Machine Dynamics Mech 301

Dr. Dongming Gan

Assistant Professor in Robotics/ME

Course Logistics
3 credits, 45 Lectures + tutorials Grading
Hw: 20% Quizzes: 10% Final project: 10% Midterm: 20% Final: 40%

References:
Main Textbook: J.J. Uicker, Jr., G.R. Pennock, and J.E. Shigley; Theory of Machines and Mechanism, Oxford, 4th int. edition Secondary (Just for the two final chapters on Robotics, etc.): L.Sciavicco, B. Siciliano, Modeling and Control of Robot Manipulators, 2nd Edition, Springer-Verlag Advanced Textbooks in Control and Signal Processing Series, London, UK, 2000;

Course Goals
Goal:
To present an overview of analysis, design and synthesis of mechanism and machines by considering kinematics and kinetics. The concepts of position, velocity, acceleration and force analysis are presented in a thorough manner.

Teaching Plan
Week No Week 1(9-13 Feb) Week 2 (16-20 Feb) Contents Mechanisms: Introduction, Pairs Types of Mechanisms, Mobility, Classification Kinematic Inversion, Grashofs Law Mechanical Advantage, Overlay Method Position & Displacement: Moving point, Position Assignment #1 - Due one week from the day it is assigned. Position Difference, Apparent Position, Absolute Position Loop Closure Equation Position Analysis (Graphic), Position Analysis (Algebraic) Velocity: Rotation, Velocity Difference Assignment #2 - Due one week from the day it is assigned. Velocity Polygons, Apparent Velocity (Linear & Angular) Quiz #1 Direct & Rolling Contact, Velocity Analysis, Inst. Ctr of Velocity, Aronhold-Kennedy Thm Locating Instant Ctrs of Velocity, The angular velocity ration Thm. Assignment #3- Due one week from the day it is assigned. MIDTERM EXAM Acceleration: Angular Acceleration Acceleration Difference, Acceleration Polygons Spring Break Apparent Acceleration, Apparent Angular Acceleration Direct & Rolling Contact, Strategies for Acceleration Analysis Complex Algebra (Position Analysis) Assignment #4 - Due one week from the day it is assigned. Complex Algebra (Velocity / Acceleration Analysis) Static Force Analysis: Newtons Laws, Applied & Constraint Forces, Free Body Diagrams

Chapter 1 Chapter 2

Week 3(23-27 Feb) Week 4(2-6 Mar)

Week 5(9-13 Mar) Week 6(16-20 Mar)

Chapter 3

Week 7(23-27 Mar)

30 Mar 3 Apr Week 8(6-10 Apr)

Chapter 4

Week9(13-17 Apr)

Chapter 13

Teaching Plan, contd.

Week 10(20-24 Apr)
Week 11(27 Apr-1 May)

Conditions for Equilibrium, 2 and 3 Force Members 4 Force Members, Friction Force Members, Dynamic Force Analysis: Center of Mass, Mass Moments & Products of Inertia, DAlemberts Principle Chapter Assignment #5 - Due one week from the day it is assigned. Cam Design: Classification of Cams & Followers, Displacement Diagrams Graphical Layout of Cam profiles Kinematic Coefficients of the Follower Motion
Quiz #2 High Speed Cams Standard Cam Motions Chapter Assignment #6 - Due one week from the day it is assigned. Matching Derivatives Reciprocating Flat Face Follower Reciprocating Roller Follower Gears: Introduction to gearing, Chapter involute tooth geometry, contact ratio, Under cutting, Gear Trains Spatial Mechanisms: Euler Angles, Denavit-Hartenberg Parameters Chapter Transformation Matrix Position Analysis Matrix Velocity & Acceleration Analysis, Computer Programs for Mechanism Analysis, robot Forward & Inverse Kinematics Final exams Final exams Summer Break

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Week 12(4-8 May)

Week 13(11-15 May)

Week 14(18-22 May)

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Week 15 (25-29 May) *27 May- Al IsraaWalMiraj* *29 May- Last day of classes Week 16(1-5 Jun) Week 17(8-12 June) *12 June- Grades due

Theory of Machines & Mechanisms

Issue: understanding the relationship between the geometry and motions of a mechanism and the forces producing them Relevant issues: Kinematics: analysis of mechanism motions Design of Mechanisms Kinetics

Mechanism examples

Spherical 6-bar

Slider-crank mechanism

Serial Robots
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Parallel Robots

Mechanics
Contents: motion, time & forces Branches:
Mechanics

Dynamics

Statics

Kinematics

Kinetics

Definitions
Machine: combination of resistant bodies so arranged that by their means the mechanical forces of nature can be compelled to do work accompanied by certain determinate motions. Mechanism: assemblage of resistant bodies, connected by movable joints, to form a closed kinematic chain with one link fixed and having the purpose of transforming motion.

Definitions
Joints
Kinematics Chain Links
Fix one link as frame Add input energy

Mechanism

Machine

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Pairs/Joints
Relative motion between elements pairs Recognize type of relative motion Assign variable parameters to measure motion (pair variables) Kinematics Pairs Lower: surface contact between elements Higher: line or point contact

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Lower Pairs

a) b) c) d) e) f)

. . . . . .

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Higher Pairs
All those pairs that .. they are NOT of the lower type e.g. Wheel rolling and/or sliding on a rail Ball rolling on a flat surface Cam contacting its follower, etc. Wrapping Pair: a subcategory where one of the links has one-way rigidity e.g. Belt & pulley Chain & sprocket Rope & drum etc.
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Mechanisms & Linkages

Mechanisms: include both higher & lower pairs Linkages: include only lower pairs

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