ADDIS ABABA UNIVERSITY

ADDIS ABABA INSTITUTE OF TECHNOLOGY

SCHOOL OF MECHANICAL AND INDUSTRIAL ENGINEERING

POST-GRADUATE STUDY
MECHANICAL DESIGN STREAM

MACHINE DYNAMICS
MINI-PROJECT

Tittle: - Determination of the Equation of Motion for Dual

Sided shaper machine using scotch Yoke Mechanism

By

Galana Abay ID No - GSR/9971/12

Submitted To: - Dr. Mulugeta H.

Submitted Date: -28/01/2020
Addis Ababa, Ethiopia
 DUAL SIDED SHAPER MACHINE

Acknowledgement
I gratefully acknowledge my instructor Mr.Mulugeta who have given to me this interesting project
in order to develop our skill on course objective to determine equation of motion of a mechanical
system and developing our program writing skill on a MATHLAB. Also I thanks of my classmates
for sharing their ideas and knowledge to me for the successful completion of my project.

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Abstract
Most of the industries are having various types of reciprocating machines for performing machine
operation on small size of work piece. Usually the onside shaper machine is conventional and
removes a material from one job only at forward stroke.so it takes more machining time to
complete the production. In order to overcome this problem a small dual shaper machine
operating by scotch yoke mechanism is developed for machining of two work piece at the same
time to reduce machining time and increase the production rate. Also it has less moving parts than
conventional shaper. For smooth operation of this machine it’s important to develop equation of
motion for the whole system. But most papers are done on mechanically designing the system for
strength rather than its kinematic analysis. This project focuses on solving of the kinematic
problems and the equation of motion was developed by both Newton Euler approach and Lagrange
approach for proper motion of the whole system and the result was simulated by MATHLAB code.

Keywords:- Scotch yoke mechanism, Newton Euler approach, Lagrange approach, Equation of
motion

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Table Contents
Acknowledgement ........................................................................................................................................ i
Abstract........................................................................................................................................................ ii
List of figures ............................................................................................................................................... v
1. Introduction ............................................................................................................................................. 1
1.1. Background ...................................................................................................................................... 1
1.2. Statement of problem ...................................................................................................................... 2
1.3. Objective of the project ................................................................................................................... 2
1.3.1 General objective........................................................................................................................ 2
1.3.2 Specific objective ........................................................................................................................ 2
2. Geometrical Modeling and Working Principle .................................................................................... 4
2.1 Geometrical model ............................................................................................................................ 4
2.2 Components of machines .................................................................................................................. 5
2.2.1 Frame .......................................................................................................................................... 5
2.2.2 Scotch yoke mechanism ............................................................................................................. 5
2.2.3 Shaft ............................................................................................................................................ 6
2.2.4 Plummer block ........................................................................................................................... 6
2.2.5 Cutting tool ................................................................................................................................. 7
2.3 Working Principle ............................................................................................................................. 7
3. Mathematical Modeling.......................................................................................................................... 8
3.1 Design specification ........................................................................................................................... 8
3.2 Kinematic representation of the system .......................................................................................... 9
3.3 Position analysis ................................................................................................................................ 9
3.3.1The position of yoke .................................................................................................................. 10
3.3.2 The linear position of the cutting tool .................................................................................... 10
3.3.3 Position analysis of the belt ..................................................................................................... 10
3.4 Velocity analysis .............................................................................................................................. 10
3.4.1 Velocity of yoke ........................................................................................................................ 10
3.4.2 Velocity of cutting tool ............................................................................................................. 11
3.4.3 Velocity of the belt.................................................................................................................... 11
3.5 Acceleration analysis ...................................................................................................................... 11
3.5.1 Acceleration of yoke ................................................................................................................. 11
3.5.2 Acceleration of cutting tool ..................................................................................................... 11

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3.5.3 Acceleration of the belt ............................................................................................................ 11

3.6 Newton Euler method formulation of equation of motion .......................................................... 11
3.7 Lagrange method formulation of equation of motion ................................................................. 15
4. Results and discussion .......................................................................................................................... 18
4.1 Result from MATLAB software .................................................................................................... 18
4.1.1 Simulation code for dual sided shaper machine by scotch yoke mechanism ...................... 18
4.1.2 Motion Analysis (Position, velocity and acceleration) .......................................................... 22
4.2 Discussions ....................................................................................................................................... 24
References .................................................................................................................................................. 25
Appendix .................................................................................................................................................... 26

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List of figures

Figure 1 Conventional one sided shaper machine......................................................................................... 1

Figure 2 Model of a machine by solid work ................................................................................................. 4
Figure 3 Scotch yoke mechanism ................................................................................................................. 6
Figure 4 Free body diagram of the machine at maximum and minimum position ....................................... 8
Figure 5 Position representation in 2D coordinate system............................................................................ 9
Figure 6 MATLAB simulation result picture ............................................................................................. 18
Figure 7 Result of simulation at an angle, maximum positive and negative x-respectively ..................... 19
Figure 8 Motion analysis of crank and cutting tool .................................................................................... 23

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CHAPTER ONE
1. Introduction
1.1. Background

A shaper is a type of machine tool that uses a linear relative motion between work piece and single
point cutting tool. Its cut is analogous to that of a lathe, except that it is linear instead of helical.
Samuel Bentham developed a shaper between 1971 and 1793.However Reo(1916) credits James
Nasmyth with the invention of the shaper in 1836 [5].The shaper where very common in industrial
production from mid 19 th century through the mid 20th. In this paper we will describes about dual
side shaper machine using a scotch yoke mechanism which can be used in industries for cutting
process. A Shaper is a machine used for shaping (metal removal) operation on the work piece [6].
A usual shaper machine operates by a principle of whitsworth quick return mechanism where
materials are processed at one end and other end remains idle. But in a dual side shaper machine,
materials are processed at both ends which become advantageous when compared to usual shaper.

