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Structural Analysis on the Linkage Mechanism in

Platform Balancing Model

PROJECT REPORT

Submitted in partial fulfillment of the requirements for the course of

Applied Finite Element Method (ME368)

in

DEPARTMENT OF MECHANICAL ENGINEERING

NATIONAL INSTITUTE OF TECHNOLOGY KARNATAKA

SURATHKAL, MANGALORE - 575025

By:

P SAI SESHNAG 14ME149


SHIVALINGAM 14ME162
KSSK VINEETH 14ME137
BHANU PRAKASH 14ME207
ACKNOWLEDGEMENT

We owe a great many thanks to a great many people who helped and supported us during
the course of our project work. Our deepest thanks to Dr. Srikanth Bontha, the guide of the
project for guiding, supporting and taking pains to help us with the project work as and when
needed. Our deep sense of gratitude goes to him for his constant support and guidance. We
would also like to thank our institute for providing us with the resources. We would also like
to extend our heartfelt thanks to our family and well-wishers.
ABSTRACT

Platform balancing involves position detection of object on the plate and automatic movement
of the plate to create necessary displacement on the object to reach the required position. The
movement of the plate is achieved by designed Linkage Mechanism controlled by the micro-
controller. This project involves structural analysis on the Mechanism, calculating the Torque
required to operate the mechanism and the selection of the material for the linkages.
Depending upon the specifications of the Platform balancing model, CAD models of the linkage
mechanisms are designed in CATIA, using ANSYS 16 a structural analysis is carried out to
determine the torque required depending upon the given loads. The analysis replicates the
analysis of the vertical crank-slider mechanism with forces.
CONTENTS

ACKNOWLEDGEMENT .................................................................................................................................... 2
ABSTRACT ......................................................................................................................................................... 3
CONTENTS ......................................................................................................................................................... 4
1. INTRODUCTION ............................................................................................................................................ 5
2. OBJECTIVES ................................................................................................................................................... 5
3. METHODOLOGY ........................................................................................................................................... 6
3.1 MODELLING THE LINKAGES: .................................................................................................................. 7
3.2 CALCULATION OF FORCES: ..................................................................................................................... 7
3.3 ANALYSIS IN ANSYS FOR TORQUE CALCULATION ............................................................................... 8
3.4 STRUCTURAL ANALYSIS OF LINK-1 ....................................................................................................... 9
3.5 STRUCTURAL ANALYSIS OF PIN: ............................................................................................................ 9
4. RESULTS AND DISCUSSIONS .................................................................................................................... 9
5. REFERENCES ............................................................................................................................................... 10
6. FIGURES AND TABLES .............................................................................................................................. 11
1. INTRODUCTION

Platform balancing phenomenon is used in various application from camera stabilizing


devices (Ref-1) in filmography to anti-motion sickness chair in precise medical surgery (Ref-
2) and even in Aerospace for balancing satellites launch pad (Ref-3). The present model
involves implementation of this balancing technique in unconventional way using LDR as
sensor for detection and using Linkage mechanism as actuators. The model involves
balancing of the object located at any position on the plate (fig -1) and creating the necessary
displacement on the plate to make it reach the center position. The Linkage Mechanism (fig-
2) used in the project consists two links, link-1 similar to connecting rod (one end connected
to the plate and other end to link-2 using pin) and link-2 similar to crank (one end connected
to the link-1 and other end to the motor). Both links are connected with pin. This mechanism
converts the rotatory motion from motor to linear motion on the plate (which will be used
to create tilt on the plate, causing motion on the object). Due to the weight of the plate, object
and the force exerted by the springs, the link-1 is subjected to varying Compression and
tensile Loads ( ). As a result both Axial and Bending stress acts on the link during its
operation. Due to the forces transferred from the link-1 and the torque applied by the motor,
the link-2 is exerted by shear forces, Moment and Compressive Forces ( ), resulting in
Bending Stress, shear stress and Axial Stress. The links are to be ensured that they provide
maximum rigidity with minimum weight, so that the torque required to operate them is
minimum. Analysis of the Model starts with the establishing the loads (which are calculated
experimentally) that are exerted on the links. The dimensions of the links and pin are made
according to the model (Fig-4).

