DEPARTMENT OF MECHANICAL ENGINEERING
Laboratory Manual
KINEMATICS AND THEORY OF MACHINES
Subject Code: 3131906
KNOWLEDGE INSTITUTE OF TECHNOLOGY AND
ENGINEERING
Near S.P. University sport complex, Bakrol- Vadtal Road,
Bakrol- 388315, Anand, Gujarat.
Name:
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CERTIFICATE
This is to certify that work embodied in this entitled “Laboratory” was carried out by
Enrollment no.
at Knowledge Institute Of Technology and Engineering, Anand, for partial fulfillment of B.E.
sem- 3 degree to be awarded by Gujarat Technological University. This work has been carried
out under my supervision and is to my satisfaction.
Date:
Place:
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INDEX
SIGNATURE
SR. OF
TITLE DATE MARKS
NO. FACULTY
1 Mechanisms & Machines
Synthesis of Linkages & Velocity -
2
Acceleration Analysis
3 Cam & Followers
4 Belt, Ropes & Chain Drive
5 Friction, Clutch & Brakes
6 Gear & Gear trains
Knowledge Institute of Technology & Engineering (135)
Mechanical Engineering (19)
Semester: 3 rd
Kinematics of Machines (2131906)
Tutorial:1(Mechanisms and Machines)
Q.1) Explain the following terms with neat sketch:
(a) Kinematic link
(b) Kinematic pair
(c) Kinematic chain
(d) Mechanism
(e) Inversion of a Kinematic chain
(f) Completely constrained motion
(g) Incompletely constrained motion
(h) Successfully constrained motion
(I) Higher pair
(J) Lower pair
Q.2) Explain the various inversion of the following mechanisms with neat sketch:
(a) Four bar Kinematic chain
(b) Single slider kinematic chain
(c) Double slider kinematic chain
Q.3) Determine the degree of freedom of the mechanism shown in below figures
(using Grubler’s Criterion).
.
6
Knowledge Institute of Technology & Engineering (135)
Mechanical Engineering (19)
Semester: 3 rd
Kinematics of Machines (2131906)
Tutorial: 2 (Synthesis of Linkages & Velocity-Accerleration Analysis)
Q.1) Following fig ‘1’ shows part of an opposed piston engine mechanism. The velocity
of piston E for the given instant is 780mm/sec. The crank ‘OA’ rotates at uniform
speed in clockwise direction
and makes an angle of 45 to
vertical as shown in the fig.
Draw velocity diagram and
determine:
Fig 1
(i) The speed of crank
(ii) Angular velocity of link
BCD
Q.2) A single slider crank chain
mechanism is shown in fig ‘2’given OA=20 cm, AP=70 cm and angular velocity of
crank OA is 10 radians per second. Find the velocity of piston P, angular velocity
of link PA and the velocity of point B at a distance of 20 cm from A on link AP
when angle Ө = 45.
Q.3) in the mechanism shown in fig ‘3’ the slider C is moving to the right with a
velocity of 1m/s and an acceleration of 2.5 m/s 2. The dimension of various link are
AB= 3m inclined at 45 with the vertical and BC = 1.5 m inclined at 45 with the
Fig 2
horizontal. Determine [Link] magnitude of vertical and
Fig 3
horizontal component of the acceleration of the point
B, and [Link] angular acceleration of the link AB and
BC.
Q.4) The crank and rocker mechanism ABCD has the following dimension AB=0.75m,
BC= 1.25m, CD= 1m, AD= 1.5m. E is the midpoint of the coupler like BC. AD is
the fixed link. Crank AB has an angular
velocity of 20 rad/sec counter clock wise and
a deceleration of 280 rad/sec2 at the instant
angle DAB = 60 find: [Link] linear
velocity and acceleration of midpoint E of
link BC, [Link] angular velocity and
acceleration of link CD.
Fig 4
Q.5) The crank of slider mechanism rotates clock wise at a constant speed of 300 rpm.
