ME304/MD/AY2012-2013

11 Jan 2013

INDIAN INSTITUTE OF TECHNOLOGY GANDHINAGAR Department of Mechanical Engineering

ME304: KINEMATICS AND DYNAMICS OF MACHINES CONTINUAL ASSESSMENT 2(CA2): PART A IS MANDATORY WHILE PART B IS FOR YOUR OWN PRACTICE PART A: GRAPHICAL SYNTHESIS OF LINKAGES MINI PROJECTS FOR MANDATORY PRESENTATION Apply the techniques you have learnt for the graphical synthesis of mechanical linkages to design suitable mechanisms for the assigned problems defined below. Organize yourselves into groups to synthesize, build a card board mock up and then analyzing to check the linkage. Some of these models can be 3D models. The ME312 Lab grouping numbers are assigned to the linkages so you know who will work on that linkage to be synthesized. You are to use graphical techniques (compass, ruler or the geometry softwares CARMetal/GeoGebra) to estimate link length, transmission angles and then build a cardboard model (Planar or 3D depending on what you think would be the best) of the mechanism and assess its performance. Collectively each group will make a presentation of their work and on how they have snthesized their linkage and show their cardboard models to the class on 22 and/or 24 Jan 2013. They will also include a brief statement of the contribution of each member to this work to be sent to me via e-mail with Linkage No and Group Number indicated in the file name , for example CA2_P1_B1_B2.doc 1. LINKAGE P1 (Groups B1 and B2)

Figure 1: Linkage P1 For the linkage shown in Figure 1, (a)Design a fourbar mechanism to move the link CD from position 1 to position 2. Ignore the third position and the fixed pivots O2 and O4 shown. Build a scale model and add a driver dyad to limit its motion to the range of positions designed, making it a sixbar. (b)Design a fourbar mechanism to move the link from position 2 to position 3. Ignore the first position and the fixed pivots O2 and O4 shown. Build a scale model and add a driver dyad to limit its motion to the range of positions designed, making it a sixbar.

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(c) Design a fourbar mechanism to give the three positions. Ignore the fixed pivots O2 and O4 shown. Build a scale model and add a driver dyad to limit its motion to the range of positions designed, making it a sixbar. (d) Design a fourbar mechanism to give the three positions shown using the fixed pivots O2 and O4 shown. Build a scale model and add a driver dyad to limit its motion to the range of positions designed, making it a sixbar. 2. LINKAGE P2 (Groups B4 and B5)

Figure 2: Linkage P2 For the linkage shown in Figure 2 (a) Design a fourbar mechanism to move the link from position 1 to position 2. Ignore the third position and the fixed pivots O2 and O4 shown. Build a scale model and add a driver dyad to limit its motion to the range of positions designed, making it a sixbar. (b) Design a fourbar mechanism to move the link from position 2 to position 3. Ignore the first position and the fixed pivots O2 and O4 shown. Build a scale model and add a driver dyad to limit its motion to the range of positions designed, making it a sixbar. (c) Design a fourbar mechanism to give the three positions. Ignore the fixed pivots O2 and O4 shown. Build a scale model and add a driver dyad to limit its motion to the range of positions designed, making it a sixbar. (d) Design a fourbar mechanism to give the three positions shown using the fixed pivots O2 and O4 shown. Build a scale model and add a driver dyad to limit its motion to the range of positions designed, making it a sixbar.

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3. LINKAGE P3 (Groups B7 and B6)

Figure 3: Linkage P3 For the linkage shown in Fig. 3 (a) Design a fourbar linkage to move the object from position 1 to 2 using points A and B for attachment. Add a driver dyad to limit its motion to the range of positions designed making it a sixbar. All fixed pivots should be on the base. Build a scale model and add a driver dyad to limit its motion to the range of positions designed, making it a sixbar. (b) Design a fourbar linkage to move the object from position 2 to 3 using points A and B for attachment. Add a driver dyad to limit its motion to the range of positions designed making it a sixbar. All fixed pivots should be on the base. Build a scale model and add a driver dyad to limit its motion to the range of positions designed, making it a sixbar. (c) Design a fourbar linkage to move the object through the three positions shown using points A and B for attachment. Add a driver dyad to limit its motion to the range of positions designed making it a sixbar. All fixed pivots should be on the base. Build a scale model and add a driver dyad to limit its motion to the range of positions designed, making it a sixbar.

