AEM –U4
Lifting Machines
By- Dr. P. K. S. Nain
Definitions
• Load: (W) – This is the resistance to be overcome by the machine.
• Effort (P) —This is the force required to overcome the resistance to
get the work done by the machine.
• Mechanical Advantage (MA) – This is the ratio of the load lifted to the
effort applied.
• Mechanical Advantage (MA) = W/P
• Velocity Ratio (VR) – This is the ratio of the distance moved by the
effort to the distance moved by the load in the same interval of time.
VR = D/d = (distance moved by the effort/ distance moved by the load in the same time interval)
• Input: The work done by the effort is known as input to the machine.
Input = P x D
• Output: It is defined as useful work got out of the machine i.e. The
work done by the load.
Output = W x d
• Efficiency (𝜂): Ratio of output to the input.
𝑂𝑢𝑡𝑝𝑢𝑡 𝑊×𝑑 𝑊 𝑑 𝑀𝐴 𝑀𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙 𝐴𝑑𝑣𝑎𝑛𝑡𝑎𝑔𝑒
𝜂= = = × = =
𝐼𝑛𝑝𝑢𝑡 𝑃×𝐷 𝑃 𝐷 𝑉𝑅 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑅𝑎𝑡𝑖𝑜
• Ideal Machine: Ideal machine is a machine for which efficiency is
100% or 𝜂 = 1.
Output = Input or MA = VR or Mechanical advantage = Velocity Ratio
𝑂𝑢𝑡𝑝𝑢𝑡 𝑊×𝑑 𝑊 𝑑 𝑀𝐴 𝑀𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙 𝐴𝑑𝑣𝑎𝑛𝑡𝑎𝑔𝑒
•𝜂= = = × = =
𝐼𝑛𝑝𝑢𝑡 𝑃×𝐷 𝑃 𝐷 𝑉𝑅 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑅𝑎𝑡𝑖𝑜
• Ideal Effort: Effort required to lift the given load by machine
assuming the machine to be ideal.
For Ideal Machine, VR = MA
𝑊 𝑊
If 𝑃𝑖 is the ideal effort, then 𝑉𝑅 = or 𝑃𝑖 =
𝑃𝑖 𝑉𝑅
Ideal Load: The load that can be lifted using the given effort by the
machine, assuming it to be ideal.
For ideal machine VR = MA
𝑊𝑖
If W𝑖 is the ideal Load, then 𝑉𝑅 = or 𝑊𝑖 = P × 𝑉𝑅
𝑃
Practical Machines
o Friction is present in all the machines.
oFriction exists between all surfaces of contacts of the movable parts.
oWork done by effort = useful work in lifting the load + effort utilized
to overcome frictional resistance
oDue to friction 𝜂 < 1 for practical machines.
Let,
P = actual effort required
Pi = ideal effort required
W = actual load to be lifted
Wi = Ideal load to be lifted
P-Pi = Effort lost in friction
Wi –W = frictional resistance
𝑀𝐴 𝑊 1 𝑊 𝑃𝑖
𝜂= = × 𝑎𝑛𝑑 𝑃𝑖 = 𝑖𝑓 𝜂 = 1 ⇒ 𝜂 =
𝑉𝑅 𝑃 𝑉𝑅 𝑉𝑅 𝑃
Similarly
𝑀𝐴 𝑊 1 𝑊
𝜂= = × 𝑎𝑛𝑑 𝑊𝑖 = 𝑃 × 𝑉𝑅 𝑖𝑓 𝜂 = 1 ⇒ 𝜂 =
𝑉𝑅 𝑃 𝑉𝑅 𝑊𝑖
𝑷𝒊 𝑾
𝜼= =
𝑷 𝑾𝒊
Law of Machine
• The relationship between the load lifted Vs the effort required in a
machine is called the law of the machine.
