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MECH 343 - Lecture 3

The document is a lecture on the Theory of Machines, focusing on the properties of motion, including concepts such as linear and angular displacement, velocity, acceleration, and various types of mechanisms. It covers dynamics, methods of transmitting motion, and classifications of mechanisms like linkages, quick-return mechanisms, and universal joints. The lecture also discusses simple harmonic motion and the principles of absolute and relative motion.

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Francois Tardy
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12 views61 pages

MECH 343 - Lecture 3

The document is a lecture on the Theory of Machines, focusing on the properties of motion, including concepts such as linear and angular displacement, velocity, acceleration, and various types of mechanisms. It covers dynamics, methods of transmitting motion, and classifications of mechanisms like linkages, quick-return mechanisms, and universal joints. The lecture also discusses simple harmonic motion and the principles of absolute and relative motion.

Uploaded by

Francois Tardy
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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MECH 343 – Theory of

Machines

François Tardy
Credits: 3.5

Lecture 3
MECH 343
CHAPTER 3

PROPERTIES OF MOTION
Third Lecture Content
• Line of Transmission
• Position
• Velocity and Acceleration of a Point
• Linkages
• Classification of mechanisms
Dynamics
Linear displacement of
a point.
Displacement of a point is
the change of its position
and is a vector quantity.
∆𝑠 = ∆𝑥 ↛ ∆𝑦
∆𝑠 = ∆𝑥 2 + ∆𝑦 2
Dynamics
Linear Velocity
Time rate of change
of linear
displacement.
∆𝑠 𝑑𝑠
𝑉= =
∆𝑡 𝑑𝑡
Dynamics
Angular Displacement and
Velocity
The average angular velocity is:
Δ𝜃 𝑑𝜃
𝜔𝑎𝑣 = =
Δ𝑡 𝑑𝑡
Substituting,
𝑉 = 𝑅𝜔
Since
𝜔 = 2𝜋𝑅𝑛
Where n = revolutions per unit of
time. For Figure 2-3:
𝑉𝐴 𝑅𝐴
=
𝑉𝐵 𝑅𝐵
Dynamics
Linear and Angular Acceleration
Linear aceleration is the time rate of change of linear
velocity.
Δ𝑉 𝑑𝑉
𝐴= =
Δ𝑡 𝑑𝑡
Subsituting V,
𝑑2 𝑠
𝐴= 2
𝑑𝑡
Dynamics
Linear and Angular Acceleration
If V0 is initial velocity, 𝑉 = 𝑉0 + 𝐴𝑡
Constant velocity: 𝑠 = 𝑉𝑡
1
Uniform acceleration: 𝑠= 𝑉0 + 𝑉 𝑡
2
1
Substituting: 𝑠 = 𝑉0 𝑡 + 𝐴𝑡 2
2

Subsituting: 𝑉 2 = 𝑉0 2 + 2𝐴𝑠
Dynamics
Linear and Angular Acceleration
Δ𝜔 𝑑𝜔 𝑑2 𝜔
Angular Acceleration: 𝛼= = =
Δ𝑡 𝑑𝑡 𝑑𝑡 2

If 0 is initial angular velocity, 𝜔 = 𝜔0 + 𝛼𝑡


Constant velocity: 𝜃 = 𝜔𝑡
1
Uniform acceleration: 𝜃= 𝜔0 + 𝜔 𝑡
2
1
Substituting: 𝜃 = 𝜔0 𝑡 + 𝛼𝑡 2
2

Subsituting: 𝜔2 = 𝜔0 2 + 2𝛼𝜃
Dynamics
Normal and Tangential
Acceleration
The tangential accelartion of the
point when at position B is the
time rate of change of the
magnitude of its linear velocity.
𝑑𝑉 𝑡
𝐴𝑡 =
𝑑𝑡
Substituting V,

𝑡
𝑑𝜔
𝐴 =𝑅
𝑑𝑡
Dynamics
Normal and Tangential
Acceleration
𝑑𝑉 𝑛
𝐴𝑛 =
𝑑𝑡
Substituting,
𝑉 2
𝐴𝑛 = 𝑉𝜔 = 𝑅𝜔2 =
𝑅
The total linear acceleration of a
moving point is therefore:
𝐴= 𝐴𝑛 2 + 𝐴𝑡 2

