B Tech (Mechanical)

DYNAMICS LAB 4
th
sem
CONTENTS CONTENTS
1. Study of Gyroscopic effect and determination of gyroscopic couple.
2. Dynamic balancing of the rotating mass system.
3. To determine radius of Gyration K of gien pendulum.
!. To study the free ibration and to determine the natural fre"uency of
ibration of To#$%otor system.
&. Study of longitudinal ibration and to determine the fre"uency of
ibration.
'. Assembly and Working of 4-Bar, 6-Bar, 8-Bar Planar
Mechanisms.
1 1
Experiment No. 1.
Title: Study Of Gyroscopic effect and determination of gyroscopic
couple.
Equipment: (otori)ed Gyroscope
Aim: To study the gyroscopic principle and erify the relation bet#een the
applied tor"ue* Spin elocity and +recessional elocity in case of free
precession and forced precession.
Formula sed:
1. Gyroscopic couple , - . / # / #p
2. 0pplied Tor"ue 1T2 - 3 4 r5
!rocedure of Experiment:
!art ":
The spinning body e/erts a tor"ue or a couple in such a direction #hich tends
to ma6e the a/is of spin coincides #ith that of the precession. To study the
phenomenon of forced precession follo#ing procedure is adopted.
1. 7alance initial hori)ontal position of rotor.
2. Start the motor and ad8ust the oltage to get the constant speed.
3. +ress the yo6e frame about the ertical a/is by applying the necessary
force by hand in the cloc6#ise direction ie#ed from the top.
!. .t #ill be obsered that rotor frame s#ing about the hori)ontal a/is so
that the motor side moes up#ards.
&. %otating the yo6e a/is in the opposite direction causes the rotor frame
to moe in the opposite direction.
!art "":
The spinning body precesses in such a #ay that to ma6e the a/is of spin to
coincide #ith that of the applied couple. The direction is erified by follo#ing
the procedure gien belo# and using the apparatus as #ell as the relation for
the magnitude of the couple.
1. 7alance the rotor in the hori)ontal plane.
2. Start the motor and ad8ust the speed #ith the help of oltage
regulation. The speed is measured using a tachometer.
3. +ut #eights on the side opposite to the motor.
!. The yo6e start precessing.
&. 9ote do#n the direction of precession.
'. :erify this direction
;. (easure the elocity of precession using the pointer proided the yo6e
and stop #atch.
<. :erify the relation , - . 4 3 4 #p
O#ser$ations:
2 2
!art " :
1. Direction of spin a/is = ,>?,K3.S@A09T.,>?,K3.S@
2. Direction of forced precession = D?393?%D
3. Direction of couple acting on the frame =
,>?,K3.S@A09T.,>?,K3.S@S
!art "":
1. (ass of rotor 1m2 = 36g
2. Thic6ness of rotor = 1Bmm
3. %otor diameter 1d2 = 22Cmm
!. (oment arm 1r52 = 2CCmm
&. (otor po#er = 12C#
'. Speed of motor = C D &CC rpm
%alculations:
1. (oment of .nertia 1.2 - Kg.mE
2. # - 2F9 A 'C - radAs
3. #p - G A t 4 F A 1<C - radAs
!. Gyroscopic ,ouple H - . 4 # 4 #p - 9 D m.
&. 0pplied Tor"ue 1T2 - 3r5 - 9 D m.
%onclusions :
a2 ,omments are to be #ritten based on the obserations of direction
obsered during +art . and +art .. of the e/periment.
b2 The alues tabulated in the result table are to be compared 1i.e. the
alues of , I T are compared2 and comments on the ariation are to
be #ritten.
c2 Different case #here the gyroscopic couple is obsered is to be
mentioned.
3 3
Experiment No. &
Title: 'ynamic (alancing of )otary *ass System
Equipment: Dynamic 7alancing (achine
Aim:
1. To obtain balancing mass for static balancing of rotary mass system.
2. To obtain balancing mass for the rotating mass system
Formula sed:
Jorce - m / #E / r
!rocedure of Experiment:
1. 0ttached the balance frame to maintain frame firmly. .nsert the card
#ith pan to the grooed pulley proided set the unit to C positions.
