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Introduction -1

Kinematics & Dynamics of Machines

MECE 3270U

Introductory Lecture

Instructor: Dr. Amir Monjazeb, P. Eng.

Room ENG 1025

Contact: Via Blackboard Messaging system

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Schedule

Lectures Tutorials

&

Labs

Office

hours

Day(s) Wednesdays

&

Fridays

Check My

Campus

Tuesdays

and

Thursdays

Time 3:40 – 5:00

2:10 - 3:30

Check My

Campus

1:00 – 3:00

Location UP 1500 Check My

Campus

ENG 1025

Introduction -2

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Introduction -3

Kenneth J. Waldron

and Gary L. Kinzel

Kinematics, Dynamics,

and Design of

Machinery, John Wiley

& Sons, 2004.

Textbook

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Prerequisites

ENGR/MECE 2430U Dynamics

You must withdraw from this course if you

have not completed the prerequisites

Introduction -4

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Introduction -5

Short Random Quizzes 5%

Assignments 10%

Labs 10%

Project 10%

Midterm 20%

Final Exam (3 hrs) 50%

Marking Scheme

(bonus)

You must pass the final exam in

order to pass the course.

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Introduction -6

Assignments (individual effort)

Each assignment is divided into two parts:

Part A is to be done during the tutorial period with the assistance of the TA.

Part B is to be done outside of the tutorial and is to be handed in on the designated due date.

Assignments will be due on the dates assigned.

Late assignments will not be accepted.

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Introduction -7

Assignment Format

Cover Page (typed)

Name:

ID #:

Assignment #:

Present a Solution

Free Body Diagrams is Important

Staple

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Laboratories

Carefully read lab handout prior to lab so you

will be ready to go to work.

20% of the lab mark will be assigned by the TA

based on your readiness, so come to the lab

prepared.

Bring a hard cover lab notebook.

Record all important details in your notebook

and have it signed by the lab instructor before

leaving the lab.

Prepare a report for each lab.

Hand in your report at lab notes location on the

assigned due dates.

Introduction -8

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Introduction -9

Quizzes

Random

10-15 min

No deferred quizzes

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Introduction -10

Exams

Midterm

Saturday, November 1st from 12 to 1:30 pm in

TBA

20%

Final

50%

You need to pass the final in order to pass the

course.

If you do better on the final exam than you do on

the mid-term exam, then the final exam will be

worth 55% and mid-term 15%.

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Course Outlines

Introduction to mechanisms

Mechanics of rigid bodies

Graphical kinematic analysis

Analytical kinematics

Graphical force analysis

Analytical forces & balancing

Flywheels

Gyroscopic forces

Cams and Gears

Review lectures

Introduction -11

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Laboratories

Kinematic analysis of a quick-return

mechanism.

Dynamic analysis of four-bar quick-return

mechanisms.

Methods for determining centre of mass

and moment of inertia.

Design of a cam-follower system.

Gear trains.

Introduction -12

Labs will start on September 23

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My Expectations

Attend all lectures, tutorials and labs

Read assigned readings, and do the

assignments

Do not leave the lecture room without

understanding (Just ask me)

Try the assignment yourself, if you have

any difficulties come and see me or the

TA

Participate in the lecture and give me

feedback

Introduction -13

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Slide 14

How can you learn this course effectively?

After carefully listening to each lecture

1. Open the problem section at the end of each chapter and try to

understand them

2. As you might not be able to solve many of them, check out the solved

sample problems in the chapter

3. It is time, now, to start reading the chapter and understand key points

and the main concept.

4. Read your lecture notes

5. Go back to problems at the end of the chapter and try to solve them

now

6. Try to find similar examples on the Internet or Youtube.com

7. Get help from TAs

8. Come to my office if you face any difficulties

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Lecture 2 - 15

Today, we will cover:1. Few definitions

2. Examples of mechanisms3. Joints DOF

4. Kinematic pairs 5. Mechanism mobility

With many figures and models from Machines & Mechanisms: Applied

Kinematics, Analysis (David H. Myszka), Kinematics, Dynamics, and Design of

Machinery (Waldron & Kinzel) and from Mechanics of Machines (Cleghorn)

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Kinematics & Dynamics

Kinematics: The study of motion without

regard of force. The objective of kinematics

is to develop various means of transforming

motion to achieve a specific kind needed in

applications.

Dynamics: The study of forces on system in

motion. The objective of dynamics is to

analyse the behaviour of a given machine or

mechanism when subjected to dynamic

forces.

Lecture 2 - 16

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Machine/Mechanism/Links

Machine: an assemblage of parts that

transmit forces, motion and energy in a

predetermined manner.

Mechanical parts

Electrical parts

Lecture 2 - 17

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Machine

A machine has two functions:

Transmitting definite relative motion

(motions may be continuous or

intermittent, linear and/or angular)

Transmitting force

These functions require strength and

rigidity to transmit the forces.

Lecture 2 - 18

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Machine

Single-cylinder piston engine:

Figure 1.1 Single-cylinder piston engine [Model 1.1].

