Section 2

1
 Linear Motion Rotational Motion
Quantity Symbol Unit Quantity Symbol Unit
position x, r m angular position/angle q rad

velocity n m·s−1 angular velocity w s−1

acceleration a m·s−2 angular acceleration a s−2

jerk j m·s−3 angular jerk z s−3

mass m kg moment of inertia J kg·m2

momentum p kg·m·s−1 angular momentum L kg·m2·s−1
F kg·m·s−2
TT kg·m2·s−2
force torque

power P=F. n kg·m2·s−3 power P=T. w kg·m2·s−3

energy E=m. n2/2 kg·m2·s−2 energy E=J. w2 / 2 kg·m2·s−2

Power & Energy: Laws

2
 Rotational Motion

T
Acc

Linear Motion
Vel

dx
x,v,a
Disp

3
 Load Types
1. Gravity

Ty

Ty = G r
4
2. Friction (dry) Ty

Fy = µ G Ty = µ G r
Friction has two different coefficients one for standing (static), one for
moving (dynamic)
a) Static-Stick, µst, b) Dynamic- Slip, µsl µ <1

Load-Surface Stick µst Slip µsl

Steel– steel 0.78 0.42
Aluminum-steel 0.61 0.47
Glass– glass 0.94 0.40
Rubber– asphalt 0.90 0.85 5
2. Friction (viscous)

Fy = Bv v

Friction on Lubricated Bearing

Ty

Ty = Bw w

6
2. Friction (turbulence)

Ty

Ty

Friction on Fans and Pumps

7
 3. Spring
Compression/Expansion 3. Spring Torsion
Ty
x

Fy = Kx x Ty = Kq q

8
Relations between Linear and Rotational Motion

Rotational Speed

n=w / 2p [rps]

or T
n=60.w / 2p [rpm]

Tangential
velocity
Torque T

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Centrifugal force on a point mass rotating about an axis

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Mass and Moment of Inertia(MoI)

• Mass by definition is the phenomena of the body's resistance to

being accelerated by a force.
• Moment of Inertia is the resistance of the mass for rotational force.
• MoI is calculated with respect to axis of rotation.
• Energy is stored by the motion of Mass and Moment of Inertia.

Moment of Inertia of a point mass rotating about an axis

𝐽 = න 𝑟 2 𝑑𝑚
0

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Parallel Axis Theorem
J=Jcm+md2

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 𝑀
Moment of Inertia
𝐽 = න 𝑟 2 𝑑𝑚
0

Moment of inertia of a cylinder

𝑑𝑚 = 𝜌. 2𝜋. 𝑟. 𝑙. 𝑑𝑟

𝑅
𝐽 = න 𝑟 2 𝑑𝑚
0
𝑅
𝑅 1 4 =1 𝑀. 𝑅 2
𝐽= ‫׬‬0 𝑟 2 𝜌. 2𝜋. 𝑟. 𝑙. 𝑑𝑟  𝐽= 2
𝜌. 𝜋. 𝑙. 𝑟 | 2
0
density

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M G

M G

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 Example: Two cabin elevator model
Assume Jp=0 and B=0 (negligible)
q
𝑇, 𝜔

Jp=0 𝑑𝜔
R 𝑇=𝐽 + 𝑇𝐿 𝑇𝐿 = 𝑀2 − 𝑀1 . 𝑔. R
𝑑𝑡
𝐽 = 𝑀2 + 𝑀1 . 𝑅2
B
B

M1
x 𝑑𝜔
M2 g
𝑇 = 𝑀2 + 𝑀1 . 𝑅2 + 𝑀2 − 𝑀1 . 𝑔. R
𝑑𝑡

Jp=0
R Inertial effect gravitational effect
Torque needed to move

Torque needed to accelerate

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•Degrees of freedom – DOF : In a mechanical system it is the number of
independent parameters that define its configuration.
In linear motion systems governing equation: M x =  Fy
Rotational motion systems J q = Ty

