EXPERIMENT:- 01

TO INVESTIGATE THE FUNCTIONALITY OF DIFFERENT

MECHANISMS
OBJECTIVE:
In these Mechanisms, we will draw the displacement, velocity & acceleration
graph of each
We have to analyze the working of each mechanism.
We have to explain the different types of mechanisms & their practical
applications in machines in detail.
We have to do the kinematic analysis & calculations of each mechanism.
We have to analyze the efficiency & mechanical advantage of these
mechanisms relating to their applications.
THEORY:

Mechanism:
A mechanism is a device designed to transform input forces and movement into a
desired set of output forces and movement. Mechanisms generally consist of
moving components such as gears and gear trains, belt and chain drives, cam and
follower mechanisms, and linkages as well as friction devices such as brakes and
clutches, and structural components such as the frame, fasteners, bearings,
springs, lubricants and seals, as well as a variety of specialized machine elements
such as splines, pins and keys. Thus, mechanism is a fundamental unit & one has to
start with its study. The study of mechanism involves its analysis and synthesis.
Analysis is the study of motions and forces concerning different parts of an existing
mechanism whereas synthesis involves the design of its different parts. In a
mechanism, the various parts are so proportioned and related that the motion of
one imparts the requisite motions to others and the parts are able to withstand the
forces impressed upon them.
The simplest
example for a mechanism is a liver hinged at a wedge. It transfers input motion at
one end to the output motion on the other end. A scissors is a combination of two
livers; the mechanical work from one end can be transformed to cutting motion on
the output end. The two livers in scissors are connected together by a joint (revolute
joint). A slightly more complex mechanism is a slider crank mechanism.

Kinematics - Analysis of Mechanisms - Methods and Techniques:

Motion of various mechanisms building the machines results in the required output.
The performance of a machine is analyzed by calculating the position, velocity and
acceleration of points on the different parts of the mechanisms and tracing the
trajectory they follow.

Analysis of Mechanisms:
Analysis of mechanisms is the study of motion of different members constituting a
mechanism and the mechanism as a whole entity while it is being operated or run.
This study of motion involves linear as well as angular position, velocity and
acceleration of different points on members of mechanisms. Analysis and synthesis
are two different aspects of mechanisms and machine design.
Earlier design engineers used drafting equipments to graphically analyse the
mechanisms. The continuous contribution by design engineers for years has lead to
development of many methods and techniques for analysis of mechanisms.
Recently, the development of computer techniques has offered a number of viable
and attractive solutions.

Methods and Techniques of Mechanism Analysis:

Mechanism analysis methods are basically of two types, graphical and analytical.
Each method has many techniques for analysis of mechanisms, where each
technique is suitable for a particular category of mechanisms. With the
development of sophisticated computer programs design engineers prefer to
concentrate their effort on analytical approach. But still the graphical approach to
mechanism analysis has not lost its utility, especially in some cases where graphical
technique gives the most efficient solution and physical insight to visualize working
of the mechanism.

Graphical Method of Mechanism Analysis:

Graphical method starts with position analysis by simply drawing the linkage
mechanism to scale. Then the velocity analysis is performed which requires the
angular position of the links to be determined beforehand. Similarly it is necessary
to know angular velocities of links for acceleration analysis. Thus, the sequence for
kinematic analysis of mechanisms is - position analysis, then velocity analysis and
then acceleration analysis.

Synthesis of Mechanisms:
The motion to be generated by machines are generally irregular, any motion except
uniform rotation about a fixed axis and uniform translation. The machine designer's
task is to design such mechanisms which can generate these required irregular
motions. The simplest way to design such mechanisms is by clever combination and
assembly of cams and/or linkages. Thus, basically there are two types of motion
generators:

Cams
Linkages

Each of the cam and linkage has their own advantages and disadvantages. Cams
are easy to design but cams are difficult and expensive to manufacture. Cams
generally have continuous point or line contact and thus wear out early. On the
other hand, linkages are difficult to design but linkages are less expensive and easy

to manufacture and also linkage mechanisms are more reliable.