And the direction is:


𝐴 𝑡
𝜙 = tan−1 𝑛
𝐴
Dynamics
Simple Harmonic Motion
Occurs if its acceleration is proportional
to the displacement of a particle from a
fixed point and is the opposite sign.
𝐴 = −𝐾𝑥
Where A = acceleration
x= displacement
K= constant
Often represented by the projection
upon a diameter of a point moving on a
circle.
Dynamics
Simple Harmonic Motion
The displacement, velocity and
acceleration of point B are:
𝑥 = 𝑅 cos 𝜔𝑡
𝑑𝑥
𝑉= = −𝑅𝜔 sin 𝜔𝑡
𝑑𝑡
𝑑2 𝑥
𝐴 = 2 = −𝑅𝜔2 cos 𝜔𝑡
𝑑𝑡
Dynamics
Simple Harmonic Motion
A plot of these equations is in Figure 2-8. An example is the
mechanism in figure 2-9.
Dynamics
Absolute Motion:

• The motion of a body in relation to some other body which is at rest.

• For convenience purposes, we usually consider it to be the ground,


but that is not factually correct.

Relative Motion:

• A body has motion relative to another body only if there is a difference


in their absolute motions.

• The displacement of body M relative to body N is the absolute


displacement of M minus the absolute displacement of N.
Dynamics
Relative Motion
In this example:
𝑉𝐴/𝐵 = 𝑉𝐴 → 𝑉𝐵
𝑉𝐵/𝐴 = 𝑉𝐵 → 𝑉𝐴

Reorganising,
𝑉𝐵 = 𝑉𝐴 ↛ 𝑉𝐵/𝐴

For angular
velocity,
𝜃3/2 = 𝜃3 − 𝜃2
𝜔3/2 = 𝜔3 − 𝜔2
𝛼3/2 = 𝛼3 − 𝛼2
Dynamics
Methods of Transmitting Motion
In these examples,
Link 2 is the driver.
Link 3 is the coupler.
Link 4 is the follower.
Figure 2-16: Direct contact mechanism.
Dynamics
Line of Transmission
Dynamics
Angular-Velocity With a lot of substitution,
Ratio 𝜔2 𝑂4 𝑄
𝜔2 = =
The angular 𝜔4 𝑂2 𝑄
velocities of links 2
and 4 are:
𝑉 𝑃2 𝐸
𝜔2 = = ,
𝑅 𝑂2 𝑃2
𝑉 𝑃4 𝐹
𝜔4 = =
𝑅 𝑂4 𝑃4
Dynamics
Angular-Velocity
Ratio
𝜔2 𝑅4
=
𝜔4 𝑅2
Dynamics
Constant Angular-Velocity Ratio
For the angular velocity ratio to remain constant, the line of
transmission must intersect the line of centers at a fixed point.
This type of constant ratio can be fulfilled by a belt drive. For four-
bar linkages, cranks must be of equal length and the coupler must
be equal to length O2O4.
Dynamics
Sliding Contact
Since these components of velocity
along the tangent are not equal in
magnitude and direction, bodies 2
and 4 have relative motion in this
direction. That difference is the
sliding velocity, VS.

𝑉𝑆 = 𝑃2 𝐿 → 𝑃4 𝑀

𝑉𝑆 = 𝑃2 𝐿 ↛ −𝑃4 𝑀
Dynamics
Rolling Contact
Exists only if there is no sliding.
For rolling contact, the linear
velocities of the bodies at their
point of contact must be
identical, which requires that this
point lie on the line of centers.
Dynamics
Positive Drive
Exists in a direct-contact
mechanism if motion of the
driving link compels the
follower to move.
In Fig. 2-24, link 2 is the
driver and is rotating
counterclockwise. The force
exerted on will be on a
common normal through
contact P. Torque arm O4H
about pivot O will make link 4
rotate clockwise.
Dynamics
Positive Drive
Figure 2-25: no torque
arm, no positive drive.
Dead Centre.