A double mass- 2 DOF example

m1 y1 =  F1 y = k  y2  y1   d  y 2  y1 
m2 y2 =  F2 y = F  k  y2  y1   d  y 2  y1 

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Modeling and dynamic analysis of mechanical systems
1. Stating governing equations of the system using laws and
differential equations
2. Linearization
3. Presentation:
• State Space; Matrix Equations
• Input- Output transfer functions

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Example: Mass_Spring_Damper(viscous friction)

In order to accelerate the mass force must overcome

spring force and viscous friction force

𝐹 − 𝐹𝑦 = 𝑚. 𝑎

input 𝐹𝑦 = 𝑘. 𝑥 + 𝐵. 𝑣

F = 𝑘. 𝑥 + 𝐵. 𝑣 + 𝑚𝑎 Governing equation

output
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f(t) = 𝑢(𝑡) [N]
1
X(s) = Transfer Function
𝑠(𝑚𝑠 2 + 𝐵𝑠 + 𝑘)

1 1
𝑥∞ = lim 𝑠 𝑋 𝑠 = lim 𝑠 2
=
𝑠→0 𝑠→0 𝑠 𝑚𝑠 + 𝐵𝑠 + 𝑘 𝑘

𝑥(𝑡)
Under damped

1 Critically damped
𝑘
Unstable ?
Over damped

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 1/𝑚 𝐾𝐺 .𝜔𝑛
𝑥 𝑠 = 𝐵 𝑘 =
𝑠 2 + 𝑠+ 𝑠 2 +2𝜁𝜔𝑛 𝑠+𝜔𝑛 2
𝑚 𝑚

𝑘 𝐵
𝜔𝑛 = 𝜁=
𝑚 2 𝑘𝑚 Damping coefficient

𝐵 > 2 𝑘𝑚 ⇒ 𝜁>1 The system is overdamped

0 < 𝐵 < 2 𝑘𝑚 ⇒ 0<𝜁<1 The system is underdamped

𝐵=0⇒ 𝜁=0 The system is undamped

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State Space Representation- Gives us better perspective for physical relations
𝑑2 𝑥 𝑑𝑥
F = 𝑚𝑎 + 𝐵. 𝑣 + 𝑘. 𝑥=m 2 +𝐵 + 𝑘𝑥
𝑑𝑡 𝑑𝑡
𝑑𝑣
𝑑𝑡
𝑑𝑥
=𝑣
𝑑𝑡
𝑑 𝑥 0 1 𝑥 0
𝑑𝑣 𝐵 𝑘 1
= −𝑚 𝑣 − 𝑚 𝑥 + 𝑚 𝐹 = −𝑘 −
𝐵 + 1 F
𝑑𝑡 𝑑𝑡 𝑣 𝑚 𝑚
𝑣 𝑚

𝑋ሶ = 𝑨𝑥 + 𝑩𝑢
𝑥
𝑦= 1 0 +Du
𝑣

y= 𝑪𝑥 + 𝑫𝑢
Output equation, in this case position is output y=x

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 Rotational to Linear or vice versa
 Rotation of 90 degrees of the driving axis
 Changing the torque or the speed of the motor
 Remedy for the misalignments and different size of the axels.
 Remedy for the vibration

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  Gears
 External vs internal gears

 Spur

 Helical
 Skew gears

 Double helical

 Bevel

 Spiral bevels

 Hypoid

 Crown

 Worm

 Non-circular

 Rack and pinion

 Epicyclic

 Sun and planet

 Harmonic drive

 Cage gear

 Magnetic gear

https://www.thomasnet.com/articles/mac
hinery-tools-supplies/understanding- 23
gears/
https://www.cs.cmu.edu/~rapidproto/me
chanisms/chpt7.html 24
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Rotational to Linear Motion
 Rack and Pinion
 Ball Screw and Bearing

 Belt and Pulley

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BELT AND PULLEY AND BALL BEARING

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 Simple and efficient
 Not suitable for heavy loads
 Noisy

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 high speeds
 large power transmission
 Lower noise

 Disadvantage of helical gears

is a resultant thrust along the
axis of the gear
 Greater degree of sliding
friction between the meshing
teeth, often addressed with
additives in the lubricant.

