ME 143: Mechanics of Machinery-1

Lecture 1
Introduction
Dr. Aly Mousaad Aly
Mechanical Engineering Department
Faculty of Engineering, Alexandria University

Policy
Class attendance is very important.
Come to the exercises prepared (your notes +
sketch + sheet + ruler + aristo + pencil +
eraser)
If you dont come, your class grade is zero
You cannot be absent for more than 25%

Lecture 1, AM Aly

Grading

Final project (20 Marks)

Oral exam (10 Marks)
Midterm exam (30 Marks)
Final examination (90 Marks)

Lecture 1, AM Aly

Course objectives
Develop the student's ability to analyze and
design planar machines.
Analyzing motion of elements in machines
(disp., vel., acc., and forces).
Understanding the terminology and
parameters of gears.
Understanding various gear trains.

Lecture 1, AM Aly

Course Materials
Lecture Slides:
Will be available at the copy center + any other
materials
References and Resources:
R.S. Khurmi, J.K. Gupta "Theory of Machines"
Chand (S.) & Co Ltd ,India, 2005
Robert L. Norton "Design of Machinery, 2nd ed,
McGraw-Hill, 1999
Lecture 1, AM Aly

Course contents
Joints
Mechanisms
Degrees of freedom
Analysis of some applied mechanisms
Graphical and analytical analyses of
displacement, velocity and acceleration
Gear geometry
Gear trains

Lecture 1, AM Aly

What is Theory of Machines?

It is a branch of Engineering - Science, which
deals with the study of relative motion
between the various parts of machine, and
forces which act on them.
Knowledge of this subject is very essential for
an engineer in designing the various parts of a
machine.

Lecture 1, AM Aly

Sub-Divisions of Theory of Machines

Kinematics: describes the motion of bodies
without consideration of the forces that cause
the motion (i.e. disp., vel., acc.).
Dynamics:
a. Kinetics: describes the relation between
forces and motion (ma).
b. Statics: describes the relation between forces
at rest.
Lecture 1, AM Aly

Machine Element or Link

It is a part of machine which has a motion relative
to some other part.
a.Tension link

A belt or a wire rope (tensile force)

Lecture 1, AM Aly

Machine Element or Link

b. Fluid link

Hydraulic jack
Lecture 1, AM Aly

10

Machine Element or Link

c. Rigid link

Links of different order

Lecture 1, AM Aly

11

Kinematic Pairs: Lower Pairs

One relative motion

Sliding pair

pure rolling
Lecture 1, AM Aly

turning pair

screw pair
12

Kinematic Pairs: Higher Pairs

Two motions

rolling + sliding

turning + sliding
Lecture 1, AM Aly

cam and follower

13

Kinematic chain
An assemblage of links and joints,
interconnected in a way to provide a
controlled output motion in response to a
supplied input motion.

Lecture 1, AM Aly

14

Mechanism
A kinematic chain in which at least one link
has been "grounded," or attached, to th frame
of reference (which itself may be in motion).

Lecture 1, AM Aly

15

Machine
A collection of mechanisms arranged to transmit
forces and to do work.

Lecture 1, AM Aly

16

Degree of freedom (DOF)

Number of independent coordinates required
to define the position of a system (Mobility).

Lecture 1, AM Aly

17

Degree of freedom (DOF)

Lecture 1, AM Aly

18

Degree of freedom (DOF)

DOF = 3xN 2xPl Ph
N: number of moving links
Pll : number of lower pairs
Ph : number of higher pairs
OR
DOF = 3x(L -1) 2xPl Ph

Grbler's
equation

L: number of moving links

Lecture 1, AM Aly

19

Mobility
The mobility is the number of input parameters
(usually pair variables) that must be
independently controlled to bring the device into
a particular position.
The Kutzbach criterion, which is similar to
Gruebler's equation, calculates the mobility.
In order to control a mechanism, the number of
independent input motions must equal the
number of degrees of freedom of the
mechanism.
Lecture 1, AM Aly

20

Example

L=4
Pl = 4
Ph = 0
DOF = 3x(L -1) 2xPl Ph
DOF = 3x(4 -1) 2x4 0
=1
Lecture 1, AM Aly

21

Example

Lecture 1, AM Aly

22

Example

L = 5; Pl = 5; Ph = 1
DOF = 3x(5 -1) 2x5 1
=1
Lecture 1, AM Aly

23

Exercise

Lecture 1, AM Aly

24