Code No: RR411405 Set No.

1
IV B.Tech I Semester Supplementary Examinations, February 2007
ADVANCED KINEMATICS & DYNAMICS OF MACHINES
(Mechatronics)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
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1. (a) State kutz batch criterion for determining mobility of a Spatial mechanism.
(b) Find the mobility of the selected planar mechanisms. (figure 1) [6+10]

Figure 1:

2. (a) Write about complex mechanisms and give example.

(b) Write the applications of Goodman’s method to the analysis of low and high
complexity mechanisms.
(c) Write about sign conventions of Goodman’s approach. [5+6+5]

3. Find the fixed end coordinates of cognate four-bar mechanism, use the following
data. OA . OB = 100 mm, OA .A = 50 mm, OB .B = 90 mm, AB = 66 mm, α =
400 , AC = 30 mm, assume input link inclination (θ) = 300 . (figure 2) [16]

Figure 2:

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Code No: RR411405 Set No. 1
4. A f our -link RGGR crank-rocker mechanism shown in figure 3. The knowns are
the position and plane of rotation of the input link, the plane of rotation of the
output link, and dimensions of all four links. Find the positions of all moving links
when the input crank is set to θ2 = −450 as shown below. Solve the problem using
graphical approach. Given data: O2 .A = 2 cm, AB=7 cm, O4 .B = 8 cm. [16]

Figure 3:

5. Determine the couple on crank ‘2’ to be applied for equilibrium of the system, when
a force of 500 N acts on the connecting rod at point ‘C’ as shown in figure 4. also
determine the resultant of forces exerted on its frame. [16]
Given data: O2 .A = 15 cm, A.B = 45 cm, A.C = 12 cm

6. Define Energy contribution coefficient. Describe the Quinn’s Energy distribution

method for the direct determination of input velocity of the mechanism at any
instant.
[16]

7. State the ‘two position synthesis of a four-bar mechanism’. Give the step by step
procedure to obtain the synthesized four-bar crank-rocker and slider crank mecha-
nisms by using two position synthesis. [16]

8. Synthesize a four-bar linkage that will, in one of its positions, satisfy the following
values for the angular velocities and angular accelerations. [16]
ω2 = 20 rad/s ; α2 = 0rad/s
ω3 = 8 rad/s ; α3 = 100 rad/s
ω4 = 10 rad/s ; α4 = −150 rad/s

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Code No: RR411405 Set No. 1

Figure 4:

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Code No: RR411405 Set No. 2
IV B.Tech I Semester Supplementary Examinations, February 2007
ADVANCED KINEMATICS & DYNAMICS OF MACHINES
(Mechatronics)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. (a) State kutz batch criterion for determining mobility of a Spatial mechanism.
(b) Find the mobility of the selected planar mechanisms. (figure 1) [6+10]

Figure 1:

2. (a) Write about complex mechanisms and give example.

(b) Write the applications of Goodman’s method to the analysis of low and high
complexity mechanisms.
(c) Write about sign conventions of Goodman’s approach. [5+6+5]
3. (a) What is cognate linkages.
(b) Write about inflection circle & inflection points. [8+8]

4. A four -link RGGR crank-rocker mechanism shown below. The knowns are the
position and plane of rotation of the input link, the plane of rotation of the output
link, and dimensions of all four links. Find the positions of all moving links when
the input crank is set to θ2 = 600 as shown in figure 2. Solve the problem using
Analytical approach.
Given data: O2 .A = 4 cm, AB = 15 cm, O4 .B = 10 cm. [16]
5. The driving moment applied on link ‘2’ is shown in figure 3. Determine the force
on link ‘4’ that is necessary to be applied for equilibrium of the linkage. Also
determine the state of loading on the connecting rod.
Given data: O2 .A = 10 cm, A.B = 32 cm. [16]
6. Explain Equivalent-mass-and force method in Dynamic motion analysis, for the
determination of input acceleration of the mechanism at any instant. [16]
7. What is the difference between two position synthesis and three position synthesis
of four-bar mechanism, give step by step procedure to obtain the synthesized four-
bar crank-rocker mechanism by using pole technique. [16]

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Code No: RR411405 Set No. 2

Figure 2:

Figure 3:

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Code No: RR411405 Set No. 2
8. Synthesize a slider crank mechanism so that the displacement of the slider is pro-
portional to the square of the crank rotation in the interval 450 ≤ θ ≤ 1350 . use
three precision points with chebyshev spacing. [16]

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Code No: RR411405 Set No. 3
IV B.Tech I Semester Supplementary Examinations, February 2007
ADVANCED KINEMATICS & DYNAMICS OF MACHINES
(Mechatronics)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. (a) What is meant by mobility of a mechanism?