𝑃 = 𝑚𝑊 + 𝐶
C= Intercept ‘OA’ on Y axis
m = tanθ = Slope of Line AB
For Ideal Machine: η=1 or MA=VR
𝑃 1 1
Or = 𝑜𝑟 𝑃 = 𝑊 𝑜𝑟 𝑦 = 𝑚𝑥
𝑊 𝑉𝑅 𝑉𝑅
i.e. straight line passing through origin (line OC)
Draw a vertical line DEF for load OD as shown
Given load = OD
DE = Pi = Effort required in ideal machine
DF = P = Effort required in actual machine
Friction loss = P-Pi = DF - DE = EF
𝑃𝑖 𝐷𝐸
𝜂= =
𝑃 𝐷𝐹
Variation of Mechanical Advantage
MA = W/P and P= mW + C
𝑊 1
𝑀𝐴 = =
𝑚𝑊 + 𝐶 𝑚 + 𝐶
𝑊
𝐶
𝑎𝑠 𝑊 ↑⇒ ↓⇒ 𝑀𝐴 ↑
𝑊
𝐶 1
𝑖𝑓 𝑊 → ∞ ⇒ → 0 ⇒ 𝑀𝐴 =
𝑊 𝑚
Variation of Efficiency
𝑀𝐴 1 𝑊 1 1
𝜂= = × = ×
𝑉𝑅 𝑉𝑅 𝑚𝑊 + 𝐶 𝑉𝑅 𝑚 + 𝐶
𝑊
VR = Constant for a machine.
𝑎𝑠 𝑊 ↑⇒ 𝑀𝐴 ↑ 𝑎𝑛𝑑 ℎ𝑒𝑛𝑐𝑒 𝜂 ↑
𝐶 1 1
𝑖𝑓 𝑊 → ∞ ⇒ →0⇒𝜂= ×
𝑊 𝑉𝑅 𝑚
Variation of 𝜂 Vs W is similar to MA Vs W curve.
Reversibility of a Machine
• If the removal of effort while lifting results in lowering the load, the
machine is said to be REVERSIBLE.
• If the load is not lowered on removal of the effort , the machine is
said to be SELF-LOCKING.
• Reversible: Pot falls back in the well, if the effort from rope passing
over pulley is removed. (𝜂 > 50%)
• Irreversible: The car will stay in its place at the same position even if
the effort is removed from the screw jack lever. (𝜂 < 50%)
Reversibility of a Machine
𝐼𝑛𝑝𝑢𝑡 = 𝑃 × 𝐷 and 𝑂𝑢𝑡𝑝𝑢𝑡 = 𝑊 × 𝑑 hence 𝑊𝑜𝑟𝑘 𝑙𝑜𝑠𝑡 𝑖𝑛 𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛 = 𝑃𝐷 − 𝑊𝑑
When effort is removed , the load can start moving down if it can overcome the
frictional resistance = PD –Wd. Hence the condition for reversibility is:
𝑊𝑑 > 𝑃𝐷 − 𝑊𝑑 or
2𝑊𝑑 > 𝑃𝐷
𝑊 𝑑 1
>
𝑃 𝐷 2
1 1
𝑀𝐴 × >
𝑉𝑅 2
1
𝜂 > 𝑜𝑟 50%
2
Pulleys
• It is the simplest lifting Machine.
• One pulley over which a rope or
chain passes for lifting load by effort.
• VR = 1
= Distance moved by effort/ distance
moved by effort
• It just changes the direction of
applied forces.
Classification
• First-order pulley system
• Second-order pulley system
• Third-order pulley system
➢ For finding the Velocity Ratio (VR) of a machine, the machine is
considered to be ideal ( η=1) i.e. neglecting friction. Then Mechanical
Advantage (MA) is found first.
➢Then apply for η=1, MA = VR, the velocity ratio can be found.
➢This method is used to determine the VR of various pulley systems
considered here.
First Order Pulley System
• The First Pulley is a fixed pulley.
• Other pulleys are moveable pulleys
• Rope 1 is tied to top at one end, supports pulley 2
and passes through over pulley 1 to apply effort
• Rope 2 is tied to the top at one end, supports pulley3
in a loop, and the other end is attached to support
pulley 2.
• And so on….
First Order Pulley System
• The rope of the pulley 4 is subjected to tension = W/2
• The rope of the pulley 3 is subjected to tension = W/4
• The rope of the pulley 2 is subjected to tension = W/8
• Hence effort P = W/8
• MA = W/P = 8 = 23
• As MA = VR = 23
where the Number of movable pulleys = 3
• VR = 2n where ‘n’ is the number of movable pulleys
for the first-order pulley system
Second Order
Pulley System
• Top pulley bock and bottom pulley
block are as shown in figure.