Lecture 2 - 19

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Mechanisms

A mechanism may be defined as a

combination of rigid or resistant

bodies, formed and connected so that

they move with definite relative

motions with respect to one another.

A mechanism can also be defined as

an assemblage of rigid members

connected together by joints

Lecture 2 - 20

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What Does a Mechanism Do?

Its task is to transform both input

forces and movements into a desired

set of out

put forces and movements the an

input force

Lecture 2 - 21

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Mechanisms

Mechanisms within single-cylinder engine:

Figure 1.2 Mechanisms in a single-cylinder piston engine: (a) engine, (b) timing belt drive, (c) cam mechanism, (d) slider crank mechanism.

Lecture 2 - 22

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Links

Individual parts of a machine or

mechanism are referred to as links:

They may be nonrigid, such as cables

and belts

They may be rigid bodies, such as

cranks, levers, wheels, bars, or gears

Lecture 2 - 23

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Figure 1.6 (a) Slider crank mechanism. (b) Skeleton representation.

Skeleton Representation

(slider-crank)

hatched lines:

base link

empty circles:

pivot points

Lecture 2 - 24

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Figure 1.7 Slider crank mechanism with offset [Model 1.7].

base link

crank

base pivot

coupler

(connecting rod)

slider

pivot point

pivot point

Skeleton diagram

Slider-Crank Mechanism

Lecture 2 - 25

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Figure 1.8 (a) Four-bar mechanism [Model 1.8]. (b) Function graph.

As link 2 rotates full circle, link

4 only oscillates between ~85

and ~135 degrees

Four-Bar Mechanism

Lecture 2 - 26

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Figure 1.12 Washing machine mechanism [Model 1.12].

Four-Bar Mechanism

Mechanisms can be built up by starting with a

single mechanism, then adding links to create

more complicated mechanisms.

Lecture 2 - 27

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Figure 1.11 Washing machine mechanism [Model 1.12].

Four-Bar Mechanism

Lecture 2 - 28

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Figure 1.10 Equivalent four-bar mechanisms [Video 1.10].

SKELETON: used to show

centre to centre distances

Equivalent Four-Bar Mechanisms

Lecture 2 - 29

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Figure 1.10 Equivalent four-bar mechanisms [Video 1.10]. (Continued)

Equivalent Four-Bar Mechanisms

Lecture 2 - 30

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Link

A link is defined as a machine element

(component) having two or more nodes

(pairing elements) which connect it to other

bodies for the purpose of transmitting force

or motion.

Lecture 2 - 31

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Link (completely rigid)

Crank Pin

Crank Shaft

Flywheel

Spring

Belts

Ropes

Not rigid elements

Lecture 2 - 32

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Binary Link has two nodes

Ternary Link has three nodes

Quaternary Link has four nodes

Binary

Ternary

Quaternary

Lecture 2 - 33

Binary

Ternary

Quaternary

Binary

Ternary

Quaternary

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Kinematic Pairs

The links of a mechanism are connected

together by kinematics pairs (or joints).

Each kinematic pair permits only one

relative motion between adjacent links:

Turning Pairs

Sliding Pairs

Rolling Pairs

Lecture 2 - 34

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Examples of Turning Pairs

Figure 1.31 Examples of turning pairs.Lecture 2 - 35

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Examples of Sliding Pairs

Figure 1.32 Examples of sliding pairs.Lecture 2 - 36

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Degrees of Freedom

Degrees of Freedom (dof) – The number of

independent coordinates required to

define/constrain the position of all links with

respect to ground.

y

x

qxG

yG

Rigid link has 3

DOF (in-plane)

Lecture 2 - 37

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Types of Motion

Simple motion

Pure translation

Pure rotation

Complex motion: simultaneous

combination of translation and rotation

Lecture 2 - 38

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1 DOF Pairs (Joints)

Pin joint allows 1 DOF

Linear slider

Threaded nut

Tire on dry ground

Lecture 2 - 39

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2 DOF Pairs (Joints)

Lecture 2 - 40

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Joint Nomenclature

Lower (primary) pairs - Single degree of

freedom

Higher pairs - Two degrees of freedom

Lecture 2 - 41

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Mechanism Mobility

The mobility of a mechanism is defined

as the minimum number of independent

parameters (coordinates) required to

specify the position of all links of the

mechanism.

n = number of links

j = number of joints

fi = degrees of freedom of relative jointsChapter 2 - 42

𝒎 = 𝟑 𝒏 − 𝒋 − 𝟏 + 𝒊=𝟏

𝒋

𝒇𝒊

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Examples of Mobility (1)

Figure 1.36 Examples of mobility.

Lecture 2 - 43

𝒎 = 𝟑 𝒏 − 𝒋 − 𝟏 + 𝒊=𝟏

𝒋

𝒇𝒊

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Examples of Mobility (2)

Lecture 2 - 44

n = ?

j = ?

fi = ?

M = 2

Front-end loader (model)

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Next Lecture

Mobility of spatial mechanisms

Mechanism Inversion

Grashof criterion

Examples

Lecture 2 - 45