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4. LINKAGE P4 (Groups B9 and B8)

Figure 4: Linkage P4 For the linkage shown in Figure 4, (a) Design a fourbar linkage to move the object from position 1 to 2 using points A and B for attachment. Add a driver dyad to limit its motion to the range of positions designed making it a sixbar. All fixed pivots should be on the base. Build a scale model and add a driver dyad to limit its motion to the range of positions designed, making it a sixbar. (b)Design a fourbar linkage to move the object from position 2 to 3 using points A and B for attachment. Add a driver dyad to limit its motion to the range of positions designed making it a sixbar. All fixed pivots should be on the base. Build a scale model and add a driver dyad to limit its motion to the range of positions designed, making it a sixbar. (c)Design a fourbar linkage to move the object through the three positions shown using points A and B for attachment. Add a driver dyad to limit its motion to the range of positions designed making it a sixbar. All fixed pivots should be on the base. Build a scale model and add a driver dyad to limit its motion to the range of positions designed, making it a sixbar.

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5. LINKAGE P5 (Groups A2 and A1)

Figure 5: Linkage P5 (a)Design a fourbar linkage to move the object from position 1 to 2 using points A and B as attachment points. Add a driver dyad to limit its motion to the range of positions designed making it a sixbar. All fixed pivots should be on the base. Build a scale model and add a driver dyad to limit its motion to the range of positions designed, making it a sixbar. (b)Repeat part(a) for moving the object from position 2 to position 3 using points A and B for attachment. Add a driver dyad to limit its motion to the range of positions designed making it a sixbar. All fixed pivots should be on the base. Build a scale model and add a driver dyad to limit its motion to the range of positions designed, making it a sixbar. (c)Design a fourbar linkage to move the object through all the three positions 1,2 and 3 using points A and B as attachment points. Add a driver dyad to limit its motion to the range of positions designed making it a sixbar. All fixed pivots should be on the base. Build a scale model and add a driver dyad to limit its motion to the range of positions designed, making it a sixbar.

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6. LINKAGE P6 (Group A3)

Figure 6: Linkage P6 For the linkage shown in Figure 6, (a) Design a fourbar mechanism to move this link through the three positions by ignoring the fixed pivots O2 and O4 as shown. (b) Design a fourbar mechanism to move this link through the three positions by using the fixed pivots O2 and O4 as shown. For both cases design a dyad to restrict the motion of the link between the extreme positions of the link i.e. C1C1 and C3D3. Build a scale model and add a driver dyad to limit its motion to the range of

positions designed, making it a sixbar.

7. LINKAGE P7 (Group A4) A small contractor needs a mini-dumpster attachment for his pick-up truck. He has made several trash containers which are 1.2m by 1.2m by 1m high. The empty container weighs 60kg. He needs a mechanism which he can attach to his fleet of standard full size pick-up trucks. The mechanism should be able to pick up the full trash container from the ground, lift it over the closed tailgate of the truck, dump its contents into the truck bed and then return it empty to the ground. He would like not to tip his truck over in the process. The mechanism should store permanently on the truck in such a manner as to allow normal use of the pickup truck at all times. You may specify any means of attachment of your mechanism to the container and to the truck and make a cardboard model of the mechanism.

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8. LINKAGE P8 (Group A5)

Figure 7: Linkage P8 For the linkage shown in Figure 7, (a)Design a fourbar mechanism to give the two shown positions of output rocker motion with no quickreturn. Build a scale model and determine the toggle positions and the minimum transmission angle from the model. (b)Design a fourbar mechanism to give the two shown positions of coupler motion. Build a scale model and determine the toggle positions and the minimum transmission angle from the model. Add a driver dyad. 9. LINKAGE P9 (Group A6)

Figure 8: Linkage P9 You are to design a fourbar mechanism to transfer a carton of fixed dimensions from the lower level conveyor belt to another at a higher level in a production line through three precision points defined as P1, P2 and P3 at which the desired orientation of the carton is as shown in Figure 8. The pivots for the mechanism are to be fixed at O1 and O2 as indicated. Assuming realistic dimensions, graphically synthesise this mechanism, explaining all the steps you make in the graphical synthesis, stating all the assumptions you make with regard to the angles and distances of various points and defining the coordinate system used in addition to the sketches showing the graphical construction. Based on your chosen dimensions, show the mechanism graphically and build a cardboard scale model to assess if it does the job.

