Introductory Lecture

Instructor:

Dr. Amir Monjazeb, P. Eng.

Room ENG 1025

Contact: Via Blackboard Messaging system

KINEMATICS AND DYNAMICS OF MACHINES

Kinematics & Dynamics of Machines

MECE 3270U

Introduction -1

Lectures

Day(s)

Wednesdays
&
Fridays

Time

3:40 5:00
2:10 - 3:30

Location

UP 1500

Tutorials
&
Labs
Check My
Campus

Check My
Campus
Check My
Campus

Office
hours

Tuesdays
and
Thursdays
1:00 3:00

ENG 1025

KINEMATICS AND DYNAMICS OF MACHINES

Schedule

Introduction -2

Kenneth J. Waldron
and Gary L. Kinzel
Kinematics, Dynamics,
and Design of
Machinery, John Wiley
& Sons, 2004.

KINEMATICS AND DYNAMICS OF MACHINES

Textbook

Introduction -3

 ENGR/MECE

You

2430U Dynamics

must withdraw from this course if you

have not completed the prerequisites

KINEMATICS AND DYNAMICS OF MACHINES

Prerequisites

Introduction -4

Short Random Quizzes

Assignments
Labs
Project
Midterm
Final Exam (3 hrs)

5% (bonus)
10%
10%
10%
20%
50%

You must pass the final exam in

order to pass the course.

KINEMATICS AND DYNAMICS OF MACHINES

Marking Scheme

Introduction -5

 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.

KINEMATICS AND DYNAMICS OF MACHINES

Assignments (individual effort)

Introduction -6

 Cover

Page (typed)

Name:
ID #:
Assignment #:
Present
Free

a Solution

Body Diagrams is Important

Staple

KINEMATICS AND DYNAMICS OF MACHINES

Assignment Format

Introduction -7

 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.

KINEMATICS AND DYNAMICS OF MACHINES

Laboratories

Introduction -8

 Random
10-15
No

min

deferred quizzes

KINEMATICS AND DYNAMICS OF MACHINES

Quizzes

Introduction -9

 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%.

KINEMATICS AND DYNAMICS OF MACHINES

Exams

Introduction -10

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

KINEMATICS AND DYNAMICS OF MACHINES

Course Outlines

Introduction -11

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.

Labs will start on September 23

KINEMATICS AND DYNAMICS OF MACHINES

Laboratories

Introduction -12

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

KINEMATICS AND DYNAMICS OF MACHINES

My Expectations

Introduction -13

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

KINEMATICS AND DYNAMICS OF MACHINES

How can you learn this course effectively?

Slide 14

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)

KINEMATICS AND DYNAMICS OF MACHINES

Today, we will cover:

1.
Few definitions
2.
Examples of mechanisms
3.
Joints DOF
4.
Kinematic pairs
5.
Mechanism mobility

Lecture 2 - 15

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.

KINEMATICS AND DYNAMICS OF MACHINES

Kinematics & Dynamics

Lecture 2 - 16

 Machine:

an assemblage of parts that

transmit forces, motion and energy in a
predetermined manner.
Mechanical parts
Electrical parts

KINEMATICS AND DYNAMICS OF MACHINES

Machine/Mechanism/Links

Lecture 2 - 17

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.

KINEMATICS AND DYNAMICS OF MACHINES

Machine

Lecture 2 - 18

Single-cylinder piston engine:

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

KINEMATICS AND DYNAMICS OF MACHINES

Machine

Lecture 2 - 19

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

KINEMATICS AND DYNAMICS OF MACHINES

Mechanisms

Lecture 2 - 20

 Its

task is to transform both input

forces and movements into a desired
set of out
put forces and movements the an
input force

KINEMATICS AND DYNAMICS OF MACHINES

What Does a Mechanism Do?

Lecture 2 - 21

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.