The crank is 150 mm and connecting rod is 60 mm long. Determine [Link]
velocity and acceleration of midpoint of connecting rod [Link] velocity and
angular acceleration of the connecting rod, at a crank angle of 45 from inner dead
centre position.
Q.6) For the mechanism shown in fig ‘5’ crank OA rotates at 150 rpm clock wise.
Using instantaneous centre methods determine the linear velocity of the point B, C,
D and angular velocities of link AB, BC, and CD. OA = 100mm, AB = 1080 mm,
BC = 300 mm, CD = 350 mm
and BE = 200 mm.
Q.7) locate all the instantaneous
centres of the slider crank
mechanism as shown in fig ‘6’
Fig 5
The length of crank OB and
connecting rod AB are 100 mm
and 400 mm respectively. If the crank rotates clockwise with an angular velocity of
10 rad/sec, find [Link] of the slider A and [Link] velocity of the connecting
rod AB.
Q.8) The crank and connecting rod of a steam engine are 0.5 and .02 m long
respectively. The crank makes 180 rpm in the clockwise direction. When it has
turned 45 from the inner
dead centre determine:
(i) Velocity of piston.
(ii) Angular velocity of
connecting rod.
Fig 6
(iii) Velocity of point E on the connecting rod 1.5 m from the gudgeon pin
(iv) The velocity of the rubbing at the pins of the crank shaft, crank and the cross
head when the diameter of their pins are 5 cm, 3 cm, 6 cm respectively.
(v) Position and linear velocity of any point G on the connecting rod which has the
least velocity relative to crank shaft.
Q.9) In I.C engine mechanism, the length of stroke is 30 cm and length of connecting
rod is 70 cm. The crank rotates with 4 revolutions per sec in clock wise direction.
Determine
(i) Angular velocity of connecting rod and
(ii) Velocity of piston when the crank is at 50 from IDC.
(iii) Does the magnitude of velocity of piston remain same if direction of rotation
of crank is received at given crank position? Justify your answer.
(iv) Determine acceleration of the piston. State weather the piston is accelerated or
retarded at mentioned position. Justify your answer.
Q.10) Design a four bar chain mechanism with input link ‘a’, coupler link ‘b’ and link
‘c’. Angles Ө and Ф for three successive positions are given in table below:
1 2 3
Ө 20 35 50
Ф 35 45 60
Q.11) A four bar chain mechanism is to be designed, by using three precision point to
generate the function y = x1.5 for the range 1 ≤ x ≤ 4 Assuming 30 0 starting position
and 1200 finishing position for the input link and 90 0 starting position and 180 0
finishing position for the output link, find the value of x , y , ɵ and φ corresponding
to three precision point.
Q.12) Synthesize a four bar mechanism to meet the following instantaneous conditions
for input output links:
ϴ = 600 Φ= 900 2 = 3 rad/s 4 = 2 rad/s 2 = -1 rad/s2 4 = 0 rad/s2
Q.13) A Quick return mechanism is shown in fig. Link 2 rotates at 20 rad/sec. Draw the
velocity and acceleration diagram. Given BC=25 cm, OA=15 cm.
Fig 7
Knowledge Institute of Technology & Engineering (135)
Mechanical Engineering (19)
Semester: 3 rd
Kinematics of Machines (2131906)
Tutorial: 3 ( Cam & Followers)
Q.1) A cam with a minimum radius of 25mm rotating clockwise at a uniform speed is to
be designed to give a roller follower, at the end of a valve rod, motion described
below:
(i) To raise the valve through 50mm during 120° rotation of the cam.
(ii) To keep the valve fully raised through next 30°;
(iii) To lower the valve during next 60°; and
(iv) To keep the valve closed during rest of the revolution i.e. 150°.
The diameter of the roller is 20mm and the diameter of the cam shaft is 25mm.
Draw the profile of the cam when the line of stroke of the valve rod passes through
the axis of the cam shaft. The displacement of the valve while being raised and
lowered is to take place with S.H.M. Determine the maximum acceleration of the
valve rod when the cam shaft rotates at 100r.p.m. Draw the displacement, the
velocity and the acceleration diagram for one complete revolution of the cam.