Manufacturing of machine parts is more expensive process than designing or
synthesis, so to save on costs one can put more effort in synthesis of mechanisms.
From this view point linkages have an advantage over cams to be preferred for
machine design.
Science is
the study of what already exists and engineering is the creation of what is required.
This creation of the needful is design or in more technical terms synthesis. The
mechanisms are designed to generate the desired motions by combination of
different machine elements.

Linkage Mechanism Synthesis:

The most widely used mechanisms are four link mechanisms. The four link
mechanisms are simplest mechanisms capable of performing most desired
functions. The design techniques used for four link mechanisms can be extended to
be used for design of five and six link mechanisms. In this article series emphasis
will be on four link mechanism synthesis.
The members in linkage mechanisms are connected through joints having surface
contacts. Surface contact in joints provide good lubrication and wears resistance.
Revolute joints and prismatic joints are the only two kinematic joints available to be
used in linkage mechanisms. A four link mechanism has four joints and only two
types of joints can be used, it makes only four possibilities for types of four link
mechanisms with joints having surface contact.

Types of Four Link Mechanisms:

The Four Bar Linkage Mechanism:

This mechanism has all the four joints as revolute joints. The inversions of
four bar linkage mechanisms are also four bar linkage mechanisms.

The Slider Crank Mechanism:

This mechanism is used when either linear input is provided or a linear output
is required. The slider crank mechanism is generally used to obtain linear
oscillatory motion from rotary motion and vice versa. The inversions of slider
crank mechanism also come under this same classification.

The Elliptical Trammel Linkage:

This mechanism has two revolute joints and two prismatic joints on same
links. The name Elliptical Trammel is given to this mechanism as the path of
all the points on the coupler are ellipses.

The Rapson Slide Linkage:

This mechanism also has two revolute joints and two prismatic joints but they
are not on same links, each link has one revolute joint and one prismatic
joint. Its inversions are also Rapson slide linkages.

Special Mechanisms:
There are some unusual mechanisms which can meet common needs of mechanical
engineering problems. These tools help with a range of purposes like generating

straight lines, transferring torque between non-coaxial shafts, self-centering

steering and mechanical punched card readers.
Some
mechanisms have special motion characteristics different from those of generic
mechanisms. These mechanisms are used for special purposes and few particular
categories of motion. These mechanisms are unusual enough to be called as Special
Mechanisms. Some common needs of mechanical engineering practice are:

Generation of a straight line motion by linkage mechanism.

Reproduction of a path traced by one point at another tracing point with a
change in scale
Transfer of torque and motion between non-coaxial shafts with changing
relative alignment.
Automotive steering mechanisms and suspension mechanisms.
Indexing: Intermittent timed motion.

Straight Line Mechanisms:

Generation of straight line motion using linkage mechanisms has always been a
common requirement in machine design practice. Although exact straight line
cannot be generated using simple mechanisms though some simple mechanisms
are designed such that they can produce approximate straight lines for short range
of motion. These approximate straight line mechanisms has important applications
in machine design. These mechanisms were used extensively in classical machines
such as steam engines. Perfect straight lines can also be generated using linkage
mechanisms but those are relatively complex mechanisms.
There are two classes of straight line mechanisms:

Approximate Straight Line Mechanisms

Exact Straight Line Mechanisms

The straight line mechanisms were mostly developed in industrial revolution days
when many machines required straight line paths in their operations, whether it was
guiding the piston of engines or for operating valves. Straight line mechanisms were
developed by continuous effort in trail and error process with making intelligent
variations in linkage mechanisms.

Watt's Straight Line Mechanism:

Approximate straight line mechanisms can generate straight line motion to a good
deal of accuracy for short range. Such mechanisms are generally four bar linkage
mechanisms. The straight line mechanism developed by James Watt, to guide the
piston of steam engines through a straight line path, is considered to be as the best
and simplest mechanism able to generate close to straight line motion for
considerable distance. This mechanism is called as Watt's straight line mechanism
or simply Watt's Linkage.
Watt's linkage is a simple four bar mechanism of double-rocker type with the two
rockers connected through a coupler. When the two rockers move the mid-point of

the coupler moves in an almost straight line path for the motion close to coupler's
mean position. If something is hinged to the middle point of the coupler of Watt's
linkage it will be constrained to move in straight line path close to the coupler's
mean position.
This property of Watt's linkage is utilized in construction of rear axle suspension
system of car to prevent sideways motion of car body relative to the rear axle.

