KL University Vaddeswaram, 522502 Mechanical Engineering Department B.Tech IV semester 2012-13 Course Handout 1. 2. 3. 4. 5. 6.

. Course Name Course Code Course Coordinator Course Structure Credits Team Members : : : : : : Kinematics of machines 11-ME203 Mr. DVA Ramasastry 3-1-0 4

Date: 11-05-2012

Course Context and Overview: Course: Kinematics of Machines Course Designers: DVA RAMASASTRY This course is offered in the third semester of a B.Tech programme in Mechanical Engineering. It is pre-requisite to a range of courses in Mechanical Engineering like Dynamics of Machinery, Machine Design, Design of Machine elements etc. It would require knowledge of Mechanics, vectors and Engineering drawing. The Theory of Machines was borne as a subject with the Industrial Revolution and the birth of Reciprocating Steam Engine nearly 230 years ago. Kinematics of Reciprocating and Rotating machinery is the fundamental study to mechanical engineers before proceeding to stress design. These analyses were done mainly by graphical methods for planar mechanisms as they gave good insight into the mechanism and repetitive history of velocities, accelerations etc. Theory of Machines is one of the first subjects a fresh entrant to mechanical engineering studies faces. The concepts of moving machine members over a period of thermodynamic cycle and the variation of displacements, velocities and accelerations form the subject of Kinematics. This subject provides a suitable mechanism to perform a particular operation. Using this information, several components of a machine can be designed with the aid of mechanics of materials and dynamics of machinery. Thus kinematics of machinery is the stepping stone to machine design. Selected subset of Program Outcomes as identified by Washington Accord: Program Outcome Apply knowledge of mathematics, science, engineering fundamentals and an engineering specialization to the conceptualization of engineering models. Selected as engineering models of mechanisms and their kinematics are addressed using knowledge of Vectors(graphical methods), basic kinematics. 2. Identify, formulate, research literature and solve complex engineering problems reaching substantiated conclusions using first principles of mathematics and engineering sciences. Selected as various problems in kinematics, velocity and acceleration analysis, cams and gears uses the knowledge of Engineering sciences. 3. Design solutions for complex engineering problems and design systems, components or processes that meet specified needs with appropriate consideration for public health and safety, cultural, societal, and environmental considerations. Selected as solutions various problems in kinematics, velocity and acceleration analysis, cams and gears that lead to design of mechanisms to meet a wide range of requirements. 4. Conduct investigations of complex problems including design of experiments, analysis and interpretation of data, and synthesis of information to provide valid 1.
1

conclusions. Not selected as no investigations or experiments are to be conducted to collect data. 5. Create, select and apply appropriate techniques, resources, and modern engineering tools, including prediction and modeling, to complex engineering activities, with an understanding of the limitations. Selected as simulation tools are proposed to be used. 6. Function effectively as an individual, and as a member or leader in diverse teams and in multi-disciplinary settings. selected as analysis and design of various mechanisms are multidisciplinary activities and also requires team efforts 7. Communicate effectively on complex engineering activities with the engineering community and with society at large, such as being able to comprehend and write effective reports and design documentation, make effective presentations, and give and receive clear instructions. selected as designing mechanisms can be complex engineering activity and there are special communication issues, and the analysis and design activities to be pursued by individual as per well defined procedures 8. Demonstrate understanding of the societal, health, safety, legal and cultural issues and the consequent responsibilities relevant to engineering practice. Selected as analysis and design of mechanisms can solve societal, health, safety and cultural issues. 9. Understand and commit to professional ethics and responsibilities and norms of engineering practice. Selected as certain norms of engineering practice to be followed in designing mechanisms 10. Understand the impact of engineering solutions in a societal context and demonstrate knowledge of and need for sustainable development. Selected as the activities related to this course do involve addressing issues related to sustainability 11. Demonstrate a knowledge and understanding of management and business practices, such as risk and change management, and understand their limitations. Not selected as the activities related to this course do not involve addressing any issue related to Management and business practice. 12. Recognize the need for, and have the ability to engage in independent and lifelong learning. Selected as the problems and experiments undertaken in this course do involve various activities that requires independent learning. Cognitive Levels associated with the course Selected/ Cognitive Explanation for selection and non-selection based on SNo NotLevel the nature of the course and instructors preferences Selected 1. Remember Selected Several concepts, principles and procedures need to be remembered precisely 2. Understand Selected Several theorems and criteria need to be understood 3 Apply Selected Several procedures and need to applied to determine the behavior of given electrical circuits 4. Analyze Selected Analysis of several mechanisms including gears and cams is required 5. Evaluate Selected Several mechanisms need to be compared with regard to a given set of performance requirements 6. Create Selected Design of mechanisms and cams as per specification is one of the aims of this course

Categories of Knowledge associated with Engineering Courses: SNo Knowledge Category Factual Selected/ NotSelected Selected Explanation for selection and non-selection based on the nature of the course and instructors preferences Several terms like mechanism, machine, degrees of freedom, lower pairs, higher pairs etc., need to be Known Concepts like Grublers criterion, inversions of quadratic cycle chain, Coriolis component of acceleration and laws like Grashofs law, fundamental law of gearing need to be understood and applied. Kinematic analysis of mechanisms, cams and gears requires using several standard procedures Designing several mechanisms, cams is done using certain fundamental design concepts It is necessary to understand the implications of specifications when designing and analyzing mechanisms Design of cams, analysis of mechanisms and gears involves the consideration various constraints Team exercises and projects can be involved Design of cams, analysis of mechanisms and gears involves this knowledge category

1.