KINEMATICS AND DYNAMICS OF MACHINES

Mechanisms

Lecture 2 - 22

 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

KINEMATICS AND DYNAMICS OF MACHINES

Links

Lecture 2 - 23

empty circles:
pivot points

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

hatched lines:
base link

KINEMATICS AND DYNAMICS OF MACHINES

Skeleton Representation
(slider-crank)

Lecture 2 - 24

pivot point
crank

coupler
(connecting rod)
slider

base pivot
base link
Figure 1.7 Slider crank mechanism with offset [Model 1.7].

pivot point
Skeleton diagram

KINEMATICS AND DYNAMICS OF MACHINES

Slider-Crank Mechanism

Lecture 2 - 25

As link 2 rotates full circle, link

4 only oscillates between ~85
and ~135 degrees
Figure 1.8 (a) Four-bar mechanism [Model 1.8]. (b) Function graph.

KINEMATICS AND DYNAMICS OF MACHINES

Four-Bar Mechanism

Lecture 2 - 26

Mechanisms can be built up by starting with a

single mechanism, then adding links to create
more complicated mechanisms.

Figure 1.12 Washing machine mechanism [Model 1.12].

KINEMATICS AND DYNAMICS OF MACHINES

Four-Bar Mechanism

Lecture 2 - 27

KINEMATICS AND DYNAMICS OF MACHINES

Four-Bar Mechanism

Figure 1.11 Washing machine mechanism [Model 1.12].

Lecture 2 - 28

SKELETON: used to show

centre to centre distances

KINEMATICS AND DYNAMICS OF MACHINES

Equivalent Four-Bar Mechanisms

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

Lecture 2 - 29

KINEMATICS AND DYNAMICS OF MACHINES

Equivalent Four-Bar Mechanisms

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

Lecture 2 - 30

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.

KINEMATICS AND DYNAMICS OF MACHINES

Link

Lecture 2 - 31

Not rigid elements

Spring
Belts

Ropes

KINEMATICS AND DYNAMICS OF MACHINES

Link (completely rigid)

Crank Pin
Crank Shaft
Flywheel

Lecture 2 - 32

Link has two nodes

Binary

Ternary

Binary
Link hasTernary
three nodes

Binary
Ternary
Quaternary

Quaternary

LinkTernary
has four nodes
Quaternary

Quaternary

KINEMATICS AND DYNAMICS OF MACHINES

Binary

Lecture 2 - 33

 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

KINEMATICS AND DYNAMICS OF MACHINES

Kinematic Pairs

Lecture 2 - 34

Figure 1.31 Examples of turning pairs.

KINEMATICS AND DYNAMICS OF MACHINES

Examples of Turning Pairs

Lecture 2 - 35

Figure 1.32 Examples of sliding pairs.

KINEMATICS AND DYNAMICS OF MACHINES

Examples of Sliding Pairs

Lecture 2 - 36

Degrees of Freedom (dof) The number of

independent coordinates required to
define/constrain the position of all links with
respect to ground.

xG

Rigid link has 3

DOF (in-plane)

yG

KINEMATICS AND DYNAMICS OF MACHINES

Degrees of Freedom

Lecture 2 - 37

 Simple

motion

Pure translation
Pure rotation
Complex

motion: simultaneous
combination of translation and rotation

KINEMATICS AND DYNAMICS OF MACHINES

Types of Motion

Lecture 2 - 38

 Pin

joint allows 1 DOF

Linear slider
Threaded nut
Tire on dry ground

KINEMATICS AND DYNAMICS OF MACHINES

1 DOF Pairs (Joints)

Lecture 2 - 39

KINEMATICS AND DYNAMICS OF MACHINES

2 DOF Pairs (Joints)

Lecture 2 - 40

 Lower

(primary) pairs - Single degree of

freedom

Higher

pairs - Two degrees of freedom

KINEMATICS AND DYNAMICS OF MACHINES

Joint Nomenclature

Lecture 2 - 41

 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

KINEMATICS AND DYNAMICS OF MACHINES

Mechanism Mobility

fi = degrees of freedom of relative joints

Chapter 2 - 42

= +

Figure 1.36 Examples of mobility.

KINEMATICS AND DYNAMICS OF MACHINES

Examples of Mobility (1)

Lecture 2 - 43

Front-end loader (model)

n=?
j=?
fi = ?

M=2

KINEMATICS AND DYNAMICS OF MACHINES

Examples of Mobility (2)

Lecture 2 - 44

 Mobility

of spatial mechanisms
Mechanism Inversion
Grashof criterion
Examples

KINEMATICS AND DYNAMICS OF MACHINES

Next Lecture

Lecture 2 - 45