2. :alues of static balancing for all the #eights #ill be arried #hen #e
are conducting the e/periment of dynamic balancing.
3. 9o# 6eep the bloc6 in any suitable position as reference and fi/ the
second bloc6 in any conenient position say 3cm to left.
!. 9o# hang the frame by chain and couple it #ith motor and run the
motor by using electric dimmer to a rated speed. 7y this #ay #e can
balance the machine.
&. .f the calculation is not correct then the unit #ill ibrate. That indicates
there is some calculation mista6e at the time of dra#ing the force and
couple polygon.
'. 0ttach any cloc6 to the shaft at any position.
;. +ut steel balls in one of the pans to bring the bloc6 to original BCK
positions.
<. 9umber of balls proportional to the L#r5 alue o bloc6.
B. %epeat the e/periment for other three bloc6s.
1C. #r 4 9o. of balls.
%alculations:
Force l + m x ,- x r
Typical )esult: .Jor .llustration o @/perimental ,alculations2
@/periments =
To statically balance a four place rotating mass system* 7loc6 9o. 2 is to be
positioned BC anticloc6#ise and 3cms. 0long the shaft from bloc6 9o. 1
4 4
determine the angular and longitudinal positions of bloc6s 3 and ! for perfect
balance.
%onclusions:
1. The force and the couple polygon coming to be close hence the force
produce due to rotating masses are completely balance.
Experiment No. /
Title= To determine t0e radius of Gyration of a pendulum
Equipment: ,ompound +endulum* Scale* Stop#atch* Thread.
Aim:
To determine the radius of Gyration of compound pendulum to erify relation
T - 2F M KE N1?G2EAg1?G2E
Formula sed:
Force + m x 1- x r
!rocedure Of Experiment:
1. Support the rod in any of the hole.
2. 9ote the length of suspended pendulum.
3. 0llo# the bar to oscillate and determine T by noting the time for say 1C
oscillations.
!. %epeat the e/periment #ith a small angular displacement G* then
couple tending to restore the pendulum to the e"uilibrium position* T
-mgh sinG
)esult Ta#le:
%adius of gyration for pendulum are
Kth -
Ke/p +
5 5
Experiment No. 2
Title: To determine natural frequency of torsional 3i#ration in t1o rotors
System.
Equipment: Shaft* t#o rotor disc* chuc6* stop #atch.
Aim: To determine natural fre"uency of torsional ibration theoretically
@/perimentally in a t#o rotor system.
Formula sed:
!rocedure of Experiment:
1. Ji/ t#o disc of the shaft and fit the shaft in the bearing.
&. Deflect the disc in opposite direction by hand and then release.
/. 9ote do#n the time re"uired for particular number of oscillations.
2. Jit cross arm to one end of the disc and again note do#n the time.
4. %epeat the procedure #ith different and e"ual masses attached to the
ends of cross arm and note do#n t0e time.
O#ser$ation:
?bserations are to ta6en for copper and steel shafts.
)esult:
The natural fre"uency of the torsional ibration in t#o rotor system is
$$$$$O)
%onclusion:
.t is studied to determine the natural fre"uency of ibration of the gien
shaft. .t is necessary to find out the natural fre"uency* so that during #or6ing
resonance #ill be ta6en care of.
6 6
Experiment No. 4
Title: To study longitudinal $i#ration of a 0elical spring and to determine
t0e Frequency of $i#ration.
Equipment: Oelical spring* rigid support* scale* stop$#atch.
Formula sed:
K - 3AS
Te/p - Time1t2 A ?scillation1n2
Tth - 2FM #A Kmean
J - 1 A n
!rocedure Of Experiment:
1. Ji/ one end of the helical spring to upper scre#.
2. Determine the straight length of the helical spring at no load.
3. +ut the 6no#n height of the platform at same distance.
!. Jor oscillations* Stretch the spring for some distance and leae it.
&. ,ount the time for no. of oscillations.
'. Determine the actual time period.
;. %epeat the same procedure for different #eights.