Figure 2-26: common


normal passes through
the centre, no positive
drive. Friction drive.
MECH 343
CHAPTER 3

LINKAGES
Classification of
Mechanisms
Swinging or Rocking Mechanism. Also referred
to as oscillators. Output member rocks less
than 360.

1. Rotating Crank (a), coupler (b) containing


toothed rack that meshes with gear (c).

2. Crank and Rocker Mechanism. This is also


called a four-bar linkage. The rotation of the
crank or arm (b) produces a rocking motion
of the rocker (d).
Classification of
Mechanisms
3. Quick-return mechanism. The crank (b)
drives the slider (c) which slides on the
output link (d) producing a rocking motion.
It is called a quick-return linkage because
crank (b) rotates through a larger angle on
the forward stroke of link (d) than the
return stroke.
4. Cam and Follower Mechanism. The
rotating cam (c) drives link (b), the
follower in a rocking motion.
Classification of
Mechanisms
Reciprocating Mechanisms. Recurring
straight-line motion is achieved by using
pneumatic, hydraulic and electric linear
actuators. Also achieved using rack and
pinion devices and cams.
1. Scotch-Yoke Mechanism.
Reciprocating motion of a yoke (d) as
the arm (b) is rotated in harmonic
motion.

2. Offset Slider Crank.


Produces a (working
stroke time / return
stroke time) ratio
greater than unity.
Classification of
Mechanisms
3. The Shaper Mechanism. A six-bar
linkage mechanism. Note that it is
similar to (1.), with coupler (e) and
slider (f) added.
4. Whitworth Quick-Return Mechanism.
The linkage is shown upside-down to
show its similarity to (3.).
Linkages
Parallel-Crank Four-Bar Linkage
Figure 3-2: Where is the dead center? What prevents the
mechanism from jamming?
Linkages
Nonparallel Equal-
Crank Linkage
Crank 4 has varying
angular velocity. To
ensure that the
follower will rotate in
the proper sense
beyond the dead
points, this mechanism
can be replaced by a
pair of identical
elleptical gears.
Linkages
Crank and Rocker
In order for this
linkage to operate,
the following
conditions must
exist:
𝑂2 𝐵 + 𝐵𝐶 + 𝑂4 𝐶
> 𝑂2 𝑂4
The dead point
exists where the
line of action BC of
the driving force is
in line with O2B.
Linkages
Drag Link
For this to work, the
proportions must be as
follows:
𝐵𝐶 > 𝑂2 𝑂4 + 𝑂4 𝐶 − 𝑂2 𝐵
Linkages
Slider-Crank
Mechanism
Figure 3-7:
Eccentric
Mechanism
Linkages
Scotch Yoke
Harmonic motion. Used for
vibration simulation. Where
else can you find these?
Quick-Return Mechanisms

Crank-Shape
The driver, link 2, rotates
counterclockwise. Slider 6
has a slow stroke to the left
and a fast return stroke to the
right.

Time ration= 𝜃1ൗ𝜃2


Quick-Return Mechanisms
Whitworth

Quick-return motion. Time ration= 𝜃1ൗ𝜃2


Quick-Return Mechanisms
Drag Link

Quick stroke to the right. Time ration= 𝜃1ൗ𝜃2


Quick-Return Mechanisms
Offset Slider Crank
Straight-Line Mechanisms
Watt’s Mechanism
Straight-Line Mechanisms
Scott-Russell Mechanism
Straight-Line Mechanisms
Robert’s Mechanism
Straight-Line
Mechanisms
Tchebysheff’s
Mechanism
Straight-Line Mechanisms
Peaucellier’s
Mechanism
Parallel Mechanisms
The Pantograph
Parallel
Mechanisms
The Drafting Machine
Toggle
Mechanisms
Toggle Mechanisms
The Rock Crusher
Oldham Coupling
Oldham Coupling
Universal Joints
Hooke or Cardan Joint
Universal
Joints
Hooke or Cardan Joint
Universal
Joints
Universal Joint Combinations
Universal Joints
Bendix-Weiss Joint
Intermittent-
Motion
Mechanisms
Geneva Wheel
Intermittent-Motion
Mechanisms
Ratchets
Intermittent-Motion
Mechanisms
Silent Ratchets
Elliptic Trammel
An
instrument
for drawing
ellipses

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