Different Techniques of Graphical Analysis:

Velocity and Acceleration Polygon: Velocity and acceleration are vectors

and thus their sum or difference will follow vector polygon laws. If velocity of
one point on a link is known then the velocity of other points can be found
using the vector polygons. This technique is based on vector polygon laws.
Velocity and Acceleration Image: This technique is used for graphical
analysis of mechanisms with more than one loop. If the velocity and
acceleration of two points on a link are known then the velocity and
acceleration of third point on that link can be determined using velocity and
acceleration image.
Inversion Technique: When it is not possible to analyse the linkage directly
using vector polygon approach then Inversion Technique is used. In this
technique the driven and driver cranks are interchanged to perform graphical
analysis.
Relative Velocity and Acceleration: This technique is used to analyse
mechanisms with large number of members. In this technique the
relationships between relative linear/angular velocities and acceleration of
points/members are used to analyse the mechanisms.
Instant Center of Velocity: For a rigid body moving in a plane, at every
instant there exists a point that is instantaneously at rest. This instant center
of velocity for the given rigid body is found using standard methods. It is
useful for finding input-output velocity relationships of complex mechanisms.

Analytical Method of Mechanism Analysis:

Analytical method is used when repetitive and extensive analysis of mechanisms is
required, as the analytical equations and solutions obtained can be conveniently
programmed on a computer. In this approach vector position, velocity and
acceleration equations are formulated based on the fact that there are two different
paths connecting the points on a vector loop. The equations thus obtained are
simplified and programmed using computers. Desirable solutions are obtained by
varying the parameters.

Types of Mechanisms:
Planar mechanism:
A planar mechanism is a mechanical system that is constrained so the trajectories
of points in all the bodies of the system lie on planes parallel to a ground plane. The

rotational axes of hinged joints that connect the bodies in the system are
perpendicular to this ground plane.

Spherical mechanism:
A spherical mechanism is a mechanical system in which the bodies move in a way
that the trajectories of points in the system lie on concentric spheres. The rotational
axes of hinged joints that connect the bodies in the system pass through the center
of these spheres.

Spatial mechanism:
A spatial mechanism is a mechanical system that has at least one body that moves
in a way that its point trajectories are general space curves. The rotational axes of
hinged joints that connect the bodies in the system form lines in space that do not
intersect and have distinct common normals.

Gears and Gear Trains:

The transmission of rotation between contacting toothed wheels can be traced back
to the Antikythera mechanism of Greece and the south-pointing chariot of China.
Illustrations by the renaissance scientist Georgius Agricola show gear trains with
cylindrical teeth. The implementation of the involute tooth yielded a standard gear
design that provides a constant speed ratio. Some important features of gears and
gear trains are:

The ratio of the pitch circles of mating gears defines the speed ratio and the
mechanical advantage of the gear set.
A planetary gear train provides high gear reduction in a compact package.
It is possible to design gear teeth for gears that are non-circular, yet still
transmit torque smoothly.
The speed ratios of chain and belt drives are computed in the same way as
gear ratios. See bicycle gearing.

Cam and follower mechanisms:

A cam and follower is formed by the direct contact of two specially shaped links.
The driving link is called the cam (also see cam shaft) and the link that is driven
through the direct contact of their surfaces is called the follower. The shape of the
contacting surfaces of the cam and follower determines the movement of the
mechanism. In general a cam follower mechanism's energy is transferred from cam
to follower. The cam shaft is rotated and, according to the cam profile, the follower
moves up and down. Now slightly different types of eccentric cam followers are also
available in which energy is transferred from the follower to the cam. The main
benefit of this type of cam follower mechanism is that the follower moves a little bit
and helps to rotate the cam 6 times more circumference length with 70% force.

Linkages:
A linkage is a collection of links connected by joints. Generally, the links are the

structural elements and the joints allow movement. Perhaps the single most useful
example is the planar four-bar linkage.

