0% found this document useful (0 votes)
37 views4 pages

Homework 4

a

Uploaded by

cemal.signups
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
0% found this document useful (0 votes)
37 views4 pages

Homework 4

a

Uploaded by

cemal.signups
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

ME 350R/380R: Robot Mechanism Design

Meredith L. Symmank
Walker Department of Mechanical Engineering
The University of Texas at Austin

March 26, 2025

Homework 4 (50 points) Due Date: April 9, 2025

Problem 1: 15 pts

Figure 1 shows the powder compaction mechanism you have seen several times now.
Calculate and plot the linear acceleration of the output slider link as a function of the
angle of link AC as it rotates from 15° to 60° for the following instantaneous input angular
velocities and accelerations:

a. 𝛼2 = 0 𝑟𝑎𝑑/𝑠𝑒𝑐 2 , 𝜔2 = 1 𝑟𝑎𝑑/𝑠𝑒𝑐

b. 𝛼2 = 1 𝑟𝑎𝑑/𝑠𝑒𝑐 2 , 𝜔2 = 0 𝑟𝑎𝑑/𝑠𝑒𝑐

c. 𝛼2 = 1 𝑟𝑎𝑑/𝑠𝑒𝑐 2 , 𝜔2 = 1 𝑟𝑎𝑑/𝑠𝑒𝑐

Figure 1: Powder compaction press.


ME 350R/380R

Problem 2: (7.49 in DOM) 15 pts

Figure 2 shows the walking-beam mechanism you analyzed in the Position Practice
Problems. We are going to complete the analysis here for acceleration. Calculate and plot
the acceleration 𝐴𝑜𝑢𝑡 for one revolution of the input crank 2 rotating at 100 rpm.

Figure 2: Straight-line walking-beam transport mechanism


ME 350R/380R

Problem 3 (9.42 in DOM): 10 pts


Figure 3 shows a compound epicyclic gear train. Shaft 1 is driven at 300 rpm CCW and
gear A is fixed to ground. The tooth numbers are indicated in the figure. Determine the
speed and direction of shaft 2.

Figure 3: Compound epicyclic gear train.


ME 350R/380R

Problem 4 (9.44 in DOM): 10 pts


Figure 4 shows the epicyclic train used in the manual transmission of the early Ford
Model T automobile. Calculate the gear ratios in this transmission and show that they
match the values given in the sidebar of the figure for Low speed and Reverse. Hint: make
use of the fundamental train ratio, R.

Figure 3: Ford Model T (1909-1927) epicyclic train manual transmission.

Common questions

Powered by AI

Epicyclic gear trains in automotive transmissions like the Ford Model T enable multiple gear ratios by allowing input, carrier, and fixed elements to vary how rotational power is distributed throughout the system. Changing which gear or component acts as the input, fixed element, or reacts alters the effective gear ratio by leveraging the mechanical advantage of compounded rotational elements, providing diverse outputs and thus allowing different speed and torque combinations suitable for varying driving conditions.

The relationship between the tooth numbers of gears and the rotational speed in a compound epicyclic gear train is governed by the gear ratio principles. The rotational speed of various shafts can be computed using the ratios of the tooth numbers on the gears that are engaged. When shaft 1 is driven at a constant speed, each gear in the system will experience rotation proportional to the ratio of its tooth count compared to the other engaging gears. Specifically, if gear A is fixed, the relative motion of the other gears depends on the interplay between the driving shaft and the other gear components.

Fixing gear A to the ground in a compound epicyclic gear train alters the degree of freedom of the system, influencing how other gears rotate relative to the fixed gear. With gear A stationary, the remaining gears must compensate through their rotations, leading to specific changes in speed and direction propagation through the train. This fixation serves as a reference point, which enables the calculation of relative speeds and directions of other components in the gear train system.

The linear acceleration of the output slider link is influenced by both the angular velocity and angular acceleration of the input. For a case where input angular acceleration (𝛼₂) is zero but angular velocity (𝜔₂) is non-zero, the slider will accelerate linearly due to the input's constant speed. When the angular acceleration is non-zero, it creates an additional change in the rate of rotation, further affecting the linear acceleration by providing a tangential acceleration component to be considered in the kinematic analysis. The combined effect can be deduced using vector-loop equations and kinematic relations specific to the mechanism design.

The direction of rotation is critical in gear train mechanisms because it determines how power is transmitted and how gears interact with each other. Different rotary directions can significantly affect the net output speed and direction of shafts in compound mechanisms. Incorrect assumptions about rotation can lead to errors in speed ratio calculations, unexpected mechanical performance, or even mechanical interference or failure. Proper analysis ensures intended operation and improves the efficiency and safety of mechanical systems.

To verify the historical gear ratios for Low speed and Reverse in the Ford Model T manual transmission, the fundamental train ratio, R, is calculated for each stage of the transmission. This involves considering the ratio of the revolving parts, using the tooth numbers, and determining how the gears interact to reduce or multiply the input speed. By applying the concept of epicyclic gear trains and using known tooth numbers to calculate the output speed relative to the input speed, one can check if the calculated ratios align with historical data, thus confirming accuracy.

To calculate the acceleration of the output in a straight-line walking-beam transport mechanism, one would employ a combination of kinematic analysis and vector loop equations. First, the position analysis is used to locate points in the mechanism. Then, velocity equations are derived and solved. Finally, acceleration equations are formed by differentiating the velocity equations with respect to time. For a full revolution of the crank, these equations provide the needed data to compute the acceleration response of the output throughout the crank's motion cycle.

The main challenges in determining the acceleration of the output in a walking-beam mechanism include accurately calculating the instantaneous velocity and acceleration at various points throughout a continuous revolution. This requires precise modeling of the mechanism using vector loop equations and dynamic simulation to account for the non-linear characteristics of the motion, friction, and possible inertial forces. Determining how these factors influence the dynamics over time requires iterative and comprehensive kinematic, and in some cases, dynamic analysis.

When plotting the linear acceleration of a slider link in a rotary-to-linear conversion mechanism, critical factors include the angular position of the input link, instantaneous angular velocity, and angular acceleration of the input. The geometry of the linkage, friction, and the mass distribution throughout the mechanism also play a role. Accurate modeling of the conversion requires solving complex differential equations arising from kinematic analysis and ensuring all forces and moments are balanced across each link.

The calculation of linear acceleration from angular motion in mechanisms like a powder compactor is based on the principles of kinematic linkages and rotational dynamics. The transformation from rotational to linear motion involves connecting elements like gears or linkages that convert angular displacement, velocity, and acceleration into corresponding linear metrics. This conversion requires the application of kinematic equations, consideration of mechanism constraints, and instantaneous inertial forces. These principles altogether help derive the linear acceleration profile from a given angular input.

You might also like