2. OBJECTIVES

The main objective of the project is to determine the Torque required to be generated to
operate the mechanism desirably for the given the given forces experienced by the linkages.
(The working of the model is shown in fig-3.) Then the structural analysis is carried out to
determine the shear stress, equivalent stress,
Equivalent alternating stress, Total deformation and equivalent strain. These values are
ensured that, these are within the permissible limit of the material. If the existing design fails
under these values, then the design need to be modified with minimum changes in
specifications until it desired results are obtained. The final Stage of the project involves
removal of excess material from the existing design to reduce the weight of the linkages
without compromising on its structural rigidity and safety. Thus optimizing the proposed
design.

3. METHODOLOGY
The flow chart of solving the problems in sequential order is given below.
The first flow chart mentions the steps involved in calculating the torque to operate the
motor and the second one mentions the steps in checking the safety of links. The Analysis is
carried out for the deflections of -2cm to 2cm in steps of 0.5 cm. Depending on the deflection
the maximum torque required from motor is calculated. The specifications of the material
used, are in the table-1. The Stiffness of the spring used is 115 N/m. The material used for
linkage mechanism are structural steel.

The important stages are creating CATIA model, defining constrains, Obtaining Loads,
results, calculation of Torque, checking for safety and conclusion.

3.1 MODELLING THE LINKAGES:

The Models created in the CATIA are Link-1 (connecting link), Pin and Link-2 (crank). The
Dimensions of the models are taken according to the Platform Balancing Model and they are
shown in fig-4. The Isometric view of the CAD models are shown in fig-5 and fig-6. The
sequence of steps used to create the model are:
 Selection of XY plane and creation of Rectangle of 12 × 1 cm2. Align its center to the
origin of the plane.
 Create Circles of diameter 1 cm on both the ends such that the lengths of rectangle
are tangents to the circle.
 Trim the other half of circles and the breadths of rectangles.
 Extrude the Project along z-direction.
 Create holes on the link of diameter 0.5 at ends.

3.2 CALCULATION OF FORCES:


This procedure is done for a deflection of 2cm vertically. The fig-7 shows the forces acting
on the plate for the desired deflection. The required force is found to be
Freq = 2×K× dx …………………………………………………………. (1)
The Position of the linkage at that deflection is shown in figure-7. The parameter that are
unknown are ‘α’ and ‘θ’. From the configuration we generate these equations:
𝑙1 sin 𝜃 + 𝑙2 cos 𝛼 = 𝑙2 …………………………………. (2)
𝑙1 cos 𝜃 + 𝑙2 sin 𝛼 = 𝑙1 + 𝑑x …………………………………. (3)
According to the design 𝑙1 = 12cm, 𝑙2 = 5𝑐𝑚.
Solving (2) & (3) for dx = 2cm we get
α = 2.00885° and θ = 23.67035°
Fig-7 shows the resolving of the forces on each link. (Dotted lines indicate the rest position
and normal lines indicate the position at dx = 2cm)
The forces Fa1 and Fr1 indicate axial and radial forces on link-1 (Fig -8). They have been
transferred to link-2 and the Fa2 and Fr2 of link-2 are calculated (Fig-9) .
On Link-1:
Fa1 = (2Kdx) cos 𝜃 ......................................................... (4)
Fr1 = (2Kdx) sin 𝜃 ………………………………………… (5)
From Fig-10 Link-2
β = 90 – θ –α …………………………………………….. (6)
Fa2 = Fa1 cos 𝛽 − Fr1 sin 𝛽 …………………………………. (7)
Fr2 = Fa1 sin 𝛽 + Fr1 cos 𝛽 …………………………………. (8)
From these equations we get Radial and Axial forces on the link-2 for different
displacements. The results are tabulated in table-2.

3.3 ANALYSIS IN ANSYS FOR TORQUE CALCULATION


The link-2 is imported to ANSYS and structural analysis is carried out for different values of
axial and radial loads. Fig-10 shows the meshing and wireframe model of the link-2. The
direction and location of forces applied are shown in fig-11. The Shear stress are obtained
and the maximum shear stress is extracted from the excel table got by exporting the Max
shear stresses from ANSYS and then Torque is calculated.