• The pulley and rope system are
arranged as shown in the figure.
• The size of pulley in the block is from
smaller to bigger in a pulley block.
• Top pulley block is fixed in position
on the top support, whereas the
bottom pulley block can move
vertically along with the load
attached to it.
Second Order
Pulley System
• One end of the rope is attached to the
hook provided at the bottom of the top
pulley block, and the effort is applied at
the other end.
• A single rope goes around the pulleys.
• Neglecting friction loss the tension
along the length is ‘P’. Take sections 1—
1 and consider the equilibrium of the
bottom pulley block.
𝑊
• 𝑊 = 6𝑃 ⇒ 𝑃 = ⇒ 𝑀𝐴 = 6
6
Second Order Pulley System
• Neglecting friction loss the tension along the length is ‘P’. Take
sections 1—1 and consider the equilibrium of the bottom
pulley block.
𝑊
• 𝑊 = 6𝑃 ⇒ 𝑃 = ⇒ 𝑀𝐴 = 6
6
• But for Ideal machine VR = MA =6.
• In general for second order pulley system, VR = 2n where ‘n’
is the number of movable pulleys for the second-order pulley
system
• for a second-order system of pulleys, the VR is equal to
number of pulleys.
{Anil Kumar Dhiman; Poonam Dhiman; Durgesh Kulshreshtha.
Engineering Mechanics (Kindle Locations 7223-7224). McGraw
Hill Education (India) Private Limited. Kindle Edition. }
Third Order Pulley System
• The Arrangement of the 3rd order police system is as
shown in the figure.
• Pully number 1 is fixed to the top support over which
first rope passes. One end of the rope is attached to
the rigid base at the bottom.
• The other end is attached to the second pully
support.
• On Second Pulley, another rope passes whose one
end is attached to the rigid base and the second end
is attached to the support of 3rd pulley.
• Likewise series of Pulleys can be arranged.
• The load to be lifted is attached to the rigid base.
Third Order Pulley System
• Neglecting friction the effort required to raise the
load be ‘P’.
Tension in the rope passing over pulley 3 = P
Tension in the rope passing over pulley 2 = 2P
tension in the rope passing over pulley 1 = 4P
So W = 7P or P = W/7
Hence MA = 7
VR = 2n-1 where ‘n’ is the number of pulleys for the
Third-order pulley system
Wheel and Axel
• This Machine consists of an axel having diameter ‘d’ and
a wheel of diameter ‘D’ such that (D>d) and are coaxially
fitted.
• The whole assembly is mounted on the ball bearing so
that wheel and axel can be rotated.
• Rope is tied to the pin provided on the wheel and the
rope is wound around the wheel. At the other end of
rope effort P is applied.
• Another rope is tied to pin provided on axel and is
wound on axel in opposite direction to the rope wound
at the wheel. At other end of rope the load is attached.
• As whole assembly is rotated, one rope gets wound up
and other gets unwound.
• In one revolution, distance moved by the effort = π D
distance moved by the load = π d
VR = D/d
Wheel and Differential Axel
Weston Differential Pulley
Take a moment about point A, the axis
of the top block
𝑊 𝐷 𝑊 𝑑 𝐷
× = × +𝑃×
2 2 2 2 2
𝑊 𝑃𝐷
𝐷−𝑑 =
4 2
𝑊 2𝐷
𝑀𝐴 = =
𝑃 𝐷−𝑑
𝜂 = 1 𝑓𝑜𝑟 𝐼𝑑𝑒𝑎𝑙 𝑀𝑎𝑐ℎ𝑖𝑛𝑒 𝑀𝐴 = 𝑉𝑅
2𝐷
𝑀𝐴 = 𝑉𝑅 =
𝐷−𝑑
Inclined Plane
𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑚𝑜𝑣𝑒𝑑 𝑏𝑦 effort
𝑉𝑅 =
distance through which load is lifted
𝐿 𝐿 1
𝑉𝑅 = = =
ℎ 𝐿 𝑆𝑖𝑛𝜃 Sinθ
Screw Jack𝑑 𝟐𝑷𝑹
• 𝑃 × 𝑅 = 𝑃1 × 𝑜𝑟 𝑷𝟏 =
2 𝒅
𝑝
• Inclined Plane tan 𝜃 =
𝜋𝑑
• Where p is lead of screw and d is mean
dia of the screw.