2.

Conceptual

Selected

3 4.

Procedural Fundamental Design Concepts Criteria and Specifications Practical Constraints Design Instrumentalities Metacognitive

Selected Selected

5.

Selected

6. 7. 8.

Selected Selected Selected

Competencies: At the end of the course the student should be able to Competency C1 C2 C3 C4 C5 C6 C7 C8 Understand the Elementary mechanisms, Inversions of quadratic cycle chain Understand and analyze simple mechanisms Understand kinematics of gears Apply Centro method or Relative velocity method for velocity analysis of four link mechanisms Apply Relative acceleration method for acceleration analysis of four link mechanisms Analyze and design Cams for various applications Perform kinematic analysis on gears Perform kinematic analysis on gear trains POs - levels 1-3, 5-1 1-2, 5-1, 6-1, 7-1, 12-1 1-2, 2-2 1-3,2-2, 5-1, 9-1,12-1 1-3,2-2, 5-1, 9-1,12-1 1-1,2-2,3-2, 6-1, 7-1, 8-1, 9-1,10-1,12-1 1-2, 5-1,61,7-1,12-1 1-1,2-2,3-2, 6-1, 7-1, 8-1, 9-1,10-1,12-1 Cognitive Level Understand, apply Analyze, apply Understand, Analyze Analyze, apply Analyze, apply Analyze, apply, create Analyze, apply Analyze, apply

Competency Program Outcome Matrix

3

Competencies Understand the Elementary mechanisms, Inversions of quadratic cycle chain To understand and analyze simple mechanisms To Understand kinematics of gears To apply Centro method or Relative velocity method for velocity analysis of four link mechanisms To apply Relative acceleration method for acceleration analysis of four link mechanisms To analyze and design Cams for various applications To perform kinematic analysis on gears To perform kinematic analysis on gear trains

Programme Outcomes 1 3 2 2 3 2 2 1 1 1 2 3 4 5 1 1 1 1 1 6 7 8 9 10 11 12

3 1 2 1

2 2 2

1 1 1 1 1 1 1 1 1 1

1 1 1

1 1 1

Competency addresses outcome: - 1 = slightly; 2 = moderately; 3 = substantially Syllabus: Introduction Planar Mechanisms: Basic Concepts and Definitions, Elementary mechanisms, Grublers criterion, four link chains, inversions of quadratic cycle chain, single slider chain, Double slider chain. Kinematic analysis of mechanisms: Velocities by centro method, Kennedys theorem, Determination of centros: four bar mechanism, slider crank mechanism Relative Velocity method: four bar mechanism, slider crank mechanism, crank slotted lever mechanism, Relative acceleration method: four bar mechanism, slider crank mechanism, crank slotted lever mechanism, Coriolis component of acceleration. Simple mechanisms: Straight line motion mechanisms, Exact straight line motion mechanism, approximate straight line motion mechanism, Steering gear mechanism, Davis steering gear mechanism, Ackermann steering gear mechanism, Hookes joint. CAMS: Classification of cams and followers, nomenclature, Displacement diagram, cam profiles of knife edge, roller and offset followers of reciprocating motion. GEARS and Gear trains: Gears classifications, terminology, fundamental law of gearing, involute profile, Interference of involute gears, minimum number of teeth to avoid interference. Gear Trains simple, compound and epicyclic gear trains Text Books: 1. Mechanism and Machine Theory. 2nd edition, J S Rao and R V Dukkipati, New age International 2. The Theory of machines through solved problems J.S.Rao New Agw International Publications. Reference Book:

Theory of Mechanisms and Machines. 3rd Edition, Amitabha Ghosh and Asok Kumar Mallik, East West 2. The Theory of machines; 3rd Edition; Thomas Bevan, CBS Publications Tools: 1. Kinematics of Machinery through Hyperworks, JS Rao, Springer Publisher Services, 2011 Session Plan Teaching Faculty Student Learning SNo Session Content and Source Methodology Approach approach outcome Beginnings of Theory of Lecturing Listens and 1 1 PPT Explore Machines Syn with PPT observe Where Kinematics fits in Lecturing Listens and 2 2 PPT Infer Mechanical Engineering? Syn with PPT observe Kinematic concepts, Lecturing Listens and 3 3 PPT Interpret Elementary Mechanisms, Syn with PPT observe Lecturing 4 4 Constraint relation PPT Evaluates Apply Syn with PPT Four link chains, Lecturing Listens and Interpret 5 5 PPT Inversions Syn with PPT observe slider crank mechanism Lecturing Listens and Interpret 6 6 PPT Inversions Syn with PPT observe double crank mechanism Lecturing Listens and Interpret 7 7 PPT - Inversions Syn with PPT observe
1.