Figure 1 Conventional one sided shaper machine

Nowadays, Industries try to achieve high production rate at a minimal amount of time, cost etc.
Usage of dual side shaper machine eliminates most disadvantages faced by a single side shaper.
The main advantage of dual side shaper is that it decreases time as well as production cost. Thereby
it increases productivity. Another advantage is that number of moving parts is less when compared
to usual machine. This model uses a single power source which can be connected to gears for
increasing or decreasing the speed of cut.

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Most papers are done mainly focusing for strength of the system rather than dynamical analysis
and less research are done on kinematic analysis.so this paper mainly targets on the kinematic
analysis to develop the equation of motion analytically form which position, velocity and
acceleration of points on system was determined and writing a math lab code.

1.2. Statement of problem

Shaper machine is an important machine tool available in almost all industries workshop. One
sided shaper machine is conventional in most industries and works by a quick return mechanism
to remove the material from one work piece only at a time and this reduces the production rate due
to the following reasons.

 It takes more production time as it works single work piece at a one time
 It has more number of moving parts which leads mechanical failure of the components due
to friction, wear and etc
 Difficulties of purchasing due to the machine cost is high.

To solve such problems I have designed dual sided shaper machine using scotch yoke mechanism
as nowadays, industries try to achieve high production rate at minimal amount of time, cost and
etc.

1.3. Objective of the project

The aim of this work to provide kinematically well-designed dual shaper machine with in less
moving components and increasing over production rates.

1.3.1 General objective

The project is intended to analyze governing equation of motion for dual sided shaper machine
operated by scotch yoke mechanism.

1.3.2 Specific objective

 To obtain the governing equation of motion for scotch yoke mechanism of dual shaper
machine by using Newtons Eulers and Lagrangian approach.
 To check the Newton’s Euler approach yields the same result with the Lagrangian
approach.

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 To mathematically and geometrically model the system and also 3D modeling of dual
shaper machine by SOLIDWORK.
 To write and simulate the motion scotch yoke mechanism using MATLAB programing
software.
 To obtain numerical solution for scotch yoke mechanism by using MATLAB
 To draw displacement, velocity and acceleration graph for the motion of scotch yoke
mechanism by MATLAB.

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CHAPTER TWO

2. Geometrical Modeling and Working Principle

2.1 Geometrical model
Dual sided shaper machine has different components to accomplish its objectives. Therefore,
the 3D model of the machine and its components are shown figure 1.2 below.

Figure 2 Model of a machine by solid work

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2.2 Components of machines

The components of dual sided shaper machine by scotch yoke mechanism are:-

 Frame
 Crank
 connecting rode
 slotted bar they create scotch yoke mechanism
 Yoke
 Shaft
 Plummer block
 Cutting tool
 Bolts and nuts
 Pulleys and v-belts
 Feed table

2.2.1 Frame
Frame is a rigid body that supports the entire mechanism.

2.2.2 Scotch yoke mechanism

Scotch Yoke Mechanism is a reciprocating mechanism that converts rotational motion to
reciprocating motion or vice-versa. It is also known as slotted link mechanism. This mechanism is
an inversion of double slider crankshaft. It can be used to either convert linear motion of slider to
rotational motion of crank or it can be used to convert the rotational motion of crank to linear
motion of a slider. Primarily mechanism is commonly used in control valve actuators in high-
pressure gas and oil pipelines. For shaping machine purpose this mechanism is used for
reciprocating of cutting tool and to accomplish the objective two connecting rod are welded to
slotted link.

This mechanism the following components:-

 Yoke: - which is sliding on the guide way to convert the rotation of the crank in to back
and forth motion of the eraser holding rod.

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 Crank: - used to converts rotational motion driven by human hand to the reciprocating
motion of guide ways by yoke attached by the rod.
 Slotted link: - used for sliding the yoke up and down.
 Connecting Rods: - translates the rotation of crank in to reciprocating motion and connects
cutting tool with slotted link.

Figure 3 Scotch yoke mechanism

Some advantages of scotch yoke mechanism

 Higher Torque Output

 Fewer Moving parts and hence a smoother operation.
 It can be used to perform various operations like cutting, slotting, etc.
 Process can be automated.
 Direct conversion of rotary motion into reciprocating motion.

2.2.3 Shaft
Shaft is a rotating machine element, which is used to transmit the torque. One end of the shaft is
connected to the larger pulley and other end of the shaft is welded to the Centre of the crank disc.

2.2.4 Plummer block

It is used for holding rotating shafts with help of bearing and other parts.

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2.2.5 Cutting tool

Cutting tool is a tool that is used to remove material from the work piece by means of shear
deformation. Cutting tool must be stronger than work piece. In shaper machine the cutting tool
moves in a direction normal to the work piece. Ex: High speed steel, carbon steel, carbides, etc.
The cutting tool material must have the properties such as high hardness and strength at high
temperature, good toughness and high tool life.

2.3 Working Principle

Dual sided shaper designed for cutting two flat work piece by a tool at one time. The operation of
machine is simplified to few simple operations involving a motor and tool head arrangement (i.e
pulley and belt).The smaller pulley is driven by a motor and by the use of V-belts the speed of the
motor is reduced and transmitted to the larger pulley. The larger pulley transmit the rotation to the
crank that rotates about its axis by increasing the speed at some extent, so the yoke slides inside
the slot of the slotted plate. As the crank rotates, the slotted bar reciprocates due to the sliding of
yoke (crank pin). The connecting rod attached with the slotted plate on both sides, reciprocates as
the crank rotates. The cutting tool is attached at the both sides of connecting rod, to carry out the
cutting operation and feed of work piece is given for feed table. Since the cutting tool is placed on
both sides, operation can be done at both the sides of the machine i.e. the return stroke at one end
is converted into cutting stroke at the other end, thereby it reduces the production time and
increases the Metal removal rate.