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10. LINKAGE P10 (Group A7) Design an adjustable stand which will hold the computer video monitor and the separate keyboard at any position the user deems comfortable while the computers central processor unit can be remotely located. This device should be freestanding to allow use of a comfortable chair, couch or lounge of the users choice. It should not require the user to assume a conventional seated at a desk posture to use the computer. It must be stable in all positions and safely support the weight of the equipment. Define three positions of the computer monitor and graphically synthesize a linkage to move through these positions. The fixed pivots must be located on the floor or wall. Before you start on this project do some background search on typical computer monitor dimensions, develop a clear goal and a set of performance specifications before attempting the synthesis of the component at hand. You will present your design and show a scale model in class. 11. LINKAGE P11 (Group A8) (a) Graphically synthesize a slider-crank mechanism with a time ratio of 1.37 a stroke length of 46mm and a time per cycle of 3.4 secs. Estimate the link lengths, offset distance and crank speed. Make a cardboard scale model of your slider-crank mechanism. (b) Graphically synthesize a crank-rocker mechanism with a time ratio of 1.36, throw angle of 45o and a time per cycle of 1.2 secs. Estimate the link lengths and the crank speed. Make a cardboard scale model of your slider-crank mechanism. 12. LINKAGE P12 (Group A9)

Figure 9 shows the orientation of the hood of a car in its closed and fully open configuration. Graphically synthesise a linkage to be fitted under the hood and on the car frame to move the hood through a fixed angle between the two positions shown. Explain all the steps you make in the graphical synthesis, stating all the assumptions you make with regard to the angle of rotation of the hood and distances of various points and define the coordinate system used in addition to the sketches showing the graphical construction. Finally construct a scaled model of the mechanism you have synthesised. Note that dimensions are not given here. You may obtain these dimensions by choosing any car used in India and looking up details and then make a scale model. Work on a couple of options.

Figure 9 :Car Hood

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13. LINKAGE P13 (Group B4)

Graphically synthesise a pin-jointed linkage that will guide the forks of the fork lift vehicle shown in Figure 10 up and down in an approximate straight line over the range of motion shown.

Figure 10: Fork Lift

PART B: TUTORIAL PROBLEMS (For you to review concepts)

1. Design a fourbar linkage that will give a symmetrical kidney bean shaped coupler curve as shown in Figure 3.16 of the textbook and shown in lecture slides. Use the coupler curve characteristics shown in Figure 3.21 of the textbook and also shown in lecture slides to determine the link ratios required to design the link. Then use the FOURBAR program to design and animate the linkage. Similarly experiment with one or two different coupler curves and design useful fourbar linkages. 2. For the linkage shown at right (a)find the Grashof condition, any limit positions, and the extreme values of the transmission angle (to graphical accuracy) of the linkage. (b) find the cognates of the linkage, and (c)find the three geared fivebar cognates of the linkage

3. In the mechanism shown at right, it is desired to move the piston upwards in 0.15 secs and return in 0.2 seconds. If a motor is attached to the crank, calculate (a) its rpm and direction of rotation to achieve this objective, and (b) the construction angle for synthesising this linkage.

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4. The figure on the right shows a planar linkage with fixed revolute joints at points O and B and a freely moving revolute joint at point A. The lengths of the links OA and OB are fixed as p and s respectively. The link AB slides along a collar which rotates about point B. For the instantaneous orientation of the linkage shown, obtain expressions for the speeds r and in terms of p, , and .

OTHER PROBLEMS CAN BE FOUND IN THE RECOMMENDED TEXTBOOK ANDIN MANY OTHER BOOKS ON THE SUBJECT AVAILABLE AT THE IITGN LIBRARY

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