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Sheet 6

The document contains questions about kinematics of mechanisms and robots. It includes multiple choice and open ended questions about topics like linear and angular velocity, velocity ratio in mechanisms, and turning moments. It also contains diagrams of mechanisms and asks students to calculate velocities and forces based on given link dimensions and rotational speeds.

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Mahmoud salah
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42 views3 pages

Sheet 6

The document contains questions about kinematics of mechanisms and robots. It includes multiple choice and open ended questions about topics like linear and angular velocity, velocity ratio in mechanisms, and turning moments. It also contains diagrams of mechanisms and asks students to calculate velocities and forces based on given link dimensions and rotational speeds.

Uploaded by

Mahmoud salah
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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DME 151 Kinematics of Mechanisms & Robots

Sheet6

Q1. Choose the correct answer

1. The direction of linear velocity of any point on a link with respect to


another point on the same link is
(a) parallel to the link joining the points
(b) perpendicular to the link joining the points
(c) at 45° to the link joining the points
(d) none of these

2. The magnitude of linear velocity of a point B on a link A B relative to


point A is
(a) 𝜔. 𝐴𝐵
(b) 𝜔 (𝐴𝐵)2
(c) 𝜔2 . 𝐴 𝐵
(d) (𝜔. 𝐴𝐵)2
where ω = Angular velocity of the link A B.
3. The two links OA and OB are connected by a pin joint at O. If the link
OA turns with angular velocity ω1 rad/s in the clockwise direction and
the link OB turns with angular velocity ω2 rad/s in the anti-clockwise
direction, then the rubbing velocity at the pin joint O is
(a)𝜔1 . 𝜔2 . 𝑟
(b) (𝜔1 − 𝜔2 )𝑟
(c) (𝜔1 + 𝜔2 )𝑟
(d) (𝜔1 − 𝜔2 )2𝑟
where 𝑟 = Radius of the pin at O.
4. In the above question, if both the links OA and OB turn in clockwise
direction, then the rubbing velocity at the pin joint O is
(a)𝜔1 . 𝜔2 . 𝑟
(b) (𝜔1 − 𝜔2 )𝑟
(c) (𝜔1 + 𝜔2 )𝑟
(d) (𝜔1 − 𝜔2 )2𝑟

5. In a four bar mechanism, as shown in Figure, if a force 𝐹𝐴 is acting at


point A in the direction of its velocity 𝑣𝐴 and a force 𝐹𝐵 is transmitted
1
Dr. Rania Elbana
DME 151 Kinematics of Mechanisms & Robots

Sheet6

to the joint B in the direction of its velocity 𝑣𝐵 , then the ideal


mechanical advantage is equal to

(a) 𝐹𝐵 . 𝑣𝐴
(b) 𝐹𝐴 . 𝑣𝐵
𝐹𝐵
(c)
𝑣𝐵
𝐹𝐵
(d)
𝐹𝐴

Q2. Answer the following Questions

1. The dimensions of the various links of a pneumatic riveter, as shown


in Figure, are as follows:
𝑂𝐴 = 175 𝑚𝑚 ; 𝐴𝐵 = 180 𝑚𝑚 ; 𝐴𝐷 = 500 𝑚𝑚 ; 𝑎𝑛𝑑 𝐵𝐶 = 325 𝑚𝑚.
Find the velocity ratio between C and ram D when OB is vertical. What
will be the efficiency of the machine if a load of 2.5 kN on the piston C
causes a thrust of 4 kN at the ram D ?

2
Dr. Rania Elbana
DME 151 Kinematics of Mechanisms & Robots

Sheet6

2. The dimensions of the mechanism, as shown in Figure, are as follows:


𝐴𝐵 = 0.45 𝑚; 𝐵𝐷 = 1.5 𝑚 ∶ 𝐵𝐶 = 𝐶𝐸 = 0.9 𝑚.
The crank A B turns uniformly at 180 r.p.m. in the clockwise direction
and the blocks at D and E are working in frictionless guides.
Draw the velocity diagram for the mechanism and find the velocities of
the sliders D and E in their guides. Also determine the turning moment at
A if a force of 500 N acts on D in the direction of arrow X and a force of
750 N acts on E in the direction of arrow Y.

With best wishes

Dr. Rania Elbana

3
Dr. Rania Elbana

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