Q.2) In a tangent cam operating a roller follower the following data are given:
Base circle = 25mm , Roller radius= 10mm, Angle of ascent= 75°, total lift= 20mm,
speed of the cam shaft= 600rpm.
Calculate:
(i) The dimensions of the cam
(ii) The acceleration of the follower:
(a) at the beginning of the lift
(b) when the roller is at beginning of nose radius
(c) when the follower is at the apex of the circular rose.
Q.3) A cam rotates a flat faced follower which moves with cycloidal motion during
ascent and descent. The further specifications are:
Min. Radius of cam = 30 mm
Angle of ascent = 120°
Angle of dwell = 60°
Lift of follower = 40mm
Angle of descent = 90°
speed of cam = 300rpm
Draw cam profile. Find the maximum velocity and acceleration during ascent and
decent .
Q.4) Draw the profile of a cam operating a roller follower of 30 mm diameter from the
following data:
(i) It lifts the through 50 mm during 90° rotation with S.H.M.
(ii) The follower remains at rest for next 30° of cam rotation.
(iii) The follower is then descent to its original position during 60° of cam rotation
with uniform acceleration and retardation
(iv) It remains at rest for the rest of cam rotation.
Least radius of cam is 50 mm. If it rotates at 300 rpm, find the maximum velocity
and acceleration during ascent and descent.
Q.5) Draw the profile of a cam rotating in anti clockwise direction and operating a knife
edge follower when the axis of the follower passes through the axis of the cam
shaft from following data :
(i) Follower moves outwards through 30 mm during 90° of cam rotations.
(ii) Follower dwells for next 120°
(iii) Follower returns to its original position during next 150°
The displacement of the follower is to take place with S.H.M. during outward
stroke and with uniform velocity during inward stroke. The least radius of the cam
is 50 mm.
Q.6) Draw the profile of a cam operating a roller reciprocating follower and with the
following data:
Minimum radius of cam = 25 mm,
Lift = 30 mm,
Roller diameter = 15 mm
The cam lifts the follower for 120° with SHM followed by a dwell period of 30°.
Then the follower lowers down during 150° of the cam rotation with uniform
acceleration and deceleration followed by a dwell period. If the cam rotates at a
uniform speed of the 150 rpm. Calculate the maximum velocity and acceleration of
the follower during the ascent and descent period. Also draw the displacement,
velocity and acceleration diagram for the motion of the follower for one complete
revolution of the cam
Q.7) Determine a cam for operating the exhaust valve of an oil engine. It is required to
give SHM motion during opening and closing of the valve each of which
corresponds to 60° of cam rotation. The valve must remain in the fully open position
for 30° of cam rotation. The lift of the valve is 40 mm and the least radius of the
cam is 40 mm. The follower is provided with a roller of radius 15 mm and its line of
stroke passes through the axis of cam. Find out the maximum valve of velocity and
acceleration of follower if the cam rotates at 120 rpm.0
Q.8) A cam is to be designed for a knife edge follower with the following data:
(i) Cam lift = 40 mm during 90° of cam rotation with S.H.M.
(ii) Dwell for the next 30°.
(iii)During the next 60° of cam rotation, the follower returns to its original position
with uniform velocity.
(iv) Dwell during the remaining 180°.
Draw the profile of the cam when the line of stroke of the follower passes through
the axis of the cam shaft. The radius of the base circle of the cam is 40 mm.
Q.9) Draw the cam operating knife edge follower from following data:
(i) Follower to move out through distance of 20 mm during 120°.
(ii) Follower to dwell for next 60°.
(iii) Follower to return to its initial position during 90°.
(iv) Follower to dwell for the remaining cam rotation.
The cam rotates at 500 rpm. The minimum radius of cam is 40 mm and line of
follower is offset 15 mm from the axis of the cam and displacement to take place
with uniform acceleration and retardation both inward and outward stroke.
