MECH3030

Mechanisms of Machinery
Dr. Yi-Kuen Lee
Associate Professor
Department of Mechanical & Aerospace Engineering
Hong Kong University of Science and Technology
meyklee@ust.hk

MECH3030

MECH3030 Mechanisms of
Machinery
Course Description:
Application of kinematics and dynamics in the
analysis, design and synthesis of mechanisms. Type
and dimensional design of linkages, cams and
gears based on motion requirements and force
transmission, in contrast to the strength
requirements. Graphical, analytical and computer
methods in analysis and design of mechanisms.
Design considerations in mechanism synthesis.

MECH3030

MECH 3030
Text book: Robert Norton, Design of Machinery,
McGraw-Hill, 2011
Used byy more than 100 universities
worldwide
www.designofmachinery.com

Prerequisites: MECH 2020 Statics and Dynamics

Vector Calculus and Analytical Geometry
3

MECH3030

MECH 3030 Mechanisms of

Machinery
Grading Policy:
The grade will be based on the following weighting
factors:
Homework
10%
Class attendance/good questions/term project 10%
Mid-term
40%
Final Exam
40%
Homework is due on specified date (TBA on LMES)
Late homework will not be counted
Mid-term: 19 Mar 2015 (Thur)
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MECH3030

MECH 3030
Important Notice
The regular class schedule is as follows:
Lecture hour: Tue, Thu, G010, CYT Bldg
Tutoriall hour:
h
L1:Mo,We,Fri/L2:Tu,Th,Fri
/ 2
h
(Room 4402, Computer Bar, Lift 17-18)

MECH3030

MECH 103
Office hours: Tue, 16:30-17:30, Rm 2551
(Lift 27-28)
Contact office hour with TAs is to be
arranged with the TAs directly

Structure or Mechanism?
Can you identify a
Structure within this
bicycle?

Frame = Structure

Can you name a

mechanisms on this
bicycle?

Chain and Sprocket =

One example of a
mechanism
7

Examples of Mechanical Structures

Structures can be
seen all around us in
our everyday lives.
High Rise Building

Bridge
Supporting
Roadway
8

Residential Dwelling

Machinery: Central part of everyday life

How many can
you identify?

Drill

Car
9

Light rail train

Tractor

Exercise Bicycle

What is a Mechanism?
All these machines have working
parts called Mechanisms

Rack and
Pinion
10

Pulley
Wheels

Cam and
Follower

Mechanisms, Motion and Force

Mechanism
A system of moving
parts that performs
some function.
Collins Dictionary

Motion
The process of continual
change in the position of
an object movement
Collins Dictionary

11

Motion and Force

Force

Strength or Power

Exertion or the use of

exertion against a
person or thing that
resists.

What input is needed for a

drill to work?

Collins Dictionary

Input: The lever of the drill is

pulled down

Output: The chuck of the drill

moves down
12

Machines and Mechanisms

A mechanism is a device which
transforms motion to some desirable
pattern and typically develops very low
forces and transmits little power
A
machine
typically
contains
mechanisms which are designed to
provide significant forces and transmit
significant power
13

Machines and Mechanisms

A useful working definition of a mechanism
= a system of elements arranged to transmit
motion in a predetermined fashion
On the other hand, a machine = a system
of elements arranged to transmit motion
and energy in a predetermined fashion
Some of the examples of mechanisms and
machines are:

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Mechanisms

Front loader

Lift platform

Device to close the

top flap of boxes

Lift platform
15

15

Machines

Bulldozer

Spider Robot

Amusement
Park Ride

16

Machines

Food Blender

Automatic
Transmission

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MECH3030

Foundation of Mechanics
Mechanics is the science of force and
motion of matter, including continuum
mechanics theory of relativity
mechanics,
relativity, quantum
mechanics, statistical mechanics,
molecular dynamics
Ref: http://www.asme.org/pubs/amr/class.html
http://en.wikipedia.org/wiki/Mechanics
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MECH3030

Foundation of Mechanics
Biology involves biomechanics related to
structure and function at all hierarchical levels
from cells, tissues, organs, and individuals (not
only biochem)
(A living cell is not a continuum, but a protein machine, factory with internal machinery
that functions orderly according to laws of mechanics.)
mechanics )

Engineering (aero, mech, marine, civil, chemical, materials, biomedical,

biotechnological, space, structural engineers develop and use fluid and solid
mechanics)

make useful things that do not exist in nature

and involve design and invention. Be concerned
with safety and economics
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MECH3030