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CHAPTER THREE

3. Mathematical Modeling
3.1 Design specification
The length of cutting stroke the main important parameter for shaper machine. In dual sided shaper
machine using scotch yoke mechanism this length is mainly depend on the circumference of the
crank. Considering this facts the following specification are intended for our analysis.

Radius of the crank, 𝑟 = 300 𝑚𝑚

Length of cutting stroke,L= 2π𝑟/2 = π𝑟 ≅ 942𝑚𝑚

The height of cutting tool is, h=50𝑚𝑚

Total length from the center of the crank to the end edge of the cutting tool at maximum at
maximum extension of the connecting rod, 𝐿𝑡𝑜𝑡 = 1320 𝑚𝑚

Figure 4 Free body diagram of the machine at maximum and minimum position

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3.2 Kinematic representation of the system

Figure 5 Position representation in 2D coordinate system

3.3 Position analysis

The position of any point on a system can be represented by 2D Cartesian coordinate

system (x, y).The position of yoke pined to the crank at radial distance r can be
represented by point P. The linear position of the cutting tool is represented by 𝑥𝑄
and length of the belt from datum to larger pulley is represented by 𝑆𝑏 .

Therefore;

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3.3.1The position of yoke

𝑟𝑝 = 𝑥𝑝 𝑖 + 𝑦𝑝 𝑗 − − − − − − − − − − − − − − − − − − − − − − − − − − − [1]

Where, 𝑋𝑃 = 𝑟 cos 𝜃

𝑌𝑃 = 𝑟 sin 𝜃

𝑟𝑝 = 𝑟 cos 𝜃 𝑖 + 𝑟 sin 𝜃 𝑗 − − − − − − − − − − − − − − − − − − − − − − − − − − − [2]

3.3.2 The linear position of the cutting tool

𝑥𝑄 = 𝑟(cos 𝜃) + 𝑎 − − − − − − − − − − − − − − − − − − − − − − − − − −[3]

Where, 𝑎 is the length between link slot and cutting tool.

3.3.3 Position analysis of the belt

𝑙𝑏 = 2𝑆𝑏 + 𝑆1 + 𝑆2

𝑤ℎ𝑒𝑟𝑒, 𝑆1 =𝑟1 𝛽 and 𝑆2 =𝑟2 𝜃

𝑙𝑏 -total length of the belt

𝑆𝑏 -length of the belt between two pulleys

𝛽̇-the angular velocity smaller pulley

𝜃̇-the angular velocity of larger pulley and crank

𝑙𝑏 = 2𝑆𝑏 + 𝑟1 𝛽 + 𝑟2 𝜃 − − − − − − − − − − − − − − − − − − − − − − − − − −[4]

3.4 Velocity analysis

Velocity of a certain rigid body is obtained by the time derivative of its position.

𝑑𝑟
v=𝑑𝑡 , where v-velocity of certain rigid body and r-is a position vector

3.4.1 Velocity of yoke

Note:-velocity of the crank is equal to the velocity the yoke

𝑑𝑟𝑝
𝑣𝑝 = 𝑑𝑡 =−𝑟𝜃̇ sin 𝜃 𝑖 + 𝑟𝜃̇ cos 𝜃 𝑗 − − − − − − − − − − − − − − − − − − − − − − − − − −[5]

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Assuming there is no slip between the pulley and the belt, we can relate the angular velocity smaller
pulley 𝛽̇ and angular velocity of larger pulley 𝜃̇.

𝑟
𝛽̇=𝑟2 𝜃̇ − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − −[6]
1

The angular velocity of the larger pulley is equal with the angular velocity of the crank.

3.4.2 Velocity of cutting tool

𝑑𝑥 𝑑(𝑟𝑐𝑜𝑠𝜃+𝑎]
𝑣𝑄 = 𝑑𝑡𝑄 = = -r𝜃̇ sin 𝜃 𝑖 − − − − − − − − − − − − − − − − − − − − − [7]
𝑑𝑡

3.4.3 Velocity of the belt

Derivations of equation [4] with respect to time gives velocity of the belt , 𝑣𝑏
𝑟
From equation [6] , 𝛽̇ =𝑟2 𝜃̇
1

−1
𝑣𝑏 = (𝑟1 𝛽̇ + 𝑟2 𝜃̇) = −𝑟2 𝜃̇ − − − − − − − − − − − − − − − − − − − − − − − − − −[8]
2

3.5 Acceleration analysis

Acceleration of a certain body is determined by derivations its velocity with respect to time.( i.e
𝑑𝑣
𝑎= 𝑑𝑡
).