Knowledge Institute of Technology & Engineering (135)
Mechanical Engineering (19)
Semester: 3rd
Kinematics of Machines (2131906)
Tutorial: 4 (Belt, Ropes and Chain drive)
Q.1) A shaft runs at 80rpm and drives another shaft at 150rpm through belt drive. The
diameter of the driving pulleys is 600mm. Determine the diameter of the driven
pulley in the following cases:
(i) Neglecting belt thickness
(ii) Taking belt thickness as 5 mm
(iii) Assuming for case(ii) a total slip of 4%
(iv) Assuming for case(ii) a slip of 2% on each pulley
Q.2) A 100mm wide and 10mm thick belt transmits 5kW of power between two
parallel shafts. The centre distance between the shafts is 1.5m and diameter of
smaller pulley is 440mm. The driving and driven shafts rotate at 60rpm and
150rpm respectively. The coefficient of friction is 0.22. Find the stress in the belt
if the two pulleys are connected by (i) an open belt, and (ii) a cross belt. Take µ
=0.22.
Q.3) Two parallel shafts that are 3.5 m apart are connected by two pulleys of 1m and
400mm diameters, the larger pulley being the driver runs at 220rpm. The belt
weighs 1.2kg per meter length. The maximum tension in the belt is not to exceed
1.8kN. The coefficient of friction is 0.28. Owing to slip on one of the pulleys, the
velocity of the driven shaft is 520rpm only. Determine the
(i) Torque on each shaft
(ii) Power transmitted
(iii) Power lost in friction
(iv) Efficiency of drive
Q.4) V-belt drive has the following specifications:
Power to be transmitted = 100kW
Motor pulley speed = 750r.p.m
Compressor pulley speed = 300r.p.m
Diameter of compressor pulley = 800mm
Centre distance between two pulleys = 1.5m
Approximate allowable belt speed = 30m/s
Coefficient of friction = 0.28
Groove angle of pulley = 38 0
Allowable stress in the belt = 2.2 N/mm2
Density of belt material = 900Kg/m3
Cross sectional area of V belt = 350mm2
Find the number of V-belts required and length of the belt, neglecting the slip
of the belt.
Q.5) A belt drive consisting of two V-belts in parallel on the pulleys having groove
angles of 400. The cross sectional area of the belt is 800mm2 and the allowable
stress is 8MPa. The density of the belt material is 1080kg/m3 and the coefficient
of friction between the belt and pulley is 0.15. Each pulley of the drive is
320mmin diameter and rotates at 1500rpm. Determine the power transmitted by
the belt. Also find the shaft speed at which the power transmitted will be
maximum.
Q.6) An open belt drive transmits 4kW of power. The smaller pulley is the driver and
rotates at 300rpm. The diameters of the two pulleys are 280mm and 640mm and
the centre distance is 3m. The coefficient of friction between the belt and the
pulley is 0.3. If the safe working stress is 8N/mm width, determine the minimum
width of the belt. Also calculate the initial tension in the belt and the length of the
belt required.
Q.7) The groove on the pulley of a multiple rope drive have an angle of 50 0 and
accommodate ropes of 22mm diameter having a mass of 0.8kg per meter length
for which a safe operating tension of 1200N has been laid down. The two pulleys
are of equal size. The drive is designed for maximum power conditions. Speed of
both pulleys is 180rpm. Assuming coefficient of friction as 0.25, determine the
diameters of the pulleys and the number of ropes when the power transmitted is
150kW.
Q.8) The centre to centre distance between the two sprockets of a chain drive is
600mm. The chain drive is used to reduce the speed from 180rpm to 90rpm on the
driving sprockets has 18 teeth and a pitch circle diameter of 480mm. Determine:
(i) Number of teeth on the driven sprocket
(ii) Pitch & the length of the chain
Knowledge Institute of Technology & Engineering (135)
Mechanical Engineering (19)
Semester: 3 rd
Kinematics of Machines (2131906)
Tutorial: 5 (Friction, Clutch and Brakes)
Q.1) A conical pivot with angle of cone as 1000 supports load of 18kN. The external radius is 2.5
times the internal radius. The shaft rotates at 150rpm. If the intensity of pressure is to be
300kN/m2 and coefficient of friction as 0.05, what is the power lost in working against the
friction?