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• Higher gear ratio
• One directional drive, worm gear can not be rotated by load torque.
• Suitable for lifting against gravity or load forces.
• No need for hold torque (e.g. robot arms)
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• Low efficiency
High gearing ratio.

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 IDEAL GEAR SYSTEMS (Lossless)

T1,n1,w1,q1

T1,n1,w1,q1
V
T2,n2,w2,q2

T2,n2,w2,q2
r1.w1=r2.w2 =V (tangential velocity)
n1:number of teeth 1, r1:radius 1
n2:number of teeth 2, r2:radius 2
P1=P2 (ideal)
T1.w1=T2.w2 =P1
𝑻𝟏 𝝎𝟐 𝒓𝟏
= = 36
𝑻𝟐 𝝎𝟏 𝒓𝟐
IDEAL GEAR SYSTEMS (Lossless) Gear Ratio

𝑻𝟏 𝒓𝟏 𝒓𝟐 𝒓𝟐
= ⇒ 𝑻𝟐 = 𝑻𝟏 n=
𝑻𝟐 𝒓𝟐 𝒓𝟏 𝒓𝟏
𝟏
w2= w1
𝒏

Energy Balance
𝟏 ′ 𝟐 𝟏
𝑲𝒊𝒏𝑬𝒏 = 𝑱𝟐 𝝎 𝟏 = 𝑱𝟐 𝝎 𝟐𝟐
𝟐 𝟐
𝟐
𝝎𝟐 𝑱𝟐
𝑱′𝟐 = 𝑱𝟐 = 𝟐
𝝎𝟏 𝒏

𝑩𝟐 𝒌𝟐
𝑩′𝟐 = 𝟐 𝒌′𝟐 = 𝟐
𝒏 𝒏 37
Usually the speed is reduced towards load side while the torque is amplified.
Meanwhile the effects of inertia, viscous friction and spring are reduced to
motor shaft divided by 𝑛2 .

n:1
T1
For example:
J2,B2,K2 R1 The torque needed to move the
T2 second mass is 𝑇2 and this torque
w1 is referred first shaft as 𝑇2′

R2
w2

T2
T = 2
/
w2/ = w2 n
n
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 n:1

w1 = w = w2 n
T1 /
J2,B2,K2 R1
T2 2
T2 T =
/
w1 2
n q1 = q 2/ = q 2 n
R2
w2

𝟐
𝟏 ′ 𝟐 𝟏 𝝎𝟐 𝑱𝟐
𝑲𝒊𝒏𝑬𝒏 = 𝑱𝟐 𝝎 𝟏 = 𝑱𝟐 𝝎 𝟐𝟐 𝑱′𝟐 = 𝑱𝟐 = 𝟐
𝟐 𝟐 𝝎𝟏 𝒏

𝑬𝒏𝒆𝒓𝒈𝒚 𝒄𝒐𝒏𝒔𝒖𝒎𝒆𝒅 𝒃𝒚 𝒇𝒓𝒊𝒄𝒕𝒊𝒐𝒏 = 𝑩′𝟐 𝝎1 𝜽1 = 𝑩𝟐 𝝎𝟐 𝜽𝟐

𝑩𝟐
𝑩′𝟐 = 𝟐
𝒏
𝟏 ′ 𝟐 𝟏
𝑬𝒏𝒆𝒓𝒈𝒚 𝒔𝒕𝒐𝒓𝒆𝒅 𝒊𝒏 𝒔𝒑𝒓𝒊𝒏𝒈 = 𝒌𝟐 𝜽 𝟏 = 𝒌𝟐 𝜽 𝟐𝟐
𝟐 𝟐
𝒌𝟐
𝒌′𝟐 = 𝟐 39
𝒏
 n:1
T1
J2,B2,K2 R1
T2 T2 w1 = w = w2 n
/
2
w1 T1 = T2 =
/