3.5.1 Acceleration of yoke

𝑑𝑣𝑝 2 2
𝑎𝑝 = =− (𝑟𝜃̈ sin 𝜃 + 𝑟𝜃̇ cos 𝜃) 𝑖 + (𝑟𝜃̈ cos 𝜃 − 𝑟𝜃̇ sin 𝜃) 𝑗 − − − − − − − − − − − −[9]
𝑑𝑡

3.5.2 Acceleration of cutting tool

𝑑𝑣𝑄 2
𝑎𝑄 = = −(𝑟𝜃̈ sin 𝜃 + 𝑟𝜃̇ cos 𝜃) 𝑖 − − − − − − − − − − − − − − − − − − − − − − − [10 ]
𝑑𝑡

3.5.3 Acceleration of the belt

𝑑𝑣𝑏
𝑎𝑏 = = −𝑟2 𝜃̈ − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − [11 ]
𝑑𝑡

3.6 Newton Euler method formulation of equation of motion

For rotational motion the work done equal to change in rotational kinetic energy [1]

Newton second law,

∑𝒏𝒊=𝟏 𝑭𝒊 =∑𝒏𝒊=𝟏 𝒎𝒊 𝒂𝒊 for linear motion

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∑𝒏𝒊=𝟏 𝝉𝒊 =∑𝒏𝒊=𝟏 𝑴𝒊 𝜶𝒊 for rotational motion

where, 𝑀𝑖 -Inertial moment

𝑎𝑖 -Angular acceleration for rotaion

T-total kinetic energy of the system

∑𝒏𝒊=𝟏 𝝉𝒊 -the resultant torque of the system and its zero for kinematic analysis

𝒏
̇ 𝑑𝑇
𝑴𝒊 𝜃 = = ∑ 𝝉𝒊 − − − − − − − − − − − − − − − − − [12 ]
𝑑𝑡
𝒊=𝟏

Since we need the kinematic analysis (motion without considering force causing the motion) it’s
possible to assume as no external forces and force due to weight is negligible. So the resultant
torque becomes zero. This minimize s equation [12]
𝒏
𝑑𝑇̇
= ∑ 𝝉𝒊 = 𝟎 − − − − − − − −[13 ]
𝑑𝑡
𝒊=𝟏

So it’s important to find the kinetic energy of the system. We can representation of the system is given
with following terms.

𝑚𝑝 =mass of yoke 𝑚𝑙 =mass of larger pulley

𝑚𝑄 =mass of cutting tool 𝑚𝑠 =mass of smaller pulley

𝑚𝑏 =mass of the belt 𝑚𝑐 =mass of connecting rode and yoke about its center of mass

𝑚𝑟 =mass of the crank

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Note:-Each mass (𝑚𝑖 ), velocity (𝑣𝑖 ) and acceleration ( 𝑎𝑖 ) is about the center of mass.

𝑣𝑙 =velocity of the larger pulley about its c.m=𝑟2 𝜃̇

𝑟2 2
𝑣𝑠 =velocity of smaller pulley at the c.m=𝑟1 𝛽̇=𝑟1 𝑟1
𝜃̇=𝑟2 𝜃̇

𝑣𝑐 =velocity of connected rode and slotted link welded together

about the c.m and its equal with velocity of cutting tool 𝑣𝑄 (i.e 𝑣𝑐 = 𝑣𝑄 ).

𝑣𝑟 =Velocity of the crank=velocity of yoke =−𝑟𝜃̇ sin 𝜃 𝑖 + 𝑟𝜃̇ cos 𝜃 𝑗 − − − − [14]

𝑌𝑝 = position yoke from datum (fixed point O) = L+𝑦𝑝 =L+ 𝑟 sin 𝜃

𝑌𝑄 = position cutting tool from datum (fixed point O) = L+𝑙1 = constant

𝑌𝑐 =position connecting rode and slotted link at c.m from datum (fixed point O)

=position cutting tool from datum (fixed point O), [i.e 𝑌𝑄 =𝑌𝑐 = L+𝑙1 = constant]
𝑌𝑙 = position larger pulley from datum (fixed point O)= position crank from datum, 𝑌𝑟 (fixed point O) [i.e
𝑌𝑙 =, 𝑌𝑟 =L]

1
𝐼𝑟, 𝐼𝑙 , 𝐼𝑠 =Axial inertia of the crank, large pulley and smaller pulley respectively= 𝑚𝑖 𝑟𝑖 2
3

1 1 𝑟2 2
T=∑𝑛 2 𝑛 ̇2
𝑖=1 𝑚𝑖 𝑣𝑖 + ∑𝑖=1 𝐼𝑖 𝜃 + 𝐼𝑠 ( ) 𝜃̇ 2 =− − − − − − − − − − − − − − − − − − [15]
2 2 𝑟1 2

Before determining the kinetic energy it’s better to write the square of velocities to reduce
complexity.

Velocity of the yoke

From equation [5]

2 2 2
𝑣𝑝 2 = (−𝑟𝜃̇ sin 𝜃 𝑖 + 𝑟𝜃̇ cos 𝜃 𝑗)2 = 𝑟2 𝜃̇ 𝑠𝑖𝑛2 𝜃 + 𝑟2 𝜃̇ 𝑐𝑜𝑠2 𝜃 = 𝑟2 𝜃̇ − − − − − − − − − −[16]

Velocity of cutting tool

From equation [7]

𝑣𝑄 2 =𝑟 2 𝜃̇ 2 𝑠𝑖𝑛2 𝜃 − − − − − − − − − − − − − − − − − − − − − − − − − − − − − −[17]

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Velocity of the belt

From equation [8]

𝑣𝑏 2 = 𝑟2 2 𝜃̇ 2 − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − [18]

Velocity of the remaining body about their c.m

From equation [14]

𝑣𝑙 2 = 𝑟2 2 𝜃̇ 2

𝑣𝑠 2 = 𝑟2 2 𝜃̇ 2 − − − − − − − − − − − − − − − − − − − − − − − [19]

𝑣𝑐 2 =𝑟 2 𝜃̇ 2 𝑠𝑖𝑛2 𝜃

𝑣𝑟 2 =𝑟 2 𝜃̇ 2

Now it is easy to calculate kinetic.

