Kinematics and Dynamics of

Machines
MECE 3380

Bob Freeman
10/13/03
 ABET Syllabus
COURSE OBJECTIVES:
Master the fundamental concepts of;
kinematic and dynamic analysis of 1-DOF planar
mechanisms,
kinematic synthesis of 4Bar linkages,

and general parametric design and optimization.

Understand that the mathematical models used for

analysis are also used for design.
Effective use of math and engineering software (e.g.,
MathCad and Working Model 2D) for analysis,
simulation, and design of planar machines.
Topics: Subject (#of 50 min. lectures)
Fundamental concepts including; joint and link types, mobility,
classification, and equivalent diagrams - 4
Survey of simple mechanical devices including; gears (simple,
compound, and epicyclic), cams, friction drives, and differentials - 6
Design theory and methodology (as applied to gears) - 4
Dimensional synthesis of planar 4Bar linkages - 9
4R 4Bar Analysis including; position, velocity, acceleration, and force
analysis, and shaking force and moment balancing - 5
Kinematic-Influence-Coefficient based Dynamic modeling of 1DOF
planar machines - 6
DYAD based planar mechanism analysis including; structural
formulation, position, velocity, acceleration, and force analysis, and
dynamic modeling - 8
Use of MathCad and Working Model 2D (Web-based tutorials) 0
Extend to include use of Working Model 3D and MatLab
COURSE OUTCOMES AND (ASSESSMENT)
Introduction to Parametric Design & Optimization
Classify planar linkages in terms of their name, DOF,
and equivalent kinematic diagram. (HT)
Perform kinematic analysis of simple mechanical
devices including; simple, compound, and epicyclic
gears, cams, friction drives, and differentials. (HT)
This is to be accomplished by "hand", by creating
and using MathCad scripts, and by using Working
Model 2D.
Perform parametric design (including optimization) of
gear trains and friction drives with respect to desired
kinematic performance, cost, and availability criteria.
(HT)
This is to be accomplished by "hand" and by creating
and using MathCad scripts.
 COURSE OUTCOMES AND (ASSESSMENT)
Dimensional Synthesis of 4-Bar Linkages
Type Synthesis: Determine whether or not a specified
linkage type is geometrically sufficient to satisfy specific
kinematic structural and performance requirements, and
if so, to determine in general how many solutions exist.
(HT)
Dimensionally synthesize planar 4Bar linkages
(4R, Sl-Cr, & Inv.Sl-Cr) for;
coplanar motion synthesis,
angular coordination of a 2-link chain,
angular coordination of 2 cranks,
coordination of a slider/piston and a crank,
and path coordination with a crank.
This is to be accomplished by "hand" and by creating
and using MathCad scripts. (HTP)
 COURSE OUTCOMES AND (ASSESSMENT)
4R-4Bar Analysis

Analyze 4Bar linkages with respect to position,

velocity, acceleration, and force.
This is to be accomplished by "hand", by
creating and using MathCad scripts, and by
using Working Model 2D. (HTP)
Shaking-Force balance 4R-4Bars. (H)
Create a dynamic model of a 4Bar.
This is to be accomplished by "hand" and by
creating and using MathCad scripts. (HTP)
COURSE OUTCOMES AND (ASSESSMENT)
General 1-DOF Planar Linkages
Perform position, velocity, acceleration, and
force analysis of general 1DOF planar linkages
using DYAD structure groups. (HT)
Create a dynamic model of general 1DOF
planar linkages. (H)
Write DYAD-based Mathcad sub-routines to
model and analyze general 1 DOF planar
mechanisms. (H)
Use Working Model 2D to create and
dynamically simulate general planar
mechanisms. (H)
CONTRIBUTION OF COURSE OUTCOMES TO
DEPARTMENT OUTCOMES
 Approach
The students must want to learn the software and
use the tutorial materials.
First, hook them with the utility of the software
to solve problems and understand concepts
through in-class demonstrations.
Then, teach them the software in easily
digestible bites using asynchronous tutorial
materials that coincide with course assignments.
After being introduced to the basics, students are
both more likely and more able to use the
softwares own more encyclopedic materials.
 Enabling Technology
TechSmiths Camtasia: Screen capture with
Audio
Easy to use

Excellent editing features

Reasonable file size: Roughly 3MB per

minute
 Lecture Summaries
Condensed summaries of each lecture are posted
on the course web-site with links to additional
asynchronous tutorial material as appropriate.
Example Homework Assignment
 Project Overview
Student teams to propose a task that can be solved using a
4-Bar linkage.
Two (or more) different kinematic solutions required.
Use Mathcad to obtain analytic solutions, and then
Working Model 2D to "virtually" verify the solutions.
Perform a dynamic analysis on one of the solutions in one
position (state) by hand and with Mathcad.
Use WM2D to dynamically simulate the mechanism and
compare link accelerations, joint reaction forces, and
required motor torque with Mathcad results.
Compare their two kinematic solutions dynamically using
WM2D under realistic operating conditions for their task
and select one as their "optimal" design based on some
dynamic metric.
 Sample Project
The example
project discusses
a solution to the
general task of
controlling the
motion of a box
top.
Mathcad Script
WM Tutorial
 Questions!!!
Keep K&D as a required course?
Replace K&D with Modeling?
Replace 2nd Chemistry / Physics Elective
with Modeling?