Q.2) A thrust bearing of a propeller shaft consists of a number of collars. The shaft is 400mm
diameter and rotates at a speed of 90rpm. The thrust on shaft is 300kN. If the intensity of
pressure is to be 200kN/m2 and coefficient of friction is 0.06, determine the external
diameter of the collars and the number of collars. The power lost in friction is not to exceed
48kW.
Q.3) A single plate clutch is required to transmit 8 kW at 1000 rpm. The axial pressure is limited
to 70 kN/m2. The mean radius of the plate is 4.5 times the radial width of the friction
surface. If both the sides of the plate are effective and the coefficient of friction is 0.25, find
the (i) inner and outer radii of the plate and the mean radius (ii) width of the friction lining
(iii) axial force to engage the clutch
Q.4) A single plate clutch effective on both sides is required to transmit 25 KW at 300 r.p.m.
Determine the outer and inner radii of frictional surface if the coefficient of friction is 0.255,
the ratio of radii is 1.25 and the maximum pressure is not to exceed 0.1N/mm2. Also
determine the axial thrust to be provided by springs. Assume the theory of uniform wear.
Q.5) A multiple disc clutch has five plates having four pairs of active friction surfaces .If the
intensity of pressure is not to exceed 0.127N/mm2, find the power transmitted at 500 rpm.
The outer and inner radii of friction surfaces are 125 mm and 75mm respectively. Assume
uniform wear and take coefficient of friction= 0.3
Q.6) A centrifugal clutch is to be designed to transmit 20 kW power at 1200 rpm. The shoes are
four in number. The clutch is to be engaged at 75 % of the running speed. The inner radius
of the drum is 165 mm and the distance of the center of gravity of shoe from he axis of
rotation of the spider in the engaged position is 140 mm. The angle of contact subtended by
the friction lining of shoe at the center of the spider is 60o .If the coefficient of friction is
0.25 and the maximum permissible pressure intensity is 0.1 N/mm2, determine (i) the mass
of each shoe; and (ii) the size of each shoe.
Q.7) A simple band brake is operated by a lever of length 550 mm. The brake drum has a
diameter of 550 mm and the brake band embraced 5/8 of the circumference. One end of a
band is attached to the fulcrum of the lever while the other end is attached to a pin on the
lever 100 mm from the fulcrum. If the effort applied to the end of the lever is 2.5 KN and
the co-efficient of friction is 0.25. Find the maximum braking torque on the drum. Show the
diagram of brake
Q.8) A band and block brake having 12 blocks, each of which subtends an angle of 160 at the
center, is applied to a rotating drum of diameter 600 mm. The blocks are 75 mm thick. The
drum and the flywheel mounted on the same shaft have a mass of 1800 kg and have a
combined radius of gyration of 600 mm. The two ends of the band are attached to pins on
the opposite sides of the brake fulcrum at distances of 40 mm and 150 mm from the fulcrum.
If a force of 250 N is applied at a distance of 900 mm from the fulcrum, find:
1. The maximum braking torque 2. The angular retardation of the drum 3. The time taken
by the system to be stationary from the rated speed of 300 [Link] coefficient of
friction between the blocks and the drum as 0.3
Q.9) A simple band brake is applied to a rotating drum od diameter 600 mm. The lap angle of the
band on the drum is 270°. The one end of the lever has the fulcrum pin to which is attached,
the one end of the band. Other end of the band is attached to a pin 120 mm from the
fulcrum. The co-efficient of friction between the band and drum is 0.25. A braking force of
100 N is applied at a distance of 840 mm from the fulcrum. Determine the bake torque for
(i) Counter-clockwise rotation of the drum and (ii) clockwise rotation of drum.
Q.10) Determine the maximum torque for a shoe brake shown in figure 1. The diameter of the
brake drum is 400 mm and the angle of contact is 96. The applied force is 3 kN on each arm
and the coefficient of friction between the drum and the lining is 0.35.