Using equation [15]

2 2
1 2 1 2 1 𝑟 1 2 1 2 1 2 1 2 1 2
T=2 𝐼𝑟 𝜃̇ + 2 𝐼𝑙 𝜃̇ + 2 𝐼𝑠 (𝑟2 2 ) 𝜃̇ 𝑚𝑝 𝑟2 𝜃̇ + 𝑚𝑄 𝑟2 𝜃̇ 𝑠𝑖𝑛2 𝜃 + 2 𝑚𝑏 𝑟2 2 𝜃̇ + 2 𝑚𝑙 𝑟2 2 𝜃̇ + 2 𝑚𝑠 𝑟2 2 𝜃̇
1 2 2
1 2 ̇2 1 2
+ 𝑚𝑐 𝑟 𝜃 𝑠𝑖𝑛2 𝜃 + 𝑚𝑟 𝑟2 𝜃̇ , by neglecting the inertial effect of the belt
2 2

1 𝑟 2
T= 2 𝜃̇ 2 [𝐼𝑟 + 𝐼𝑙 + 𝐼𝑠 (𝑟2 2 ) + (𝑚𝑏 + 𝑚𝑙 + 𝑚𝑠 ) 𝑟2 2 + (𝑚𝑝 + 𝑚𝑟 )𝑟 2 + (𝑚𝑄 + 𝑚𝑐 )𝑟 2 𝑠𝑖𝑛2 𝜃] − − −
1

− − − − − − −[20]
Now derivate it with respect to time.

𝑑𝑇
𝑑𝑡
= [(𝑚𝑏 + 𝑚𝑙 + 𝑚𝑠 ) 𝑟2 2 + (𝑚𝑝 + 𝑚𝑟 )𝑟 2 + (𝑚𝑄 + 𝑚𝑐 )𝑟 2 𝑠𝑖𝑛2 𝜃]𝜃̈ + [(𝑚𝑄 +

𝑚𝑐 )𝑟 2 sin 𝜃 cos 𝜃]𝜃̇ 2

Then equation [13] can be written as

𝑟 2
[𝐼𝑟 + 𝐼𝑙 + 𝐼𝑠 (𝑟2 2 ) + (𝑚𝑏 + 𝑚𝑙 + 𝑚𝑠 ) 𝑟2 2 + (𝑚𝑝 + 𝑚𝑟 )𝑟 2 + (𝑚𝑄 + 𝑚𝑐 )𝑟 2 𝑠𝑖𝑛2 𝜃] 𝜃̈
1

+ [(𝑚𝑄 + 𝑚𝑐 )𝑟 2 sin 𝜃 cos 𝜃]𝜃̇ 2 = 0

𝑟 2
[𝐼𝑟 + 𝐼𝑙 + 𝐼𝑠 (𝑟2 2 ) + (𝑚𝑏 + 𝑚𝑙 + 𝑚𝑠 ) 𝑟2 2 + (𝑚𝑝 + 𝑚𝑟 )𝑟 2 + (𝑚𝑄 + 𝑚𝑐 )𝑟 2 𝑠𝑖𝑛2 𝜃] 𝜃̈
1
1
+ [ (𝑚𝑄 + 𝑚𝑐 )𝑟 2 sin 2𝜃] 𝜃̇ 2 = 0 − − − − − −[21]
2
Machinemotion
Dynamics 14
governing equation for Mini Project 2020
the system
 DUAL SIDED SHAPER MACHINE

This equation of motion of a system is without considering acceleration due to gravity (or
because of effect of weight is neglected), assuming no slip between the pulleys and the belt and
friction between the connecting rod and its supports are small and negligible. The equation is a
second order ordinary differential equation of form a𝑥̈ +b𝑥̇ =0

If we consider the only mass of crank, yoke, connecting rode and cutting tool and neglecting the
remaining masses we can get the equation of motion for scotch yoke mechanism rather than
the system.

1
[𝐼𝑟 + (𝑚𝑝 + 𝑚𝑟 )𝑟 2 + (𝑚𝑄 + 𝑚𝑐 )𝑟 2 𝑠𝑖𝑛2 𝜃]𝜃̈ + [ (𝑚𝑄 + 𝑚𝑐 )𝑟 2 sin 2𝜃] 𝜃̇ 2 =0− − −[22]
2

3.7 Lagrange method formulation of equation of motion

We can describe the motion of the whole system by generalized independent coordinate 𝜃 and
apply Lagrange approach for determining governing equation of motion.

Assumptions:-

 There is no slip between the pulleys and the belt.

 Friction between the connecting rod and its supports are small and negligible.
 No external force on the system and force due to weight is negligible. Do to this the
resultant torque can be neglected.
 The system is conservative.
 The potential energy of the belt is small and negligible.
 Neglect inertial effect of the belt

L=T-V − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − [23]

1 1 𝑟 2
Where, T= =∑𝑛𝑖=1 2 𝑚𝑖 𝑣𝑖 2 + ∑𝑛𝑖=1 2 𝐼𝑖 𝜃̇ 2 + 𝐼𝑠 (𝑟2 2 ) 𝜃̇ 2 = kinetic energy of the system
1

V=∑𝑛𝑖=1 𝑚𝑖 𝑔𝑦𝑖 = Potential energy of the system

V=∑𝑛𝑖=1 𝑚𝑖 𝑔𝑦𝑖 =𝑚𝑝 𝑔𝑌𝑝 + 𝑚𝑄 𝑔𝑌𝑄 + 𝑚𝑙 𝑔𝑌𝑙 + 𝑚𝑐 𝑔𝑌𝑐 + 𝑚𝑟 𝑔𝑌𝑟 − − − − − − − − − − − − − − [24]

𝑑 𝜕𝐿 𝜕𝐿
( )− = 0 − − − − − − − − − − − − − − − − − − − − − − − − − − − −[25]
𝑑𝑡 𝜕𝑞̇ 𝜕𝑞

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From equation [14] and [24]

