Kinematics of Machines and Mechanisms

COURSE CONTENT

Fundamental theories of kinematics, vector and matrix algebra, numerical methods for use in computational mechanics, computer programs for analyzing the response of simple and complex mechanical systems, cams, gears, gear trains, synthesis of mechanisms. Kinematic analysis, mobility and range of movement – Kutzbach and Grübler’s criterion, number Synthesis, Grashof’s criterion, displacement analysis of plane mechanisms–graphical and analytical methods, velocity and acceleration analysis, kinematic elements, fixed and variable speed kinematic pairs – closed loop linkages, the four-bar linkage, the slider-crank linkage, coordinate transformations, robot arms and manipulators, variable speed kinematic pairs – cams and followers, kinematics of gears, design of gear trains, simple, compound and epicyclic gear trains, sliding gear boxes and synchronous gear boxes dimensional synthesis of mechanism; motion, path and function generation.

Students have to design a series of mechanisms. The software to be used can be found in the textbook Computer Aided Design, A CAD Approach by A.D. Dimarogonas [2001]. The students have the option of a choice of assignments among which: kinematics of a series of planar-mechanisms from Artobolevski [1975], a cam profile design, kinematics of gear trains, design of compound and epicyclic gear trains, kinematic design of a metal planner-shaper, kinematics and dynamics of a steam-powered road-roller, kinematics of a reflex-camera, the design of a 4-shift gearbox, and a light truck rear axle with 4:1 differential. For further reading the following books are proposed [Hartenberg and Denavit 1964, Artobolevski 1975, Movnin 1975, Targ 1976, Chemilevski 1984, Dimarogonas 1996, 2001, Norton 1994, Shigley 1981, 2004, Muškis 1975, Erdman 1984, Bakhvalov 1977, Kardestuncer 1974, Bedford 2005, Reuleaux 1875, Haug 1989, Ambekar 2007].

LEARNING OUTCOMES

This course reviews and reinforces the student’s understanding of Kinematics of Machines and Mechanisms. Solving more difficult problems and using graphical methods of solution provides a visual level of perception of the subjects not available in earlier courses. This course contributes primarily to the students’ knowledge of engineering topics, and does provide design experience. The following considerations are included in this course: economic, environmental, ethical, political, societal, health and safety, manufacturability, sustainability.