Flexure mechanisms:
A flexure mechanism consisted of a series of rigid bodies connected by compliant
elements (flexure bearings also known as flexure joints) that is designed to produce
a geometrically well-defined motion upon application of a force.

Kinematics and Dynamics of Mechanisms:

Kinematics of mechanisms is concerned with the motion of the parts without
considering how the influencing factors (force and mass) affect the motion.
Therefore, kinematics deals with the fundamental concepts of space and time and
the quantities velocity and acceleration derived there from. It also deals with action
of forces on bodies. This is where the effects of gravity come into play. Dynamics is
the combination of kinematics and kinetics. Dynamics of mechanisms concerns the
forces that act on the parts -- both balanced and unbalanced forces, taking into
account the masses and accelerations of the parts as well as the external forces.

Links, Frames and Kinematic Chains:

A link is defined as a rigid body having two or more pairing elements which connect
it to other bodies for the purpose of transmitting force or motion.
In every machine, at least one link either occupies a fixed position relative to the
earth or carries the machine as a whole along with it during motion. This link is the
frame of the machine and is called the fixed link.
The combination of links and pairs without a fixed link is not a mechanism but a
kinematic chain.

Pairs, Higher Pairs, Lower Pairs and Linkages:

A pair is a joint between the surfaces of two rigid bodies that keeps them in contact
and relatively movable. Generally, there are two kinds of pairs in mechanisms:

Lower pairs: When the two links have surface contact between them, it is
known as lower pair.
Higher pairs: When the two links have line or point contact between them,
it is known as higher pair.
Mechanisms composed of rigid bodies and lower pairs are called linkages.

Inversion of mechanism:
The process of fixing different links of a kinematic chain one at a time to produce
distinct mechanisms is called kinematic inversion. Here the relative motions of the
links of the mechanisms remain unchanged.
Let us consider the simplest kinematic chain, i.e., a chain consisting of four binary
links and four revolute pairs. The four different mechanisms can be obtained by four
different inversions of the chain.
Every mechanism has moving
members which move relative to each other about the joints connecting them.

These relative motions result in the trajectories of the points on members of the
mechanism. In any mechanism one link or member is fixed and acts as the frame.
The trajectories and motion characteristics of mechanism depend on the choice of
the reference frame link.
Inversions of a
mechanism are the different configurations of the mechanism with change of the
fixed reference link called frame. For different inversions of a mechanism although
the motion characteristics are entirely different but the relative angular
displacements of the members remain unchanged irrespective of the link chosen as
frame.
The information obtained from one inversion of the linkage can be used to study
other inversions of that linkage. Inversion technique is used extensively for analysis
and synthesis of mechanisms.

Determining the inversion of mechanism:

Every mechanism is formed of a kinematic chain. When one of the links in the
kinematic chain is fixed it becomes a mechanism. To determine the inversions of a
mechanism consider the kinematic chain forming the mechanism and obtain the
desired inversions by fixing any one of the members as the frame link.

Degree of Freedom:
Degrees of Freedom of members and joints of mechanisms govern the working of a
machine. Each member of mechanism can move in certain directions or rotate
about certain axes and is not allowed to move or rotate in other directions. Degrees
of Freedom determine the possible movements of mechanisms.
Degree of freedom (DoF) is related to the motion possibilities of rigid bodies.
Kinematic definition for DoF of any system or its components would be the number
of independent variables or coordinates required to ascertain the position of the
system or its components".
The
concept of DoF in kinematics of machines is used in three ways. DoF of:

A body relative to a reference frame.

A kinematic joint.
A mechanism.

Determining Degrees of freedom:

Degrees of Freedom can be determined by analysis of motion of the concerned body
or by determining the number of coordinates required to specify position of the
body. In this article planar cases are considered which can be extended to spatial
cases.

