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ME 301 METU ME
Mechanisms
ME 301 METU ME
Mechanisms
ME 301 Theory of Machines I
(MECHANISMS)
Instructor: Prof. Dr. Eres Sylemez
Rm: C205 e-mail:
e mail: eres@metu.edu.tr
eres@metu edu tr
Assistant: Mr. Gkhan Kiper.
Rm. C205 e-mail: kiper@metu.edu.tr
Group 05
Course Hours: Monday (15:40-17:30) in Rm B102
Wendesday(16:40-17:30)
Computer Hours will be announced later.
References:
J.E. Shigley and J.J. Uicker, Theory of Machines and
Mechanisms, 2nd Edition, McGraw-Hill, 1995.
R.L. Norton Design of Machinery, 2nd Edition, McGraw-Hill,
1999
K.J. Waldron, G. L. Kinzel Kinematics, Dynamics and Design
of Machinery, John Wiley, 2004
ME 301 METU ME
Mechanisms
Course Policy
Attendance is compulsory and will be checked
checked.
Weekly
y reading
g assignments
g
will be g
given and yyou
week)
ME 301 METU ME
Mechanisms
ME 301
Catalogue
C
t l
D
Description:
i ti
Introduction to mechanisms;basic
concepts, mobility, basic types of
mechanisms. Position, velocity and
acceleration analysis of linkages. Cam
Mechanisms, gear trains, static and
dynamic force analysis of mechanisms.
ME 301 METU ME
Mechanisms
Course Objectives
Wh
Whatt is
i a mechanism?
h i ? Th
The b
basic
i concepts
t about
b t
mechanisms (at the end of this course you must be
able to identifyy a mechanism and determine its
degree-of freedom)
Kinematic analysis
y
of mechanisms ((at the end of
this course you must be able to perform motion,
velocity and acceleration analysis of planar
mechanisms including the gear trains
trains.))
Static and dynamic force analysis of mechanisms
(at the end of this course you must be able to
perform static and dynamic force analysis of planar
mechanisms.)
ME 301 METU ME
Mechanisms
ME 301 METU ME
Mechanisms
Tools
Today computer use is essential.
essential
There are several well developed package
programs
p
g
available ((Adams ,, Visual Nastran ,,
Working Model , etc).You may use these
programs later as an engineer. These programs
will not be thought or used in this course
course.
In this course:
You will be asked to write small p
programs
g
in any
y
computer language you are familiar with;
You will be asked to use Excell extensively and you
have to write small macros in Excell ;
You will be asked to use the mathematical package
MathCad and MatLAB .
ME 301 METU ME
Mechanisms
Course Material
http://www.me.metu.edu.tr/people/eres/ME301/Index.html
Please also look at:
http://mekanizma.me.metu.edu.tr
ME 301 METU ME
Mechanisms
Course behavior
Late comers to class are not accepted.
Please come to class prepared. Do your reading
assignments!!
i
t !!
Please feel free to ask questions in class.
Please
Pl
ffeell ffree to
t askk questions
ti
outside
t id class
l
b
by
using e-mail or come to my office at any time (from
9:00 to 19:00 Hour normally).
normally)
Please dont talk in class.
ME 301 METU ME
Mechanisms
I. Introduction to Mechanisms
Objectives:
To understand the terms used in mechanisms
study,
To understand and be able to use the degree
g
of
freedom of space, and the degree of freedom of a
joint concept,
To understand and be able to use the degree of
freedom of a mechanism concept
To be able to identify the mechanisms in patent
documents.
documents
Reading Assignment:
Ch 1 (By October 12, Monday)
ME 301 METU ME
Mechanisms
Machine
Machine: Combination of resistant bodies so arranged that by their
means the mechanical forces of nature can be compelled to do
work accompanied by certain determinate motion.
Note:
In the above definition we are only concerned with the mechanical
machines. The definition does not include electrical or heat
machines (eg. a computer or a heat pump is not included as a
machine with the above definition)
definition).
The main characteristics of a mechanical machine is that there is
force (or torque) accompanied with motion, Some exceptions to
this characteristics are mechanical calculating machines,
mechanical
h i l watches,
t h
iindicating
di ti iinstruments,
t
t etc.
t IIn th
these ttypes
there is no actual work output. The work input is dissipated as heat
due to friction within the system.
