form of a machine rather than by conventional design and development. Many years later, the theory was developed for the analysis, synthesis and design of machinery. The course of Kinematics and Dynamics of Mechanisms has five blocks namely, Basic Concept, Motion Analysis of Planar Mechanism and Synthesis, Power Transmission Devices and Controls, Static and Dynamic Force Analysis & Mechanical Vibration, and Balancing. First block provides basic concepts about mechanisms and machines. Along with this, it includes concepts about commonly used mechanisms, kinematic chains and their inversions. The objective of kinematic analysis is to determine the kinematic quantities such as displacement, velocities and accelerations of the elements in a mechanism when input motion is known. The determination of the input motion required to produce a specified motion of another element is described in the second block. Mechanisms with lower pairs have been discussed in the three units of this block. Commonly used higher pair mechanisms such as cam and follower is also explained in one of units of this block. Third block provides analysis of different type of power transmission devices like belt drive, chain drive and gear drive. The drives are of common use in public life and industry. In this block, flywheel and governors have also been explained. These are controlling devices in a power plant. Both of them control fluctuation in speed but their domain of operation are different. In the fourth block, the methods of static and dynamic analysis of mechanisms have been explained. Effect of foundation on the vibration of machine has been explained in Unit 13 of this block. The gear force analysis has been explained in Unit 14. This block further provides analysis and control of mechanical vibration. Mechanical vibration may occur in all the types of mechanical system. It can be measured by using vibration measuring devices. The principle of these instruments has also been explained in Unit 13 of this block. The knowledge of vibration can be used in preventive maintenance of mechanical equipment. The balancing of rotating masses and reciprocating masses is very important from practical point of view. The methods of balancing of these masses have been described in fifth block.
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