Foundation of Mechanics
Historical remarks

Galileo Galilei (1564-1642) treated the strength of

beams and columns
Bernoulli (1654-1705) introduced the simple beam
theory
Newton ((1643-1727):
) Newtonian mechanics
Euler (1707-1783) derived the column formula
Coulomb (1736-1806) considered failure criterion
Lagrange (1736-1813) formulated the equations of
bending and vibration of plates
Lagrangian mechanics
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MECH3030

Foundation of Mechanics
Historical remarks
Hooke (law, 1660)
Navier (general equations of elasticity: solid
mechanics, 1821)
Cauchy (1789-1857, concept of stress and strain,
linear stress/strain relationship (Hooke
(Hookess law))
Poisson (1781-1840, molecular theory of elasticity)
Green (1793-1841), Stokes (1819-1903), Kelvin
(1824-1907)
Truedell, Rivlin, Noll, Erikson, etc. (theory of finite
strain, more recent years)
http://www.hk-phy.org/
21

A Brief History of Kinematics

Machines and mechanisms
have been devised by people
since the dawn of history
Ancient Egyptians devised
primitive machines to
accomplish the building of the
pyramids and other
py
monuments. Though the wheel
and pulley (on an axle) were
not known to the Old Kingdom
Egyptians, they made use of
lever, the inclined plane (or
wedge), and probably the log
roller

22

A Brief History of Kinematics

A great deal of design effort
was spent from early times
on the problem of
timekeeping as more
sophisticated clockworks
were devised. Much early
machine design was directed
toward military applications
(catapults, wall scaling
apparatus, etc.)

23

23

A Brief History of Kinematics

James Watt (1736-1819) probably
deserves the title of first kinematician for
his synthesis of a straight-line linkage
to guide the very long stroke pistons in
the then new steam engines. Watt was
certainly the first on record to recognize
th value
the
l off the
th motions
ti
off th
the coupler
l
link in the four-bar linkage.

Watt Straight-line linkage

24

A Brief History of Kinematics

Euler (1707-1783) presented an
analytical treatment of mechanisms in
his Mechanicasive Motus Scienta

Analytice Exposita (1736-1742), which

included the concept that planar motion

is composed of two independent

components namely
components,
namely, translation of a
point and rotation of the body about that
point. Euler also suggested the
separation of the problem of dynamic
analysis into the "geometrical" and the
"mechanical" in order to simplify the
determination of the system's dynamics
25

A Brief History of Kinematics

Franz Reuleaux (1829-1905), published

Theoretische

Kinematik

in

1875.

Reuleaux defined six basic mechanical

components: the link, the wheel, the cam,
the screw, the ratchet, and the belt. He
also defined "higher" and "lower" pairs.
H is
He
i generally
ll considered
id d the
th father
f th off
modem kinematics and is responsible for
the symbolic notation of skeletal, generic
linkages used in all modem kinematics
texts.

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MECH3030

Foundation of Mechanics
Hamilton (1805-1865): Hamiltonian
mechanics
Micron, submicron, nano-structures with size
and strain gradient effect (multiple scales and multiple phase
physics).
Growth and remodeling of living tissues
(will lead mechanics to another plateau)

Tissue Engineering, Regenerative Medicine

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MECH3030

Foundation of Mechanics
Mechanics are a mainstay of our
civilization and are developed side by
side with science and technology
analytical solutions
computational methods (CAD/CAM)
Experimental mechanics

28

MECH3030

Foundation of Mechanics
Mechanics are a mainstay of our civilization
Engineering Mechanics: Airplanes, ships,
rockets, spacecraft, automobiles, trains, rails,
g
y , buildings,
g , engines,
g
, micromachines
highways,
Materials of design properties
Artificial heart valves, hearts, limbs, skin,
pacemakers

29

Aerospace Engineering

Shenzhou IV, China's Jiuquan

launch center, 30 Dec 2002
Shenzhou V on 15 Oct 2003
Shenzhou VI on 12 Oct 2005
Shenzhou VII in Oct 2008
30

USA NASA Space Shuttle: Atlantis

http://www.unitedspacealliance.com/press/photo.htm

Hong Kong MTR Train

APM (Mitsubishi Heavy Industries, Japan)

First started in 1979, built by Metro Cammell, UK

MTR Co. is also in change of Automatic People Mover (APM) in HK International airport
31

Artificial Heart: AbioCor@

rotary pump
Ti + polymer
0.9 kg
Wireless powered

http://www.abiomed.com/
32

MECH3030

Foundation of Mechanics
Biomechanics
Constituents: living organism has a solid
structure (shape and size) and internal fluid flow
(t
(transport
t materials
t i l and
d kkeep organs alive)
li ) ((cells
ll make
k new materials)
t i l ).
Constitutive Equations: Biofluid is nonNewtonian. Biomaterials do not obey
Hookes law. The constitutive equations
for DNA and other molecules are to be
determined
33