Load is lifted up the plane
𝑃1 = 𝑅1 𝑆𝑖𝑛 𝜃 + 𝜙
𝑊 = 𝑅1 𝐶𝑜𝑠 𝜃 + 𝜙
𝑃1
= tan 𝜃 + 𝜙
𝑊
2𝑃𝑅
𝑃1 = = 𝑊 tan 𝜃 + 𝜙
𝑑
𝑑
𝑃= 𝑊 tan(𝜃 + 𝜙)
2𝑅
𝑝
where, 𝑡𝑎𝑛𝜙 = 𝜇 𝑎𝑛𝑑 𝑡𝑎𝑛𝜃 =
𝜋𝑑
Torque required while load is ascending
𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑚𝑜𝑣𝑒𝑑 𝑏𝑦 𝑒𝑓𝑓𝑜𝑟𝑡 2𝜋𝑅
𝑑 𝑉𝑅 = =
𝑇 = 𝑃𝑅 = 𝑊 tan(𝜃 + 𝜙) 𝑑𝑖𝑠𝑎𝑛𝑐𝑒 𝑚𝑜𝑣𝑒𝑑 𝑏𝑦 𝑙𝑜𝑎𝑑 𝑝
2
If load is descending
𝑃1 = 𝑅1 𝑆𝑖𝑛 𝜃 − 𝜙
𝑊 = 𝑅1 𝐶𝑜𝑠 𝜃 − 𝜙
𝑃1
= tan 𝜃 − 𝜙
𝑊
2𝑃𝑅
𝑃1 = = 𝑊 tan 𝜃 − 𝜙
𝑑
𝑑
𝑃= 𝑊 tan(𝜃 − 𝜙)
2𝑅
𝑝
where, 𝑡𝑎𝑛𝜙 = 𝜇 𝑎𝑛𝑑 𝑡𝑎𝑛𝜃 = 𝜋𝑑
Torque required while load is descending
𝑑
𝑇 = 𝑃𝑅 = 𝑊 tan(𝜃 − 𝜙)
2 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑚𝑜𝑣𝑒𝑑 𝑏𝑦 𝑒𝑓𝑓𝑜𝑟𝑡 2𝜋𝑅
𝑉𝑅 = =
𝑑𝑖𝑠𝑎𝑛𝑐𝑒 𝑚𝑜𝑣𝑒𝑑 𝑏𝑦 𝑙𝑜𝑎𝑑 𝑝
Differential Screw Jack
• One rotation of ‘D’ will cause
1. Element A to move up by pA
2. Element B to move down by pB
Net height through which load is lifted = pA – pB
𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑚𝑜𝑣𝑒𝑑 𝑏𝑦 𝑒𝑓𝑓𝑜𝑟𝑡 2π𝑅
𝑉𝑅 = =
Distance moved by the load 𝑝𝐴 − 𝑝𝐵
VR of the differential screw jack is increased as
compared to the simple screw jack.
Gear Ratio Animation
• gear ratio animation - Google Search
Single Purchase Winch Crab (one pair of
gears)
D= Distance moved by effort in 1 rev of
Handle = 2πR
d= distance moved by the load on drum in
𝑇1
one rev of Handle = × 2𝜋𝑟
𝑇2
𝐷 2𝜋𝑅 𝑅 𝑇2
𝑉𝑅 = = = ×
𝑑 2𝜋𝑟 × 𝑇1 𝑟 𝑇1
𝑇2
Double Purchase Winch Crab (two pair of
gears)
D= Distance moved by effort in 1 rev of Handle =
2πR
𝑇1
Axel B moves by teeth =
𝑇2
𝑇1 𝑇3
Load drum moves by teeth = ×
𝑇2 𝑇4
d= distance moved by the load on drum in one rev
𝑇1 𝑇3
of Handle = × × 2𝜋𝑟
𝑇2 𝑇4
𝐷 2𝜋𝑅 𝑅 𝑇2 𝑇4
𝑉𝑅 = = = × ×
𝑑 2𝜋𝑟 × 𝑇1 × 𝑇3 𝑟 𝑇1 𝑇3
𝑇2 𝑇4
NOTE: 𝑇2 > 𝑇1 𝑎𝑛𝑑 𝑇4 > 𝑇3