V=𝑚𝑝 𝑔(L + 𝑟 sin 𝜃) + 𝑚𝑄 𝑔(L + 𝑙1 ) + 𝑚𝑙 𝑔 L + 𝑚𝑐 𝑔(L + 𝑙1 ) + 𝑚𝑟 𝑔 L

V=(𝑚𝑝 + 𝑚𝑄 + 𝑚𝑙 + 𝑚𝑐 + 𝑚𝑟 )𝑔𝐿 + (𝑚𝑄 + 𝑚𝑐 )𝑔𝑙1 + 𝑚𝑝 𝑔 𝑟 sin 𝜃 − − − − − − − − − −[26]

Substitute equation [24] and [25] in to equation [16] results Lagrangian equation as given below.
1 𝑟 2
L= 2 𝜃̇ 2 [𝐼𝑟 + 𝐼𝑙 + 𝐼𝑠 (𝑟22) + (𝑚𝑏 + 𝑚𝑙 + 𝑚𝑠 ) 𝑟2 2 + (𝑚𝑝 + 𝑚𝑟 )𝑟 2 + (𝑚𝑄 + 𝑚𝑐 )𝑟 2 𝑠𝑖𝑛2 𝜃]-
1

[(𝑚𝑝 + 𝑚𝑄 + 𝑚𝑙 + 𝑚𝑐 + 𝑚𝑟 )𝑔𝐿 + (𝑚𝑄 + 𝑚𝑐 )𝑔𝑙1 + 𝑚𝑝 𝑔 𝑟 sin 𝜃] − − − − − − − − − −[27]

We can define the motion of the whole system by independent generalized coordinate 𝜃

Equation of motion ( 𝒇𝒐𝒓 𝜽)

From equation [25],

𝑑 𝜕𝐿 𝜕𝐿
( )− =0
𝑑𝑡 𝜕𝑞̇ 𝜕𝑞

𝜕𝐿
= (𝑚𝑄 + 𝑚𝑐 )𝜃̇ 2 𝑟 2 sin 𝜃 cos 𝜃 − 𝑚𝑝 𝑔 𝑟 cos 𝜃 − − − − − − − − − − − − − − − [28]
𝜕𝜃

𝜕𝐿 𝑟2 2
̇
= 𝜃 [𝐼𝑟 + 𝐼𝑙 + 𝐼𝑠 ( 2 ) + (𝑚𝑏 + 𝑚𝑙 + 𝑚𝑠 ) 𝑟2 2 + (𝑚𝑝 + 𝑚𝑟 )𝑟 2 + (𝑚𝑄 + 𝑚𝑐 )𝑟 2 𝑠𝑖𝑛2 𝜃] − −[29]
𝜕𝜃̇ 𝑟1

𝑑 𝜕𝐿 𝑟2 2
( ) = 𝜃̈ [𝐼𝑟 + 𝐼𝑙 + 𝐼𝑠 ( 2 ) + (𝑚𝑏 + 𝑚𝑙 + 𝑚𝑠 ) 𝑟2 2 + (𝑚𝑝 + 𝑚𝑟 )𝑟2 + (𝑚𝑄 + 𝑚𝑐 )𝑟2 𝑠𝑖𝑛2 𝜃]
𝑑𝑡 𝜕 𝜃̇ 𝑟1
2
+ 2(𝑚𝑄 + 𝑚𝑐 )𝜃̇ 𝑟2 sin 𝜃 cos 𝜃 − − − − − [30]

𝑟 2
[𝐼𝑟 + 𝐼𝑙 + 𝐼𝑠 (𝑟2 2 ) + (𝑚𝑏 + 𝑚𝑙 + 𝑚𝑠 ) 𝑟2 2 + (𝑚𝑝 + 𝑚𝑟 )𝑟 2 + (𝑚𝑄 + 𝑚𝑐 )𝑟 2 𝑠𝑖𝑛2 𝜃] 𝜃̈
1

+ [ (𝑚𝑄 + 𝑚𝑐 )𝑟 2 sin 𝜃 cos 𝜃]𝜃̇ 2 + 𝑚𝑝 𝑔 𝑟 cos 𝜃 = 0

2
Using equation 𝑟 [16] subtract equation [24] from [26]
[𝐼𝑟 + 𝐼𝑙 + 𝐼𝑠 (𝑟2 2 ) + (𝑚𝑏 + 𝑚𝑙 + 𝑚𝑠 ) 𝑟2 2 + (𝑚𝑝 + 𝑚𝑟 )𝑟 2 + (𝑚𝑄 + 𝑚𝑐 )𝑟 2 𝑠𝑖𝑛2 𝜃] 𝜃̈
1

1
+ [ (𝑚𝑄 + 𝑚𝑐 )𝑟 2 sin 2𝜃] 𝜃̇ 2 + 𝑚𝑝 𝑔 𝑟 cos 𝜃 = 0 − − − − − − − − − − − − − −[31]
2

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This equation is a second order ordinary differential equation of form a𝑥̈ +b𝑥̇ + 𝑥 =0 that is the
governing equation of motion for the system of the machines.

If we consider the only mass of crank, yoke, connecting rode and cutting tool and neglecting the
remaining masses we can get the equation of motion for scotch yoke mechanism rather than
the system.