)esult:
The mean actual fre"uency is found to be $$$$$$$ and theoretical fre"uency is
found to be $$$$$$$
%onclusion:
.t is found that the actual and the theoretical fre"uencies of the ibration close
to each other.
7 7
EXPERME!" !#$ 6
""%E& A''EMB%( A!) W#R*!+ #, 4-BAR, 6-BAR, 8-BAR
P%A!AR
ME-.A!'M'
Aim= $ To study of 0ssembly and #or6ing of !$bar* '$bar and <$bar planar
mechanism.
T0eory: 5 6inematic lin7s: 0 resistant body or group of resistant bodies #ith
rigid connections preenting their relatie moement is 6no#n as lin6. 0 lin6
may be defined as a member or a combination of members of a mechanism*
connecting other members and haing motion relatie to them. Thus a lin6
may consist of one or more resistant bodies. 0 slider cran6 mechanism consist
of four lin6sP Jrame and guides* cran6 connecting rod and slider. Oo#eer* the
frame may consist of bearings for the cran6 shaft. The cran6 lin6 may hae
cran6shaft and fly#heel also* forming one lin6 haing no relatie motion of
these.
>in6s can be classified into 7inary* ternary* "uaternary etc. depending upon
its ends on #hich reolute or turning can be placed.
8 8
6inematic pair:
0 6inematic pair or simply a pair is a 8oint of t#o lin6s haing relatie motion
bet#een them. .n slider$cran6 mechanism* lin6 2 rotates relatie to lin6 1 and
constitutes a reolute or turning pair. >in6 ! 1slider2 reciprocates relatie to lin6
1 and is a sliding pair.
Type of 6inematic pair=
Kinematic pairs can be classified according to
9ature of contact
9ature of relatie motion
6inematic pair according to nature of contact
a2 8o1er pair: 0 pair of lin6s haing surface or area contact bet#een the
members is 6no#n as a lo#er pair. The contact surfaces of the t#o lin6s are
similar.
@/ample= 9ut turning on a scre#* shaft rotating in a bearing* all pairs of a
slider5cran7 mec0anism9 uni$ersal :oint etc.
b2 ;ig0er pair: 3hen a pair has appoint or line contact bet#een the lin6s* it is
6no#n as higher pair. The contact surfaces of the t#o lin6s are dissimilar.
@/ample= #heel rolling on a surface* cam and follo#er pair* tooth gears* balls
and roller bearings* etc.
9 9
6inematic pairs according Nature of relati$e motion
a2 Sliding pair: .f t#o lin6s hae a sliding motion relatie to each other* they
form a sliding pair. 0 rectangular rod in a prism is a sliding pair.
b2 Turning pair: #hen one lin6 has a turning or reoling motion relatie
to each other* they constitute a turning pair or reoling pair. .n slider$cran6
mechanism* all pairs e/cept the slider and guide pair are turning pairs. 0
circular shaft reoling inside a bearing is a turning pair.
c< )olling pair: #hen the lin6s of a pair hae a rolling motion relatie to each
other* they form a rolling pair* e.g. a rolling #heel on a flat surface* ball and
roller bearing* the ball and the shaft constitute one rolling pair #hereas the
ball and the bearing is the second rolling pair.
d< Scre1 pair: .f t#o mating lin6s hae turning as #ell as sliding motion
bet#een them* they form a scre# pair. This is achieed by cutting matching
threads on the t#o lin6s. The lead scre# and the nut of a lathe is a scre# pair.
e2 Sp0erical pair: #hen one lin6 in the form of a sphere turns inside a fi/ed
lin6* it is spherical pair. The ball and soc6et 8oint is a spherical pair.
6inematic %0ain:
0 6inematic chain is an assembly of lin6s in #hich the relatie motions of the
lin6s is possible and the motion of each relatie to the others is definite. .n
case* the motion of a lin6 results in indefinite motions of other lin6s* it is a non$
6inematic chain.