8 9 10 11 12 13

8 9 10 11 12 13

Velocities by Centro Method Velocities by Centro Method Relative Velocity Equation Relative Velocity Equation Relative Acceleration Equation Relative Acceleration Equation Acceleration Analysis of Reciprocating Engine Mechanism- Graphical methods Analytical Determination of Velocity and Acceleration of the Piston Soled Problems - 1 Soled Problems - 2 Exact Straight Line Motion Mechanisms Approximate Straight line Motion Steering Gear Linkages Hooke's joint Additional Problems

PPT PPT PPT PPT PPT PPT

Lecturing Syn with PPT Lecturing Syn with PPT Lecturing Syn with PPT Lecturing Syn with PPT Lecturing Syn with PPT Lecturing Syn with PPT Lecturing Syn with PPT Lecturing Syn with PPT Facilitating Facilitating Lecturing Syn with PPT Lecturing Syn with PPT Lecturing Syn with PPT Lecturing Syn with PPT Facilitating

Listens and Analyze Listens and Analyze Listens and Analyze Listens and Analyze Listens and Analyze Listens and Analyze Application

Interpret and analyze Interpret and analyze Interpret and analyze Interpret and analyze Interpret and analyze Interpret and analyze Apply

14

14

PPT

15 16 17 18 19 20 21 22

15 16 17 18 19 20 21 22

PPT Use of Board Use of Board PPT PPT PPT PPT Use of

Application Application Application Listens and Analyze Listens and Analyze Listens and Analyze Listens and Analyze Application

Apply Apply Apply Interpret and analyze Interpret and analyze Interpret and analyze Interpret and analyze Apply
5

23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45

23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45

Additional Problems Cams and Cam Followers Displacement diagrams Knife edge, translating roller follower Flat Followers Additional Problems Additional Problems Additional Problems Gears and Nomenclature Law of Gear Tooth Action and Involute Layout of Involute Gear Set Meshing and Line of Contact - Contact Ratio Minimum number of teeth to avoid intereference Cycloidal Tooth Profiles Solved Problems Solved Problems Epicyclic gear trains and Torque distribution Epicyclic gear trains and Torque distribution Coupled Epicyclic trains Coupled Epicyclic trains Solved Problems Solved Problems Solved Problems

Board Use of Board PPT PPT PPT PPT Use of Board Use of Board Use of Board PPT PPT PPT PPT PPT PPT Use of Board Use of Board PPT PPT PPT PPT Use of Board Use of Board Use of Board

Facilitating Lecturing Syn with PPT Lecturing Syn with PPT Lecturing Syn with PPT Lecturing Syn with PPT Facilitating Facilitating Facilitating Lecturing Syn with PPT Lecturing Syn with PPT Lecturing Syn with PPT Lecturing Syn with PPT Lecturing Syn with PPT Lecturing Syn with PPT Facilitating Facilitating Lecturing Syn with PPT Lecturing Syn with PPT Lecturing Syn with PPT Lecturing Syn with PPT Facilitating Facilitating Facilitating

Application Listens and observe Listens and Analyze Listens and Analyze Listens and Analyze Application Application Application

Apply Interpret Interpret and analyze Interpret and analyze Interpret and analyze Design Design Design

Listens and Interpret observe Listens and Analyze and Analyze Evaluate Listens and Analyze Analyze Listens and Analyze Analyze Listens and Analyze and Analyze Evaluate Listens and Analyze and Analyze Evaluate Application Application Listens and Analyze Listens and Analyze Listens and Analyze Listens and Analyze Application Application Application Apply Apply Analyze and Evaluate Analyze and Evaluate Analyze and Evaluate Analyze and Evaluate Apply Apply Apply

Evaluation scheme: Comprehensive Theory Examination: 60Marks Internal Theory Examination: 40Marks Type of examination Nature of Marks and mode of Examination % assessment

Scheme of examination

60

Semester End examination (external evaluation) Test 1 20 Test 2

This examination question paper in theory subjects will be for a maximum of 60 marks Two mid exams each for 20 marks and of 1 hour duration will be conducted. For a total of 20 marks, 75% of better of the two and 25% of the other are added and reported. 6 Questions to be released in advance. 2 questions allotted by examiners choice to be answered. Average of Home assignments Minimum 2 per subject A maximum of two surprise quizzes per subject 5 marks are allotted for attendance and class notes

Theory 40 5 5 5 5 Attendance Weightage

Assignment Test Home Assignments Surprise Quiz Attendance/ Class notes -5 Marks:

Attendance will be considered for 5 marks. The demarcation is as follows: 95% and above: 5 marks 90% and above: 4 marks 85% and above: 3 marks 80% and above: 2 marks 75% and above: 1 mark. Chamber consultation hours: ME Department as announced in the class Notices: All notices will be displayed on e-learning website or Departmental notice board.

Signature of Course Coordinator Signature of the Group Head Signature of the HOD

: : :

Mr.DVA Ramasastry Dr. K V Ramana Dr. YV Hanumantha Rao