Degrees of freedom of a body relative to a specified reference

frame:
In a plane the
position of a body relative to a reference frame can be specified by two
position coordinates (say X and Y) and one coordinate (say theta) for
specifying the orientation of the body. Total three coordinates are required to

specify the position of the body if there are no constraints applied. The DoF
will reduce as the motion of the body is restricted.
For example, a body is not allowed to move along one axis in the plane. As a
result one DoF if lost thus leaving only two DoF.
Degrees of freedom of a kinematic joint:
Two bodies connect with each other to form a joint. One body can move in a
number of ways relative to the other and may be constrained in other ways.
DoF of a kinematic joint is number of ways in which one member of the joint
can move relative to the other member.
For example,
revolute joint has one DoF as one member can move only in one way relative
to the other member. It can only rotate about the axis of the joint. Prismatic
joint also has only one DoF as one of the two members can slide along the
other in one direction only.

Cylindrical joint has two DoF as one of the two members can rotate about the axis
of the joint and can also translate along it. Two motions possible so two DoF.

Degrees of freedom of a mechanism:

The DoF for a mechanism is defined as the number of coordinates or
variables required to be specified such that the position and orientation of all
the members of the mechanism can be stated as a function of time.
For determining the DoF for a mechanism we will start with assuming all the
members of the mechanism free in plane and thus having three DoF each.
Then we will apply constraints and DoF will reduce as the members are joined
together to form mechanism.
Take the
mechanism to be composed of n members or links. Initially each link is
assumed to be free and thus the mechanism has 3n DoF. One of the members
is to be a base or frame link thus have zero DoF or it lost its all three DoF. The
DoF left in the mechanism at this stage is 3n-3 or 3(n-1).
When the pairs of links form joints they will loose DoF. If the formed joint have
'Fi' DoF each then reduction in DoF is (3-Fi) as they were initially free (having
3 DoF). If there are 'j' number of joints then total reduction in DoF will be
summation of (3-Fi) over 'j' number of joints . The net DoF for a mechanism
can be given by:

Four Bar Chain:

One of the most useful and most common mechanisms is the four-bar linkage. In
this mechanism, the link which can make complete rotation is known as crank (link
2). The link which oscillates is known as rocker or lever (link 4). And the link
connecting these two is known as coupler (link 3). Link 1 is the frame.
Inversions of four bar chain:

Crank-rocker mechanism:
In this mechanism, either link 1 or link 3 is fixed. Link 2 (crank) rotates completely
and link 4 (rocker) oscillates.

Drag link mechanism:

Here link 2 is fixed and both links 1 and 4 make complete rotation but with different
velocities. This is similar to 1.23(c).

Double crank mechanism:

This is one type of drag link mechanism, where, links 1& 3 are equal and parallel
and links 2 & 4 are equal and parallel.

Double rocker mechanism.:

In this mechanism, link 4 is fixed. Link 2 makes complete rotation, whereas links 3 &
4 oscillate.

QUICK

RETURN
MECHANISM:

A quick
used
convert

return mechanism is
where there is a need to
rotary motion into
reciprocating motion. As
rotates the slide moves
and backwards. Many
have this type of
mechanism and in the

the disc
forwards
machines
school workshop the best example is the shaping machine.

Description:
The Whitworth quick return mechanism converts rotary motion into reciprocating
motion, but unlike the crank and slider, the forward reciprocating motion is at a
different rate than the backward stroke. At the bottom of the drive arm, the peg
only has to move through a few degrees to sweep the arm from left to right, but it
takes the remainder of the revolution to bring the arm back. This mechanism is
most commonly seen as the drive for a shaping machine.

What are differences between crank and slotted lever mechanisms

and a Whitworth quick return mechanism?
The Whitworth Mechanism and crank and slotted lever mechanism are inversion of
crank-slider mechanism.
The slotted lever mechanism is used in Shaper machines for quick return
mechanism; while Whitworth mechanism is used in Slotting machine.

Also, the velocity of forward stroke in Crank and slotted lever mechanism remains
same for different stroke length while the velocity of return stroke decreases for
smaller stroke lengths. Thus for smaller stroke lengths Slotted lever serves no
advantage over quick return.
Whereas, the
is no such problem in Whitworth quick return mechanism.