R2 n q1 = q 2/ = q 2 n
w2

𝟐
𝝎𝟐 𝑱𝟐 ′ 𝑩𝟐 ′ 𝒌𝟐
𝑱′𝟐 = 𝑱𝟐 = 𝟐 𝑩𝟐 = 𝟐 𝒌𝟐 = 𝟐
𝝎𝟏 𝒏 𝒏 𝒏

𝑇2 = 𝐽2 𝛼2 +𝐵2 𝜔2 +𝑘2 𝜃2
𝐽2 𝛼1 𝐵2 𝜔1 𝑘2 𝜃1
𝑇1 = + +
𝑛 𝑛 𝑛 𝑛 𝑛 𝑛

𝑇1 = 𝐽2′ 𝛼1 +𝐵2′ 𝜔1 +𝑘2′ 𝜃1 The torque reflected

on the driving shaft
to move the load.

40
The efficiency is always less than 100%. Since there is no slip on gearboxes
the loss is on torque. In other words;
The Efficiency
1
𝜔2 = 𝑛 𝜔1 58.3 rpm=1750/30 rpm 3.4576
𝑇2 𝑛𝑇1 103.73/30 Nm =3. 4576  4.068 Nm
𝜂= =0.85
4.068
41
Another alternative to this system is chain gear system. Efficiency is around
%80. The mathematical relations are as same as gear system.
In belt systems geared belts provides non slip property. But still there is
elasticity.

42
43
 Rotation to linear motion

x
µ
M
T
r r

dw
T Jm  Bm w = Fr
dt
dw
T = r M a  M  g r  Jm  Bm w
dt
2 dw

= Jm  M r  dt
 Bm w  M  g r
44
Example
Static friction is the friction between mass M and conveyor belt μst , maximum
acceleration amax . Acceleration force must be less than static friction force,
otherwise mass will slip on the belt.
M M Motor
g
M
Tm
q Jm, Bm

J1, B1
J2, B2 r
Belt
Idle Gear
Drive Gear

Furthermore there is friction acting counter to the movement of the conveyor.

If a roller belt is used, then only rolling friction μ’ is acting and this is
substantially less than the sliding friction of a conveyor system such as a
belt conveyor on a substrate.
𝑭𝒇𝒓 . 𝒓
𝑑𝜔𝑚 𝑑𝜔𝑚 2 𝑑𝜔𝑚
𝑇𝑚 = 𝐽𝑚 +(𝐽1 +𝐽2 ) +𝑀𝑟 +(𝐵1 + 𝐵2 + 𝐵𝑚 ) 𝜔𝑚
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝜔𝑚
𝑎= 𝑟 45
𝑑𝑡
Effects of the mechanisms to the motor shaft

46
 Ml
Mt
Zero Friction

Nut Ball-Screw

P=rev/m

q=2p.C/h h: Ball Screw pitch

Js=MoI of the Screw

q=2p.P.x(meters)
𝟏 𝟏
𝑲𝒊𝒏𝑬𝒏 = 𝑴𝒗 = 𝑱𝒓𝒆𝒇 𝝎𝟐
𝟐
𝟐 𝟐

Equivalent MoI

47
 Ml
Mt
Zero Friction

Nut Ball-Screw

𝜃ሶ = 𝜔 = 2𝜋𝑃𝑥ሶ = 2𝜋𝑃𝑣 𝑀
𝐽𝑟𝑒𝑓 =
𝑀𝑣 2 = 𝐽𝑟𝑒𝑓 (2𝜋𝑃𝑣)2 (2𝜋𝑃)2
Friction

𝐹𝑓𝑟 = 𝑀𝜇𝑔
𝑇𝜔 = 𝐹𝑣 2𝜋𝑃𝑇𝑣 = 𝐹𝑣
𝜔 = 2𝜋𝑃𝑣

𝐹 𝐹𝑓𝑟 𝑀µ𝑔
𝑇= 𝑇𝑓𝑟 = =
2𝜋 𝑝 2𝜋 𝑝 2𝜋 𝑝
48
 𝐹ℎ 𝐹 𝑀𝑎 𝑀𝑥ሷ 𝜃
𝑇= = = = 𝑥=
2𝜋𝑃
2𝜋 2𝜋𝑃 2𝜋𝑃 2𝜋𝑃