ME 301 METU ME
Mechanisms
Mechanism
A group of rigid bodies connected to each
other by rigid kinematic pairs (joints) to
transmit force and motion
ME 301 METU ME
Mechanisms
Mechanisms
A machine may also involve a number of mechanisms and certain elements that
are not rigid (although resistant). Such as hydraulic drives, springs, dashpots,
fl ibl elements,
flexible
l
t etc.
t which
hi h are nott considered
id d as b
bodies
di th
thatt can b
be iincluded
l d d iin a
mechanism
ME 301 METU ME
Mechanisms
Furniture
Textile Industry
Automotive Industry
Healthcare
and fitness
industry
Aerospace Industries
Mechanisms
Mechanism
A group of rigid bodies connected to each
other by rigid kinematic pairs (joints) to
transmit force and motion
Gives the basic characteristics
Kinematic Element:
ME 301 METU ME
Mechanisms
OpenKinematic pairs
Cl
Closed
d Ki
Kinematic
ti P
Pairs
i
ME 301 METU ME
Mechanisms
Degree of Freedom
Degree of Freedom of Space
Spatial
p
Space:
p
the number of independent parameters required to define the
position of a rigid body in that space
z
P2
Z
P3
P1
A(xa,ya,z a)
3
2
1
x
P1(x1,y1,z1)
X
P2 (x 2,y 2,z 2)
P3(x 3,y3,z 3)
Y
X
DoF=6 or = 6
ME 301 METU ME
Mechanisms
X
y
A(X , Y )
P2(x2,y2)
aa
P1(x1,y1)
Geometric representation
ME 301 METU ME
Mechanisms
ME 301 METU ME
Mechanisms
Degree-of-freedom of a kinematic pair:
ME 301 METU ME
Mechanisms
TABLE I
TRANSL
LATIONAL
FREEDO
OM
ROTAT
TIONAL
FREED
DOM
DEGR
REE
OF
FREE
EDOM
FORM
CLOSED
NAME
Sphere in a cylinder
Cylinder between
parallel planes
ME 301 METU ME
FORCE
CLOSED
Mechanisms
TABLE I
TRANSL
LATIONAL
FREEDO
OM
ROTATIONAL
FREED
DOM
DEGR
REE
OF
FREE
EDOM
FORM
CLOSED
NAME
Spherical
p
pair
p
(Ball joint)
Slotted sphere
in a cylinder
cy de
Plane joint
ME 301 METU ME
FORCE
CLOSED
Mechanisms
TABLE I
TRANSLATIONAL
FREEDOM
ROTATIONAL
FREEDOM
DEGREE
OF
FREEDOM
K IN E M A T IC P A IR S W IT H IN D E P E N D E N T R O T A T IO N A L A N D T R A N S L A T IO N A L M O T IO N
FO RM
CLOSED
NAME
T o ru s
C y lin d ric a l jo in t
S lo tte d c y lin d e r
S lo tte d s p h e re
ME 301 METU ME
FO RCE
CLO SED
Mechanisms
TABLE I
FREEDOM
TRANSLATIONAL
FREEDOM
ROTATIONAL
FREEDOM
DEGREE
OF
K IN E M A T IC P A IR S W IT H IN D E P E N D E N T R O T A T IO N A L A N D T R A N S L A T IO N A L M O T IO N
FORM
CLOSED
NAME
S lo tte d s p h e re
C y lin d ric a l jo in t
S lo tte d c y lin d e r
T o ru s
ME 301 METU ME
FORCE
CLOSED
Mechanisms
TABLE I
TRAN
NSLATIONAL
FREE
EDOM
ROTATIONAL
EEDOM
FRE
DEGREE
OF
REEDOM
FR
NAME
Revolute pair
(turning joint)
Prismatic pair
(sliding joint)
FORM
CLOSED
ME 301 METU ME
FORCE
CLOSED
Mechanisms
ME 301 METU ME
Mechanisms
Link
A rigid body that contains at least two
kinematic elements
Th
These
fifigures are schematic
h
ti representations
t ti
ME 301 METU ME
Mechanisms
Link
Engineering Drawing
ME 301 METU ME
Mechanisms
Link
Actual shape
ME 301 METU ME
Mechanisms
Kinematic Chain
Links connected to each other by kinematic pairs
Open
p
Kinematic Chains
Closed
ME 301 METU ME