Kinematic of Quick Return Mechanism:

Kinematic analysis is important for find out position, velocity and acceleration of
each link in quick return mechanism, mathematical model of kinematic analysis is
generated using constrain geometrical method in which whole quick return
mechanism is divided into two close loop system.
In quick return mechanism, velocity of cutting stroke and return stroke both change
with the change in length of slotter link but total velocity ratio remains constant. the
velocity ratio and force output changes with the change in height of slider. The ratio
of length of slotter link to height of slider is 1.083 and at this instant the velocity
ratio and force found to be with their maximum value during the stroke

Practical Applications:

This Mechanism yields a significant improvement in machining productivity.

Currently, it is widely used in machine tools, for instance, shaping machines,
power-driven saws, and other applications requiring a working stroke with
intensive loading, and a return stroke with non-intensive loading.
This mechanism is widely used in:
1. Shaper Machine
2. Punching Machine
3. Power press
Several quick return mechanisms can be found in the literatures, including
the offset crank-slider mechanism, the crank-shaper mechanisms, the double
crank mechanisms, and the Whitworth mechanism. All of them are linkages.

Observations & Calculations:

No. of
Obs.

Angle()
(Degrees)

Displaceme
nt(x)
(Inches)

No. of
Obs.

Angle()
(Degrees
)

Displaceme
nt(x)
(Inches)

1
2
3
4
5
6
7
8
9

0
10
20
30
40
50
60
70
80

-0.6
-0.3
-0.1
0.2
0.45
0.75
1.05
1.3
1.55

20
21
22
23
24
25
26
27
28

190
200
210
220
230
240
250
260
270

-1.3
-1.7
-1.95
-2.1
-2.25
-2.3
-2.3
-2.3
-2.25

10
11
12
13
14
15
16
17
18
19

90
100
110
120
130
140
150
160
170
180

1.7
1.85
1.95
1.92
1.75
1.45
0.97
0.37
-0.25
-0.85

29
30
31
32
33
34
35
36
37

280
290
300
310
320
330
340
350
360

-2.15
-2.00
-1.85
-1.7
-1.55
-1.35
-1.10
-0.85
-0.6

Graph b/w Angle & Displacement

3
2
1

Displacement

0
0

50

100

150

200

250

300

-1
-2
-3

Angle

Whitworth Quick Return Mechanism:

Graph b/w Angle & Displacement

60
40

Displacement

20
0

5 10 15 20 25 30 35 40

Angle

Slider Crank Mechanism:

This mechanism is composed of three important parts:

350

400

The crank which is the rotating disc

The slider which slides inside the tube and
The connecting rod which joins the parts together.

A crank is an arm attached at right angles to a rotating shaft by which reciprocating

motion is imparted to or received from the shaft. It is used to convert circular
motion into reciprocating motion, or vice versa. The arm may be a bent portion of
the shaft, or a separate arm or disk attached to it. Attached to the end of the crank
by a pivot is a rod, usually called a connecting rod. The end of the rod attached to
the crank moves in a circular motion, while the other end is usually constrained to
move in a linear sliding motion.
As the slider moves to the right the connecting rod pushes the wheel round for the
first 180 degrees of wheel rotation. When the slider begins to move back into the
tube, the connecting rod pulls the wheel round to complete the rotation.
Slider-crank mechanism, arrangement of mechanical parts designed to convert
straight-line motion to rotary motion, as in a reciprocating piston engine, or to
convert rotary motion to straight-line motion, as in a reciprocating piston pump.

Applications:
Following are the applications of the above mechanisms:
Reciprocating engine
Rotary engine
Oscillating cylinder engine
Hand Pump
Scotch Yoke
Shaper Machine
Elliptical Trammel

Observations & Calculations:

No. of
Obs.

Angle()
(Degrees
)

0
10

2
3
4

20
30

Displaceme
nt(x)
(mm)

No. of
Obs.