MECH3030

Foundation of Mechanics

Biomechanics
Hierarchy of sizes and mechanics:
Gait, posture and sports: length of the whole body.
Hemodynamics of heart valves
Coronary atherosclerosis (hardening of blood vessel):
diameter of the coronary arteries for hemodynamics,
or thickness of the endothelial cell (micron) for shear
stress on vessel wall, or cell itself for molecular
mechanism

34

MECH3030

Foundation of Mechanics

Biomechanics
Perspectives
Biomechanics deals with DNA-controlled
changing materials.

Bio-mechanics is the new frontier for

mechanics!!

35

Working Model 2D:

a computer aided dynamics simulator
Powerful physics-based 2D kinematic and dynamic motion
Simulation and analysis
Provides accurate solutions to complex engineering motion
Simulation problems
Save time and money by avoiding expensive prototyping and
product failures
Installed the computers in Computer Barn (Rm 4402, Lift 17-18)
http://www.workingmodel.com/
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Snapshot of Working Model 2D

37

Snapshot of Working Model 2D

38

Inverted Slider-crank

http://highered.mcgraw-hill.com/sites/0072470461/information_center_view0/
39

Cylindrical cam mechanism

40

Geneva mechanism

41

Bevel gear

automobile transmission

42

Gas pedal mechanism

43

Drum brake mechanism

44

Microrobot in US Sandia National Lab

http://mems.sandia.gov
45

Texas Instruments DLP Chip

www.dlp.com
46

iPhone 3G and many smartphone use

microaccelerometer

ST Microelectronics: 3-axis LIS331DL, 33 1 mm3

47

iPhone 3G uses ST Microelectronics LIS331 DL

48

iPhone 4 uses ST Microelectronics micro gryo

- 3-axis digital L3G4200D
- 44 1.1 mm3
- made by ST
Microelectronics
- First
Fi t micro
i
gryo used
d iin
smartphone
- Vibrating tuning fork
(mass-spring system)

49

SEGWAY Scooter uses 5 MEMS gyro

www.segway.com
50

Japan Honda ASIMO

51

http://world.honda.com/ASIMO/

Biomimetic Robots
Snake robot: Oblix

Titan IV, 4-leg walking robot

Prof Shigeo HIROSE(), http://www-robot.mes.titech.ac.jp/

52

Multi-locomotion Robot

Prof Toshio Fukudas Lab, Nagoya University, Japan

http://www.mein.nagoya-u.ac.jp
53

Multi-locomotion Robot learn from Nature

http://en.wikipedia.org/wiki/Gorilla
54

Multi-locomotion Robot learn from Nature

55

Soft Robotics
Conventional robot
Rigid body mechanism
Made of rigid materials
Powerful and precise
Soft robot
Made of fluids,
fluids gels
gels, soft polymer,
polymer etc.
etc
Adaptive to surrounding
Human compatible

56

http://youtu.be/2DsbS9cMOAE

ASM Pacific Technology Ltd (0522), Hong Kong

Equipment for electronic packaging
About 54% of worlds
CMOS image sensors (CIS)
in electronic products
((including
g iPhone):
)
assembled by ASM
equipment
Thermal compression
bonder (TCB), LED
packaging

http://bit.ly/1F0PGLt
57

Robotics Market Research by NEDO Japan: 2012-2035

NEDO

Japan:
active R&D
in robotics
for decade
Google:
acquired 8
robotics
companies,
Apple
Amazon:
Kiva

58

Mechanics courses in HKUST MECH Program

MECH 3010
Solid Mechanics I

Mech 3610:
Control principles

Mech 4710
Introduction to Robotics

MECH 2020
Statics and Dynamics

MECH3030
Mech. of Machinery

Mech 4750
Mech. Vibration

MECH 2030
Mechanism and Dynamics of Machinery
Mech 3210
Fluid Mechanics

Mech 2520:
Design & Manufacturing I

Mech 2530:
Design & Manufacturing II

Mech 4740
Numerical
methods in Eng.

Mech 4450
Finite element
method
Mech 5230
Computational
Fluid Dynamics

Mech 4910:
Final Year Design Project I & II

Mech 3510:
CAD/CAM

Mech 1990
Industrial Traning
59

Mech 2970
Mechatronic Design
and Prototyping

Mech 3830, 3840

Mech Laboratory I & II