(b) Find the mobility of the selected planer mechanisms. (figure1) [4+12]

Figure 1:

2. (a) Write about complex mechanisms and give example.

(b) Write the applications of Goodman’s method to the analysis of low and high
complexity mechanisms.
(c) Write about sign conventions of Goodman’s approach. [5+6+5]
3. Find the fixed end coordinates of cognate four-bar mechanism, use the following
data. OA . OB = 100 mm, OA .A = 50 mm, OB .B = 90 mm, AB = 66 mm, α =
400 , AC = 30 mm, assume input link inclination (θ) = 300 . (figure 2) [16]
4. Using Hartman’s procedure constract the inflection circle for a moving plane shown
below. Assume ωm = 0.5 rad/s (c.c.w), Os → S = 7 cm, P → S = 3 cm, θs = 300
(figure 3)

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Code No: RR411405 Set No. 3

Figure 2:

Figure 3:

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Code No: RR411405 Set No. 3
5. The driving moment applied on link ‘2’ is shown in figure 4. Determine the force
on link ‘4’ that is necessary to be applied for equilibrium of the linkage. Also
determine the state of loading on the connecting rod.
Given data: O2 .A = 10 cm, A.B = 32 cm. [16]

Figure 4:

6. The following are particulars of the slider crank mechanism shown in figure 5. O2 .A
= 6 cm, AB = 18 cm, AG3 = 9 cm, φ f = 450 The weight of link ‘2’ (W2 ) = 6 N ,
W3 = 10 N, W4 = 5 N, The mass moment of Inertias I02 = 0.15 N-cm2 , IG3 = 0.75
N-cm2 , T2 =60 N-cm (cw) constant, F4 decrease uniformly from 25 N in phase-I to
20 N in phase-II, directed to the left. Calculate its velocity and acceleration of the
input link
[16]

Figure 5:

7. (a) Write about chebyshev spacing of precision points

(b) What is dwell mechanism? Explain it clearly.
(c) What are the errors in function generation synthesis problems? [5+6+5]
8. Synthesize a four-bar linkage that will, in one of its positions, satisfy the following
values for the angular velocities and angular accelerations. [16]

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Code No: RR411405 Set No. 3
ω2 = 20 rad/s ; α2 = 0rad/s
ω3 = 8 rad/s ; α3 = 100 rad/s
ω4 = 10 rad/s ; α4 = −150 rad/s

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Code No: RR411405 Set No. 4
IV B.Tech I Semester Supplementary Examinations, February 2007
ADVANCED KINEMATICS & DYNAMICS OF MACHINES
(Mechatronics)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. (a) State kutz batch criterion for determining mobility of a planar mechanism.
(b) Find the mobility of the selected mechanisms. (figure1) [6+10]

Figure 1:

2. (a) Write about complex mechanisms and give example.

(b) Write the applications of Goodman’s method to the analysis of low and high
complexity mechanisms.
(c) Write about sign conventions of Goodman’s approach. [5+6+5]

3. Find the fixed end coordinates of cognate four-bar mechanism, use the following
data. OA . OB = 100 mm, OA .A = 50 mm, OB .B = 90 mm, AB = 66 mm, α =
400 , AC = 30 mm, assume input link inclination (θ) = 300 . (figure 2) [16]

4. Using Hartman’s procedure construct the inflection circle for link ‘3’ shown in figure
3. Assume ω3 = 0.5 rad/s, AB = 5 cm. [16]

5. The driving moment applied on link ‘2’ is shown in figure 4. Determine the force
on link ‘4’ that is necessary to be applied for equilibrium of the linkage. Also
determine the state of loading on the connecting rod.
Given data: O2 .A = 10 cm, A.B = 32 cm. [16]

6. Explain Equivalent-mass-and force method in Dynamic motion analysis, for the

determination of input acceleration of the mechanism at any instant. [16]

7. (a) Write about chebyshev spacing of precision points

(b) What is dwell mechanism? Explain it clearly.
(c) What are the errors in function generation synthesis problems? [5+6+5]

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Code No: RR411405 Set No. 4

Figure 2:

Figure 3:

Figure 4:

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Code No: RR411405 Set No. 4
8. Synthesize a four-bar linkage that will, in one of its positions, satisfy the following
values for the angular velocities and angular accelerations. [16]
ω2 = 20 rad/s ; α2 = 0rad/s
ω3 = 8 rad/s ; α3 = 100 rad/s
ω4 = 10 rad/s ; α4 = −150 rad/s

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