INDIAN INSTITUTE OF TECHNOLOGY

Date: 22.2013 (Friday AN) Spring Semester Time: 2 hrs Full Marks: 60
Subject Name: Kinematics of machines Subject No.: ME21008
No of students: 180 2"d Year B. Tech +DD (ME) +Breadth+Addl
Question paper has 4 pages. Scaled drawings will be acceptable for graphical methods.
Answer all questions. All questions carry equal marks.
Questions should preferably be answered on the question paper itself and attached with the answer script.
Question paper must be submitted with the answer script with name and roll number written in the spaces provided.
Only geometrical equipment is allowed. Tracing papers are not to be used.
Anv assumptions made in solvino the questions should be justified with reasons.
j Name:
1.
i. Assume that there is rolling and slipping
wherever the curved surfaces contact the
ground. Write the
a. Number of links ____ _
b. Number of lower pairs ____ _
c. Number of higher pairs ___ _
d. Degrees of freedom are : __ _
Roll Number
ii. The black cylinder is fixed to the white cylinder and may slip and roll inside the slot
and acts as a pin in slot joint. The white cylinder can also slip and roll on the ground.
Write the
a. Number of links Fig l.ii
b. Number of lower pairs ____ _
c. Number of higher pairs ___ _
d. Degrees of freedom are: __ _
iii. Consider a four bar RRRR linkage with frame =
40 mm, coupler = 20 mm, crank :;:: 35mm, follower =
30 mm. Is it Grashofian? Draw this linkage in all ,possible extreme configurations in all
modes of assembly preferably here.
.,
,.
.,a,
.,.,.

,;
"' '*'
.

",\
''" iS
"
l! r
''
''
m"
}.. :!l
t

'
.,
"fu rl J' " "!' ll<ll :::"
'
"
3.
Given m
2
== 12 rad/s clockwise and
0 find 0
1
0
4
=25mm
0102=61mm
02P=SOmm
P04=86mm
CP=121mm
C04=86mm
002=12 rad/s
ffic ____ _
aP2(tangential)=----,----
ap2(centripetal) = _____ _
aP4/P3(Coreolis)-. _____ _
aP4/P3 (tangential/sliding) = _____ _
There are revolute
joints at 0
2
,0
4
,P and a
curved slot between
link3 and 4. 0
1
is a
point on the frame and
NOT a revolute joint.
a
4
= Use mm and second as units. Draw the vector diagram for velocities
and accelerations preferably here. Use 1 mm=1 mm/s for the velocity diagram and
1 mm=1 Omm/s
2
for the acceleration diagram.
Name: Roll Number
4. A hardware designer wants to use a four-bar linkage to guide a door through the
three positions shown. Position 1 is horizontal, and position 3 is vertical. As a tentative
design; the point is chosen 8* as a revolute joint fixed to the frame and A as a revolute
joint on the coupler (the door). Draw the linkage in position 1 and determine the Grashof
type for the linkage. Now draw the mechanism in position 2 and 3 also and state if this
design will be of practical use. Drawings may be done and the answer may be written
preferably here.
y
Fig4
Position 3
Position 2
i\3 (0, 8.3)
Position 1
A
1
( -4.0, 2.8)