20
21
22
23

0.5
2
5

Angle()
(Degrees
)
190
200
210
220

Displaceme
nt(x)
(mm)
70.5
69
68
63

5
6
7
8
9
10
11
12
13
14
15
16
17
18
19

40
50
60
70
80
90
100
110
120
130
140
150
160
170
180

9
14.5
19.5
26
31.5
38
44
50
54.5
59.5
63
65.5
68
70
70.5

24
25
26
27
28
29
30
31
32
33
34
35
36
37

230
240
250
260
270
280
290
300
310
320
330
340
350
360

59.5
56.5
50
44.5
40.5
33
27
21.5
15.5
10.5
6
3
1
0

Graphb/w Angle & Displacement

80
70
60
50

Displacement

40
30
20
10
0

10

15

20

25

30

35

40

Angle

Scotch yoke Mechanism:

The Scotch yoke is a mechanism that converts rotational motion to linear motion.
The piston or other reciprocating part is directly coupled to a sliding yoke with a slot
that engages a pin on the rotating part.

Advantages of Scotch Yoke:

High torque output with a small cylinder size.

Fewer moving parts.

Smoother operation.

Higher percentage of the time spent at top dead center (dwell) improving
engine efficiency.

Applications of Scotch Yoke:

The Scotch Yoke is most commonly used in control valve actuators in high
pressure oil and gas pipelines.

A Shaper (which is not commonly used today) uses a Scotch yoke which has
been adjusted to provide a slow speed forward stroke and a faster return.

Scotch Yoke is also used in various engine types, such as Bourke engine,
SyTech engine, and many hot air engines and steam engines.

Observations & Calculations:

No. of
Obs.

Angle()
(Degrees
)

0
10
20
30
40
50
60
70
80
90
100
110
120
130
140
150
160
170
180

2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19

Displaceme
nt(x)
(Inches)
2.75
3.15
3.55
3.9
4.2
4.45
4.7
4.85
4.93
4.95
4.93
4.85
4.7
4.45
4.2
3.9
3.55
3.15
2.73

No. of
Obs.

Angle()
(Degrees
)

Displaceme
nt(x)
(Inches)

20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37

190
200
210
220
230
240
250
260
270
280
290
300
310
320
330
340
350
360

2.25
1.8
1.4
1
0.65
0.35
0.13
0
0
0
0.15
0.35
0.65
1
1.4
1.85
2.25
2.75

Graph b/w Angle & Displacement

60
50
40
Displacement

30
20
10
0

50

100

150

200
Angle

250

300

350

400

Scotch Yoke mechanisms:

Inversions of double slider crank mechanism:

Elliptical trammel: This is a device which is used for generating an elliptical profile.

In fig. 1.35, if AC = p and BC = q, then, x = q.cos and y = p.sin.

Rearranging,

This is the equation of an ellipse. The path traced by point C is an ellipse, with major axis and
minor axis equal to 2p and 2q respectively.
Oldham coupling: This is an inversion of double slider crank mechanism, which is used to
connect two parallel shafts, whose axes are offset by a small amount.

Slider crank chain:

This is a kinematic chain having four links. It has one sliding pair and three turning
pairs. Link 2 has rotary motion and is called crank. Link 3 has got combined rotary
and reciprocating motion and is called connecting rod. Link 4 has reciprocating
motion and is called slider. Link 1 is frame (fixed). This mechanism is used to
convert rotary motion to reciprocating and vice versa.

Inversions of
crank chain:
of slider crank
mechanism is
by fixing links 2, 3

slider
Inversions
obtained
and 4.

(b) connecting rod fixed

(c) slider fixed
(a) crank fixed
Rotary engine:
I inversion of slider crank mechanism. (crank fixed)

Whitworth quick return motion mechanismI inversion of slider crank

mechanism:

Crank and slotted lever quick return motion mechanism II

inversion of slider crank mechanism (connecting rod fixed):

Oscillating cylinder engineII inversion of slider crank mechanism

(connecting rod fixed):

Pendulum pump or bull engineIII inversion of slider crank mechanism (slider fixed).

Double slider crank chain: It is a kinematic chain consisting of two turning pairs and two
sliding pairs.
Crank & Slotted lever Mechanism:

Graph b/w Angle & Displacement

120
100
80
Displacement

60
40
20
0

50

100

150

200

250

300

350

400

Angle

Results & Comments:

Values are not more accurate due to faulty apparatus

Working of each mechanism is slightly different from other but their ultimate
purpose is to increase the efficiency of a mechanism
New mechanism are more efficient than old mechanisms due to less error.
The increase or decrease in displacement with angle is quite different for
each mechanism.