RAJALAKSHMI ENGINEERING COLLEGE

DEPARTMENT OF MECHANICAL ENGINEERING

QUESTION PAPER

DATE:

UNIT TEST : II

MAXIMUM MARKS: 60

SUB CODE: ED 7202

DURATION : 90 Mins

SUB
NAME:
MCHANISMS
DESIGN AND SIMULATION

SEMESTER: II

SYLLABUS
ED 7202 MECHANISMS DESIGN AND SIMULATION

UNIT II KINEMATIC ANALYSIS

Position Analysis Vector loop equations for four bar, slider crank, inverted slider
crank, geared five bar and six bar linkages. Analytical methods for velocity and
acceleration Analysis four bar linkage jerk analysis. Plane complex mechanismsauxiliary point method. Spatial RSSR mechanism-Denavit-Hartenberg Parameters
Forward and inverse kinematics of robot manipulators.
UNIT III PATH CURVATURE THEORY, COUPLER CURVE
Fixed and moving centrodes, inflection points and inflection circle. Euler Savary
equation, graphical constructions cubic of stationary curvature. Four bar
coupler curve-cusp-crunode- coupler driven six-bar mechanisms-straight line
mechanisms.

RAJALAKSHMI ENGINEERING COLLEGE

DEPARTMENT OF MECHANICAL ENGINEERING
QUESTION PAPER

DATE:

UNIT TEST : II

MAXIMUM MARKS: 60

SUB CODE: ED 7202

DURATION : 90 Mins

SUB NAME: MCHANISMS DESIGN

AND SIMULATION

SEMESTER: II

ANSWER ALL QUESTIONS

PART A (3 x 2 = 6)
2.1 Write the vector loop equations?
2.2 What is meant by auxiliary point?
2.3 What is meant by position analysis?
PART- B (1 x 12 = 12)
2.4

Derive the vector loop equation for a four bar linkage.

PART A (9 x 2 = 18)

3.1 What
3.2 What
3.3 What
3.4 What
3.5 What
3.6 What
3.7 What
3.8 What
3.9 What

is meant by jerk
is meant by forward kinematics of robot manipulators
is meant by rubbing velocity?
is meant by inverse kinematics of robot manipulators?
are centrodes?
is meant by complex mechanism?
are the uniqueness of forward kinematics of robot solutions?
are the motives for acceleration analysis?
is robot manipulator?
PART- B (2 x 12 = 24)

3.10 In the toggle mechanism, as shown in Fig., the slider D is constrained to move on a
horizontal path. The crank OA is rotating in the counter-clockwise direction at a speed of 180
r.p.m. The dimensions of various links are as follows: OA = 180 mm; CB = 240 mm; AB =
360 mm; and BD = 540 mm. For the given configuration, use relative velocity method to
find:
1. Velocity of slider D,
2. Angular velocity of links AB, CB and BD;
3. Velocities of rubbing on the pins of diameter 30 mm at A and D, and
4. Torque applied to the crank OA, for a force of 2 kN at D.

3.11 What do you mean by Spatial RSSR Mechanism? Discuss in detail.

(Or)
3.12 Derive the Euler Savary Equation.

RAJALAKSHMI ENGINEERING COLLEGE

DEPARTMENT OF MECHANICAL ENGINEERING
QUESTION PAPER

DATE:

UNIT TEST : II

MAXIMUM MARKS: 60

SUB CODE: ED 7202

DURATION : 90 Mins

SUB NAME: MCHANISMS DESIGN

AND SIMULATION

SEMESTER: II

ANSWER ALL QUESTIONS

PART A (3 x 2 = 6)
2.1 What is meant by position analysis?
2.2
What are the expressions for radial and tangential component of
acceleration
2.3 Write the vector loop equations?
PART- B (1 x 12 = 12)
2.4 Find the linear velocities and linear accelerations of all the motion
transfer points and angular velocities and angular accelerations of links 3,
4, 5 and 6 for the following figure. In that figure AOA = 40 mm, AB = 50
mm, BC = 35 mm, BD = 45 mm, CD = 25 mm, CoC = 45 mm, DoD = 50
mm, AoCo = 60 mm. Angular velocity of link 2 is 2 rad/ sec.

PART A (9 x 2 = 18)
3.1 What
3.2 What
3.3 What
3.4 What
3.5 What
3.6 What
3.7 What
3.8 What
3.9 What

is meant by jerk
is meant by forward kinematics of robot manipulators
is meant by rubbing velocity?
is meant by inverse kinematics of robot manipulators?
are centrodes?
is meant by complex mechanism?
are the uniqueness of forward kinematics of robot solutions?
are the motives for acceleration analysis?
is robot manipulator?

PART- B (2 x 12 = 24)
3.10 Derive the Euler Savary Equation.

3.11 What do you mean by Spatial RSSR Mechanism? Discuss in detail.

(Or)
3.12 In the toggle mechanism, as shown in Fig., the slider D is constrained to move on a
horizontal path. The crank OA is rotating in the counter-clockwise direction at a speed of 180
r.p.m. The dimensions of various links are as follows: OA = 180 mm; CB = 240 mm; AB =
360 mm; and BD = 540 mm. For the given configuration, use relative velocity method to
find:
1. Velocity of slider D,
2. Angular velocity of links AB, CB and BD;
3. Velocities of rubbing on the pins of diameter 30 mm at A and D, and
4. Torque applied to the crank OA, for a force of 2 kN at D.