INDIAN INSTITUTE OF TECHNOLOGY,
BOMBAY
ME748: Computer Aided Simulation of Machines
Term Project - 2
5-Bar Slotted Slider Mechanism
Submitted By
SATTYAM MAURYA
(22M1663)
Under the supervision of: Prof. Anirban Guha
Department of Mechanical engineering
IIT Bombay
Date: 22 March 2023
1
Table of Contents
Section 1: Static force analysis ................................................................................................... 3
Section 2: Validation of static force analysis .............................................................................. 6
Section 3: Dynamic motion analysis ........................................................................................ 11
Section 3.1: Constant driving force/torque .......................................................................... 11
Section 3.1.1: Velocity and acceleration plot subjected to force/torque, of the output
component........................................................................................................................ 11
Section 3.1.2: Velocity and acceleration plot subjected to double force/torque, of the
output component............................................................................................................ 12
Section 3.2: Sinusoidal driving force/torque ........................................................................ 13
2
Section 1: Static force analysis
I choose a static force of 100 N which is applied at the slider because it is my output link as
shown in figure below. If we are using this mechanism for quick return mechanism or as a
crusher mechanism then during the forward stroke force will act in downward direction.
19930
14951
9972
4993
14
0.00 0.60 1.20 1.80 2.40 3.00 3.60 4.20 4.80 5.40 6.00
Tim e (sec)
Figure 1
To show the value at 0 degree clearly, I have shown this same plot again through excel:
Motor Torque vs time Graph
22444
Motor Torque (N-mm)
17958
13472
8986
0, 5490.316237
4500
14
0 1 2 3 4 5 6
Time (s)
Figure 2
Above is the graph of input motor torque during motion. To hold the entire mechanism in its
different positions, a torque is delivered to the Input Crank at each position, and the value is
obtained from the Solidworks. The four positions of mechanism which we are considering are:
θ = 0o, 90o, 180o and 270o. Where θ is angle made by input crank with the horizontal. These
positions, as well as the values and directions of applied holding torque, are given in the
figures below.
3
1. Position 1 - Θ = 0o
F = 100 N
T = 5490.31 N-mm
Figure 3
2. Position 2 - Θ = 90o
F = 100 N
T = 238.34 N-mm
Figure 4
4
3. Position 3 - Θ = 180o
F = 100 N
T = 839.55 N-mm
Figure 5
4. Position 4 - Θ = 270o
F = 100 N
T = 2694.52 N-mm
Figure 6
5
Section 2: Validation of static force analysis
100 N
C
Q
P
Figure 7
In the above figure, position of mechanism at θ = 0o is shown. A force of 100 N is applied at
point S i.e., the Slider block. As the mechanism is in statically balanced condition, so we can
use static force balance equations to calculate forces. As we need to calculate torque at input
crank PQ, we begin at point S and calculate backwards. The calculation and free body diagram
are shown below:
6
7
The calculation part and value of all link length are shown in MATLAB code below:
8
clc
clear
format shortG
F = 100 % applied force
F =
100
l_1 = 73;
l_2 = 15;
l_3 = 85;
l_4 = 76;
l_c1 = 19.5;
l_c2 = 17;
l_c3 = l_3-l_c1;
l_c4 = l_4-l_c2;
% Equation for slider
F_4y = F
F_4y =
100
% Equation for coupler
F_3y = F
F_3y =
100
F_4x = (F*l_2)/l_1
F_4x =
20.548
F_3x = (F*l_2)/l_1
F_3x =
20.548
% Equation for slotted rod
% Now we will write matrix for F_2x F_2y R_cx R_cy
A = [1, 0, 1, 0;
0, 1, 0, 1;
0, 0, -l_c1, l_c2;
l_3, -l_4, l_c3, -l_c4];
Rhs = [(F*l_2)/l_1; F; F*l_4-(F*l_2*l_3)/l_1; 0];
Force_Vec = (A^-1)*Rhs;
F2y = Force_Vec(2)*(-1)
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F2y =
128
Crank_l = 41.92; % crank length
torque_0 = F2y*Crank_l % torque at 0 degree,N-mm
torque_0 =
5365.8
So that Toque needed to hold the mechanism at the given position = 5365.8 Nmm at this given load
of 100 N.
We can see that the value of torque obtained from software plot comes out to be 5490.32 N-mm.
5365.8−5490.32
% Error between analytical method and software plot method = * 100 = -2.32 %
5365.8
10
Section 3: Dynamic motion analysis
Section 3.1: Constant driving force/torque
Section 3.1.1: Velocity and acceleration plot subjected to force/torque, of the output
component
Output component is Slider. We take driving torque to be 2.25 [Link] on input crank.
Following are velocity and acceleration plots:
a. Velocity plot at 2.25 [Link]:
Slider Velocity (mm/s)
veocity ( T = 2.25 N-mm)
2500 2108.92
2000
1500
Velocity (mm/s)
1000 1629.48
500
0
-500
-1000
-1500
-2000
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
Time (s)
Figure 8
Peak velocity during first cycle = 1629.48 mm/s
Amplitude of second velocity cycle = 2108.92 mm/s
Now we have to find the difference should be in between the 15 to 30 %
2108.92−1629.48
% increase in amplitude = *100 = 29.43%
1629.48
So, as we % increase in amplitude for velocity is 29.43% which is in the given range.
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b. Acceleration plot at 2.25 [Link]:
Slider acceleration (mm/s2)
Acceleration ( T = 2.25-Nmm)
400000
Acceleration (mm/s2)
300000
200000
100000
0
-100000
-200000
-300000
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
Time (s)
Figure 9
Section 3.1.2: Velocity and acceleration plot subjected to double force/torque, of the output
component
We double the value of the torque applied on Input Crank which comes to 4.5 [Link]. Resulting
velocity and acceleration plots are shown as a comparison with those obtained in the previous
section.
a. Velocity plot at 4.5 [Link]:
Slider Velocity Comparison (mm/s) Velocity (T= 2.25-Nmm)
Velocity (T= 4.5- Nmm)
4000
3000
2000
Velocity (mm/s)
1000
-1000
-2000
-3000
-4000
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
Time (s)
Figure 10
12
b. Acceleration plot at 4.5 [Link]:
Slider Acceleration (mm/s2) Acceleration (T = 2.25-Nmm)
Acceleration (T = 4.5 N-mm)
1000000
800000
600000
Acceleration (mm/s2)
400000
200000
-200000
-400000
-600000
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
Time (s)
Figure 11
Section 3.2: Sinusoidal driving force/torque
We apply a sinusoidal torque on Input Crank and plot the variation of velocity and acceleration
against time. Here, the amplitude of applied torque is 1.4 times the value of constant torque
applied in section 3.1.1.
Thus, sinusoidal T = 1.4*2.25 = 3.15 [Link]. Torque variation is shown in figure below:
13
Figure 12
Figure 13
a. Velocity Plot at Sinusoidal torque:
Slider Velocity (Sinusoidal Torque)
3000
2000
1000
Velovity (mm/s)
-1000
-2000
-3000
-4000
0 0.1 0.2 0.3 0.4 0.5 0.6
Time (s)
Figure 14
14
b. Acceleration Plot at Sinusoidal torque:
Slider Acceleration(Sinusoidal Torque)
1000000
800000
Acceleration (mm/s2)
600000
400000
200000
0
-200000
-400000
-600000
0 0.1 0.2 0.3 0.4 0.5 0.6
Time (s)
Figure 15
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