𝑀qሷ 𝑀
𝑇= 2 = 𝜔ሶ
(2𝜋𝑃) (2𝜋𝑃)2

𝐽𝑟𝑒𝑓

F=load from the machine + friction force

𝐹
𝐹 = 𝐹𝐿 + 𝑀𝜇𝑔 𝑇=
2𝜋 𝑝

𝑑𝜔𝑚 𝑑𝜔𝑚
𝑇𝑚 = 𝑇 + 𝐽𝑟𝑒𝑓 +𝐽𝑚
𝑑𝑡 𝑑𝑡
𝐹 𝑑𝜔 𝑑𝜔 𝐹 +𝑀𝜇𝑔 𝑀 𝑑𝜔𝑚 𝑑𝜔𝑚
𝑇𝑚 = + 𝐽𝑟𝑒𝑓 𝑚 +𝐽𝑚 𝑚 = 𝐿 + +𝐽𝑚 𝑑𝑡
2𝜋 𝑝 𝑑𝑡 𝑑𝑡 2𝜋𝑃 (2𝜋𝑃)2 𝑑𝑡

49
 Load Side Load
(Wload)

m
m
9.81
m/s2

(m/s
)
(m) 50
51
52
Backlash effect due to the spacing between teeth.

53
Elastic coupling is used to attach shafts to the motor shaft

54
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 Four Bar Linkage
A four-bar linkage, also called a four-bar, is the simplest movable closed
chain linkage. It consists of four bodies, called bars or links, connected in a
loop by four joints.

Generally, the joints are configured so the links move in parallel planes, and
the assembly is called a planar four-bar linkage.

A planar four-bar linkage (Watt linkage)

used as a train suspension
77
 Planar four-bar linkage

Planar four-bar linkages are constructed from four links connected in a loop
by four one degree of freedom joints.
• A joint may be either a revolute, that is a hinged joint, denoted by R, or a prismatic, as
sliding joint, denoted by P.

• A link connected to ground by a hinged joint is usually called a crank.

• A link connected to ground by a prismatic joint is called a slider.

Sliders are sometimes considered to be cranks that have a hinged pivot at an extremely
long distance away perpendicular to the travel of the slider.

• The link that connects two cranks is called a floating link or coupler.
A coupler that connects a crank and a slider, it is often called a connecting rod.

78
Joints

Revolute one degree of freedom

Prismatic one degree of freedom

Cylindrical two-degrees-of-freedom

79
There are three basic types of planar four-bar linkage depending on the use of
revolute or prismatic joints:

1. Four revolute joints: The planar quadrilateral linkage is formed

by four links and four revolute joints, denoted RRRR. It consists of
two cranks connected by a coupler.

2. Three revolute joints and a prismatic joint: The slider-crank

linkage is constructed from four links connected by three
revolute and one prismatic joint, or RRRP. It can be constructed
with crank and a slider connected by the connecting rod. Or it
can be constructed as a two cranks with the slider acting as the
coupler, known as an inverted slider-crank.

3. Two revolute joints and two prismatic joints: The double slider is
a PRRP linkage. This linkage is constructed by connecting two
sliders with a coupler link. If the directions of movement of the two
sliders are perpendicular then the trajectories of the points in the
coupler are ellipses and the linkage is known as an elliptical
trammel, or the Trammel of Archimedes.
80
Types of four-bar linkages, s = shortest link, l = longest link.

81
Examples

Pantograph

Wishbone Suspension

Watt’s linkage
82
Examples

http://dynref.engr.illinois.edu/aml.html#aml-sp

83
Example:In the system Tm is input and qy is output
a) Transfer function of the system
b) State space model of the system

K qy

y 84
y y y
dt
85
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