[𝐼𝑟 + (𝑚𝑝 + 𝑚𝑟 )𝑟 2 + (𝑚𝑄 + 𝑚𝑐 )𝑟 2 𝑠𝑖𝑛2 𝜃]𝜃̈ + [(𝑚𝑄 + 𝑚𝑐 )𝑟 2 sin 𝜃 cos 𝜃]𝜃̇ 2 + 𝑚𝑝 𝑔 𝑟 cos 𝜃 = 0

1
[𝐼𝑟 + (𝑚𝑝 + 𝑚𝑟 )𝑟 2 + (𝑚𝑄 + 𝑚𝑐 )𝑟 2 𝑠𝑖𝑛2 𝜃]𝜃̈ + [ (𝑚𝑄 + 𝑚𝑐 )𝑟 2 sin 2𝜃] 𝜃̇ 2 + 𝑚𝑝 𝑔 𝑟 cos 𝜃 = 0 −
2

− − − − − − − − − − − − − − − − − − [32]

If we neglect the gravitational effect (potential energy) the Lagrangian equation motion of
equation [31 and 32] is the same as Newton Euler equation of equation [21 and 22].

Generally, Newton Euler and Lagrange approaches gives the same results of governing equation
of motion.

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CHAPTER FOUR

4. Results and discussion

4.1 Result from MATLAB software
4.1.1 Simulation code for dual sided shaper machine by scotch yoke
mechanism
a. MATLAB Simulation result
The simulation of the system done based on the design specification stated in
chapter three. The matlab simulated result are shown in figure below

Figure 6 MATLAB simulation result picture

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Figure 7 Result of simulation at an angle, maximum positive and negative x-respectively

The point p and Q represent the position of yoke and cutting tool and also the length “a” and “la”
are equal and represent the length of connecting rod in positive and negative x-axis .The
remaining points shown in figure are selected to define distance for simulation and their
descriptions are written in the matlab code shown below.

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b. MATLAB code which simulates the motion: -

%%% MACHINE DYANMICS MINI PROJECT ON DUAL SIDED SHAPER MACHINE BY SCOTCH YOKE
MECHANISM
%%% TITTLE: - Determination of Equation of motion for Dual sided shaper
machine by using scotch yoke
%%% mechanism
%%% Name:-GALANA ABAY ID NO GSR/9971/12
% Matlab simulation result BY MATLAB R2018a
% all dimension given below are in millimeter(mm)
r=300; % the radius of crank its dimension is by mm
a=1000; % the length of connecting rod holding a cutting tool in positive x-
axis
la=-1000;% the length of connecting rod holding a cutting tool in negative x-
axis
ls=942; % the length of slot in which the yoke slides through it
h=50; % the height of cutting tool
lt=1320; % the total length of the mechanism from crank center to end of
cutting tool
O=[0 0];% the position of point O or the origin crank
for teta=0:0.3:20.5*pi % the rotation of crank with 0.3 value gap to 20.5*pi
Xp=r*cos(teta); % x coordinate of point p
Yp=r*sin(teta); % Y coordinate of point p
p=[r*cos(teta) r*sin(teta)]; % x-y coordinate of point p
% The distance from the end of cutting tool to the minimum reciprocating
distance
N=lt-r*cos(teta);
R=r*sin(teta);
X=[O(1) Xp];
Q=[O(1) Xp];
Y=[O(2) Yp];
T=[O(2) Yp];
% Ploting the line of crank by making the size of line 3 with color of black
including points
plot(X,Y,'-ko','LineWidth',3,'MarkerEdgeColor','k','MarkerSize',2)
% ploting the line of crank making the size of line 3 with color of black
including points
plot(Q,T,'-co','LineWidth',3,'MarkerEdgeColor','k','MarkerSize',2)
% waiting till to plot any other lines or not to cancel the plot before
hold on
% The line of the crank in which it rotates
B_traj=viscircles([0 0],r,'linestyle','--');
% ploting the line of connecting rod making the size of line 3
plot(X,Y,'-bs','LineWidth',3,'MarkerEdgeColor','g', 'MarkerSize',5)
%ploting the line of connecting rode making the size of line 3
plot(Q,T,'-cs','LineWidth',3,'MarkerEdgeColor','g', 'MarkerSize',5)
XE=lt-N;
QE=lt-N;
YE=ls/3;
TE=ls/3;
XF=lt-N;
QF=lt-N;
YF=-ls/3;
TF=-ls/3;

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X=[QE QF];
Y=[TE TF];
% ploting the line of slot link in which the yoke slides by making the size
of line 3
plot(X,Y,'-ms','LineWidth',3,'MarkerEdgeColor','b', 'MarkerSize',2)
% ploting the line of slot link in which the yoke slides making the size
of line 3
plot(Q,T,'-ms','LineWidth',3,'MarkerEdgeColor','b', 'MarkerSize',2)
XD=lt-N;
QD=lt-N;
YD=0;
TD=0;
XG=lt+a-N;
QG=lt+la-N;
YG=0;
TG=0;
X=[XD XG];
Q=[QD QG];
Y=[YD YG];
T=[TD TG];
% ploting the line of cutting tool hold rode by making the size of line 3
plot(X,Y,'-bo','LineWidth',3,'MarkerEdgeColor','y', 'MarkerSize',2)
% ploting the line of cutting tool hold rode making the size of line 3
plot(Q,T,'-bo','LineWidth',3,'MarkerEdgeColor','y', 'MarkerSize',2)
H=[lt+a-N h/2];
V=[lt+la-N h/2];
J=[lt+a-N -h/2];
U=[lt+la-N -h/2];
X=[H(1) J(1)];
Q=[V(1) U(1)];
Y=[H(2) J(2)];
T=[V(2) U(2)];
% plotting the line of cutting tool rode by making the size of line 3
plot(X,Y,'-ks','LineWidth',3,'MarkerEdgeColor','r', 'MarkerSize',2)
% plotting the line of cutting tool rode making the size of line 3
plot(Q,T,'-ks','LineWidth',3,'MarkerEdgeColor','r', 'MarkerSize',2)
X=[lt-1200 lt-1000];% the
Q=[lt-1200 lt-1000];
Y=[30 30];
T=[30 30];
plot(X,Y,Q,T)
X=[lt-1200 lt-1000];
Q=[lt-1200 lt-1000];
Y=[-30 -30];
T=[-30 -30];
% The dimension of the window in which the simulation plot
axis([-2000 3000 -2000 2000])
grid on
hold off
pause(0.005)
end

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4.1.2 Motion Analysis (Position, velocity and acceleration)

As we have seen simulation code above all links and points are from crank to cutting tool are
programed and coded to have relative motion specifically to do shaping operation. The following
MATLAB code written below shows the position, velocity and acceleration of selected points for
crank (point p) and cutting tool (point Q).