(echanism=
.f one of the lin6s of a 6inematic chain is fi/ed to the ground and if motions of
each lin6 results in definite motions of the others* the lin6age is 6no#n as
mechanism. To obtain constrained or definite motions of some of the lin6s of
the mechanism* it is necessary to 6no# ho# many inputs are needed. .n
some lin6s and are said to hae one degree of freedom. .n other mechanism*
t#o inputs may be necessary to get a constrained motions of the another lin6s
and are said to hae t#o degrees of freedom and so on. Jour bar mechanism=
0 four bar mechanism is the most fundamental of the lane 6inematic lin6ages.
.t is much preferred mechanical deice for the mechani)ation and control of
motion due to its simplicity and ersatility. 7asically it consists of four rigid
lin6s #hich are connected in the form of a "uadrilateral by four pin 8oints. 0
lin6 that ma6e complete reolutions is the cran6* the lin6 opposite to the fi/ed
lin6 is the coupler and the fourth lin6 a leer or roc6er if oscillates or an
another cran6* if rotates. 0 four bar mechanism has the follo#ing
characteristics based on the lengths of its lin6.
1. .t is impossible to hae a four bar mechanism if length of the one of the
lin6s is greater than the sum of the other three.
2. .f the sum of the lengths of the largest and the shortest lin6s is less than the
sum of the other t#o lin6s* the lin6age is 6no#n as class$.* four$ bar
mechanism.
10 10
.f the lin6s of the four bar mechanism obtained aboe* are fi/ed* different
mechanisms are obtained 6no#n as .nersion
a. S0ortest lin7 is fixed
.f the shortest lin6 is fi/ed* the ad8acent lin6 b and d ma6es complete
reolutions. The mechanism thus obtained is 6no#n as cran6$ cran6 or double
cran6 or rotary$ rotary mechanism.
#. 8in7 ad:acent to t0e s0ortest lin7 is fixed=
.f any of the lin6 ad8acent to the shortest lin6 is fi/ed* the shortest lin6 ma6es
complete reolution and acts as a cran6* and the lin6 opposite to the cran6 is
oscillates. The mechanism is 6no#n as a cran6$roc6er or cran6$leer
mechanism or a rotary$oscillating conerter.
c. lin7 opposite to s0ortest lin7 is fixed:
.f the shortest lin6 a is made coupler and the lin6 opposite to it* i.e. c* is fi/ed*
the other t#o lin6s b and d #ould oscillate. The mechanism is 6no#n as a
roc6erroc6er or double roc6er or double leer mechanism or oscillating$
oscillating mechanism.
3. 3hen the sum of the lengths of the shortest and largest lin6s is more than
the sum of the lengths of the other t#o lin6s 6no#n as class$..* four bar
mechanism. .n such mechanism* fi/ing any of the lin6s al#ays results in a
roc6er$ roc6er mechanism. .n other #ords* the mechanism and its inersions
gie the same type of motion i.e. double$roc6er mechanism.
!. +arallel$cran6 four$bar lin6age= .f in a four$bar lin6age* t#o opposite lin6s
are parallel and e"ual in length* then any of the lin6s can be made fi/ed. The
four lin6s form a parallelogram in all the positions of the cran6s* proided the
cran6 rotates in the same sense. The use of such a mechanism is made in the
coupled #heels of locomotie in #hich the rotary motion of one #heel is
transmitted to the other #heel. Jor 6inematic analysis* lin6 d is treated as fi/ed
and the relatie motions of the other lin6s are found. Oo#eer* in fact* d has a
translator motion parallel to the trails.
>5#ar planar mec0anism:
.n case of four$bar chain does not proide the re"uired performance of an
application* one of the t#o single$degree of freedom si/ bar chain #ith seen
turning or reolute pairs is considered. There are t#o types of si/$bar chains.
1. ,att c0ain: .n #att chain the ternary lin6s are ad8acent for 3att si/bar
chain
11 11
2. Step0enson c0ain: .n Stephenson chain ternary lin6s separated by binary
lin6s refer fig. for Stephenson$. si/$bar mechanism* Jor Stephenson$.. si/$bar
mechanism and Jor Stephenson$... si/$bar mechanism. .t may be noted that
in both these types of mechanism some triangular shaped lin6s are truly
ternary lin6s #hile other are 6no#n as triangular to indicate the possible path
of tracer points on floating lin6s.
%onclusion: 5
)eferences:
12 12