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Machinery Design: Kinematics & Dynamics

The document discusses the design of machinery, focusing on the kinematics and dynamics of mechanisms, which includes synthesizing and analyzing mechanisms for specific motions. It explains concepts such as degrees of freedom, types of motion, links, joints, kinematic chains, and mechanisms. Additionally, it introduces Gruebler's equation for calculating the degrees of freedom in mechanical systems.

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slatopkaya6
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13 views5 pages

Machinery Design: Kinematics & Dynamics

The document discusses the design of machinery, focusing on the kinematics and dynamics of mechanisms, which includes synthesizing and analyzing mechanisms for specific motions. It explains concepts such as degrees of freedom, types of motion, links, joints, kinematic chains, and mechanisms. Additionally, it introduces Gruebler's equation for calculating the degrees of freedom in mechanical systems.

Uploaded by

slatopkaya6
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Design of machinery

kinematics and dynamics


The study
of of
machineries which includes two areas key
The synthesis of mechanisms creating mechanisms
to achievespecific motions or tasks
The analysis of mechanisms understanding the

rigid body dynamic behavior


therefore the primary
This course is
Designing mechanisms for desired
motions
Analyzing mechanism to compute their
forcesandaccelerations
Kinematics
and kineters
kinematics The study of motion without regard to forces
Kinetics The study of forces on systems in motion
F ma
Degree of Freedom DOF

Me DOF of a systemdefines the number of


mechanical

independent parameters required to determine its position

in space
A rigid body in a
plane n g 0

In 3D space n y Z α β 8
motion
Types of
1 pure Rotation movement about a fixed can

2 translation movement where all points


pure
on the body follow
parallel
motion
path
3 Complex A combination of rotation and
translation
Link and joints

Link A rigid body with at least two points


for attachment
Binary link 2 nodes

Ternary link 3 node

Quaternary link 4 nod

I
a 1
y
Joint Connects links and allows motion
Lower pair surface contact e.g pin

line contact
Higher pair point or

see
Fig 2.3
Kinematic chain A group of links and joints

Connected to produce Controlled motion

when
given an input
Mechanism A kinematic chain where at least one

link is fixed to a frame or ground

and transfer motion


Machine A mechanism designed to transfer
forces and perform work

nematic chain

me
Degree of freedom DOF

inputs that need to be


The number of
provided to create a predictable output
Mobility

Gruebler's equation
M 3 n 1 2J 72
n number of links
J number of lowerpair joints

Ja number of higher pair joints

proof
total DOF 3 n

number of 2 5 ground 3XG


constraint
due to
lower joints

number of I J
Constraint
due to
higher
M 3h 2J J2 3Gt
3 n 1 2T 52
J
n 4
J J 4

52 0

1 m 3 4 1 2 4

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