%MATLAB CODE FOR MOTION ANALYSIS CODED BY MATLAB R2018a

% The program intended to show the position, velocity and acceleration of the
crank and cutting tool.
% All dimensions are in mm
% Note:-All representation of symbols are written in simulation code
r=300;
a=1000;
ls=942;
h=50;
lt=1320;
teta=linspace(0,2*pi,50);
t=0:0.03:10;
teta=2*pi*t/3;
omega=2*pi/3;
ang_teta=omega./t;
% Position of crank P which is only under rotation.
Xp=r*cos(teta);
Yp=r*sin(teta);
r_p=sqrt(Xp.^2+Yp.^2);
% Position of cutting tool Q which is under translation only.
XQ=r*cos(teta)+a;
YQ=0;
r_Q=sqrt(XQ.^2+YQ.^2);
% The resultant velocity equation of crank p
Vp_x=-r*omega.*sin(teta);
Vp_y=r*omega.*cos(teta);
velo=sqrt(Vp_x.^2+Vp_y.^2);
Vp=sqrt((-r*omega.*sin(teta)).^2+(r*omega.*cos(teta)).^2);
%The resultant velocity equation of cutting tool Q
VQ_x=-r*omega.*sin(teta);
VQ_y=0;
velo2=sqrt(VQ_x.^2+VQ_y.^2);
VQ=sqrt((-r*omega.*sin(teta)).^2+0);
%%%% The resultant acceleratioin equation of crank
ap_x=-r.*ang_teta.*sin(teta)-r.*omega.^2.*cos(teta);
ap_y=r.*ang_teta.*cos(teta)-r.*omega.^2.*sin(teta);
acc=sqrt(ap_x.^2+ap_y.^2);
ap=sqrt((-r.*ang_teta.*sin(teta)-
r.*omega.^2.*cos(teta)).^2+(r.*ang_teta.*cos(teta)-
r.*omega.^2.*sin(teta)).^2);
% the resultant acceleration equation of cutting tool Q
aQ_x=-r.*(ang_teta.*sin(teta)+omega.^2.*cos(teta));
aQ_y=0;
acc2=sqrt(aQ_x.^2+aQ_y.^2);
aQ=sqrt((-r.*(ang_teta.*sin(teta)+omega.^2.*cos(teta))).^2+0);
plot(t,r_p,t,r_Q,t,Vp,t,VQ,t,ap,t,aQ)

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title('Graphical Representation for Motion of crank and cutting

tool','FontSize',12)
legend('Position of crank or rp','Position of cutting tool or xQ','Velocity
of crank or Vp','Velocity of cutting tool or VQ','Acceleration of crank or
ap','Acceleration of cutting tool or aQ')
xlabel('time(s)')
ylabel('motion in (mm,mm/s,mm/s^2)')
xlim([0 10])
ylim([-1 2000])

Figure 8 Motion analysis of crank and cutting tool

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4.2 Discussions
The MATLAB software shows the motions of all points which represents the output results from the
machines. MATLAB simulation is held by the software with the corresponding result of position, velocity
and acceleration of the yoke in which the connecting rode assembled and the rotational and translational
motion of yoke is resulting the translational motion (resprocating motion) of cutting tool attached to end of
a connecting rode at both side of slotted link for shaping two work piece at one time. This all results are
much with manual expected results from the motion of each point on a body.

As we see from the graph the postion of cutting tool generates sinusodial with the time having amplitude
eqaul to length of cutting stroke also its velocity is a cosine function. The results picture are cyclic as well
as consistence throughout the rotation of the system and it much with the real calculations manually for
instance the position of crank and the point p is constant what if the rotation of the crank. And also, its
velocity is cyclic which repeats itself after one revolution rotation.In general the the results of equation
motion obtained from lagrange and Newton Euler are simulated by writing MATLAB code.

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References
[1] Design of Scotch yoke mechanisms with improved driving dynamics Aakelian- Libaron
mkrtchan ,2015, https://www.researchgate.net/publication/284175995
[2] Martin GH. Kinematics and dynamics of machines, united States: Waveland Press, 2002.
[3] Advanced Dynamics, Donald T. Greenwood, first edition, 2003
[4] A Dual Side Shaping Machine for Industrial Applications, International Journal of Modern
Studies in Mechanical Engineering (IJMSME) Volume 3, Issue 3, 2017, PP 40-48
[5] Design and Analysis of Dual Side Shaper ,Using Scotch Yoke Mechanism ,International
Journal of Innovative Research in Science, Engineering and Technology Vol. 6, Issue 7, July 2017
[6] Fabrication and usage of multipurpose mechanical machine using scotch yoke mechanism, R
Saravanakumar et al 2018 IOP Conf. Ser.: Mater. Sci. Eng. 402 012188
[7] Lei Pang, Analytical modeling and simulation of metal cutting forces for engineering alloys,
University of Ontario Institute of Technology April 2012 ©, 2012

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Appendix
Assembly of dual sided shaper machine by scotch yoke mechanism by using
SOLIDWORK

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Front, side and top view of the machines

FRONT SIDE

TOP

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MATLAB Motion Analysis and Simulation

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