Knowledge Institute of Technology & Engineering (135)
Mechanical Engineering (19)
Semester: 3 rd
Kinematics of Machines (2131906)
Tutorial: 6 (Gear and Gear trains)
Q.1) Determine the minimum number of teeth required on pinion and wheel to avoid
interference when gear ratio is 3 and when number of teeth on pinion and wheel is
equal( take pressure angle = 20° and addendum of wheel is 1 module.)
Q.2) A two start worm rotating at 600 rpm drives a worm gear having 22 teeth. The PCD
is 65 mm and pitch of 18 mm. If coefficient of friction is 0.06 . Find helix angle of
worm, maximum efficiency, and centre distance.
Q.3) Two mating involute spur gear of 20 degree pressure angle have a gear ratio of 2.
The number of teeth on the pinion is 20 and its speed is 250 rpm. Module pitch of the
teeth is 12 mm. Find:
(i) The addendum for pinion.
(ii) The addendum for gear wheel & The length of the arc of contact. Assume pinion
to be the driver.
Q.4) A pair 20° involute gears has module of 5 mm. The pinion has 20 teeth and gear has
60 teeth. Addendum on the pinion and gear wheel in terms of module is one. Find the
followings:
(i) Number of pairs in contact.
(ii) Angle turned through by the pinion and gear wheel for one pair in contact.
Q.5) An epicyclic gear train as shown in fig. 2 has a sun wheel S of 30 teeth and two
planet wheels P of 50 teeth. The planet wheel mesh with the internal teeth of a fixed
annular A. The driving shaft carrying the sun wheel transmits 4 KW at 300 rpm. The
driven shaft is connected to an arm which carries the planet wheel. Determine the
speed of the driven shaft.
Q.6) An epicyclic train is composed of fixed annular wheel A having 150 teeth. Meshing
with A is wheel B which drives wheel D through and idle wheel C, wheel D being
concentric with A. Wheels B and C are carried on an arm E which revolves clockwise
at 100 rpm about the axis of A and D. If the wheel B and D have 25 and 40 teeth
respectively, find the number of teeth on C and sense of rotating of C. Also sketch the
arrangement.
Q.7) An epicyclic gear train is composed of fixed annular wheel ‘A’ having 300 teeth.
Meshing with A is wheel X which drives wheel Z through an idle wheel Y, wheel Z
being concentric with A. Wheels X and Y are carried on an arm E whuich revolves
clockwise at 120 revolutions per minutes about the axis of A and Z. If the wheel X
and Z have 50 and 80 teeth respectively, determine the number of teeth on Y and
revolutions per minutes of Y. Does the direction of rotation of arm E and gear Y are
same ?
Q.8) An epicyclic gear train of Sun and Planet type has the fixed outer annual A, Sun
wheel S rotating at a speed of 720 revolutions per minute in clockwise direction and
the Arm E carrying three planet wheels P needed to be driven. If diametral pitch is
same for all the mating gears and Sun wheel S and planet wheels P have 15 and 45
teeth respectively. Determine 1. No. of teeth of Annular A 2) Speed and direction of
rotation of planets.
Q.9) In an epicyclic gear train, the internal wheels A and B and compound wheels C and
D rotate independently about axis O. The wheels E and F rotate on pins fixed to the
arm G. E gears with A and C and F gears with A and D. All the wheels have the same
module and the numbers of teeth are : Tc = 28, Td = 26, Te = Tf = 18.
(i) Find the number of teeth on A and B.
(ii) If the arms G makes 100 rpm clockwise and A is fixed, Find the speed of B.
(iii) If the arms G makes 100 rpm clockwise and wheel A makes 10 rpm counter
clockwise, find the speed of wheel B.
Q.10) An epicyclic gear train is composed of fixed annular wheel “A” having 300 teeth.
Meshing with A is wheel X which drives wheel Z through idle wheel Y, wheel Z
being concentric with A, wheels X and Y are carried on an arm E which revolves
clockwise at 120 rpm about the axis of A and Z if the wheel X and Z have 50 and 80
teeth respectively. Determine the number of teeth on Y. And rpm of Y.