𝑇 𝜏
We can calculate torque (T) from the torque equation i.e. = ……………………..(9)
𝐽 𝑟
Where τ is obtained from the tabular data for max shear stress.
τ = 6.964e+05 (from ANSYS analysis)
τ (allowable) for structural steel = 0.577 X 250 MPa (yield -stress)=144.24MPa
𝑏.ℎ
J= × (𝑏 2 + ℎ2 )
12

1×10−2 ×1×10−2
J= × ((1 × 10−2 )2 + (1 × 10−2 )2 )
12
J=1.667e-9
J is polar moment of inertia
R=h/2
R=(1 × 10−2 )/2
R=0.005
For allowable shear stress of 144.24 MPa, the torque is 48.08 N-m (from equation (9) )
For our case, with shear stress of 0.6964 MPa, the torque is 0.2321 N-m

3.4 STRUCTURAL ANALYSIS OF LINK-1


In this section, the link-1 is tested under the varying axial and radial loads that created during
the change in deflection of the plate (these Fa1 and Fr1 for different deflections are calculated
and mentioned in table-2). Fig-12 Shows the direction of application axial forces on the link-
1. The objective is to ensure that the maximum shear stress, equivalent stress and
compressive stress are within the limit of the material.

3.5 STRUCTURAL ANALYSIS OF PIN:


In this section, the same procedure is carried out to check for safety, but in this model the
direction of forces are different. These are shown in fig-13.

4. RESULTS AND DISCUSSIONS


From the results obtained from the ANSYS, both link-1 and link-2 experience stress within
their allowable range. From the analysis on link-2, the torque required from the motor to
operate is found to be 0.2321 N-m. The maximum shear stress and shear stress of the link-1
are shown in fig-14. The Equivalent stress, Shear Stress and Maximum principal Stress are
shown in fig- 15, fig-16 and fig-17 respectively. The total Deformation on link obtained to be
6.051e-7 m from the analysis (Fig-18) and this is negligible. Similarly for the Pin the
Equivalent stress, Shear Stress and Maximum principal Stress are shown in fig- 19, fig-20
and fig-22 respectively. The deformation on the pin is found to be 6.01245e-3 m, to reduce
the deformation, the diameter of the pin is increased from 0.5cm to 1cm and corresponding
changes has be done to the entire mechanism. By repeating the same analysis, the maximum
deformation found to be 9.05e-05 m (Fig-21), which is negligible for the taken proportions.
Hence the design is optimized for the given forces.
5. REFERENCES
[1.] Gosselin, St-Pierre, 2003. Development and Experimentation of a Fast 3-DOF Camera
Orienting Device. Available at:
http://ijr.sagepub.com/content/16/5/619.short, [Accessed: 2015-04-03]
[2.] Escorts Heart Institute and Research Centre, New Delhi, India, Journal of Cardiothoracic
and Vascular Anesthesia, Volume 16, Issue 6, December 2002, Pages 685–690. Available
at:
http://www.sciencedirect.com/science/article/pii/S1053077002001234 [Accessed:
2015-04-27]
[3.] J. Aerosp. Technol. Manag. vol.6 no.1 São José dos Campos Jan./Mar. 2014
[4.] Arpit Goel., et al. (2012) Performance Comparison Of PID And Fuzzy Logic Controller Using
Different Defuzzification Techniques For Positioning Control Of DC Motors. Journal of
Information Systems and Communication ISSN: 0976-8742 & E-ISSN: 0976-8750, Volume 3,
Issue 1, pp.-235-238.
[5.] Shahrukh Shamim, “Design and comparative analysis of connecting rod using finite element
method,” International Journal of
Engineering Research & Technology (IJERT), Vol. 3 Issue 9, September- 2014.
[6.] Pravardhan S. Shenoy, “Static and Dynamic Load analysis on Connecting Rod”, Thesis The
University of Toledo May 2004
6. FIGURES AND TABLES

1.) Fig-1 Platform Balancing Technique:

2.) Fig-2: Platform Balancing Model with Linkage Mech

3.) Fig-3 Working of the mechanism:


4.) Dimensions of the links:

Thickness = 1cm.
Lengths: L1 = 12cm & L2 = 5cm.
Breadth: B1= B2 = 1cm.
Holes: dia= 0.5cm

5.) Fig-5: CATIA Models


6.) Assembly of models Fig-6

7.) Specifications of material used. Table-1


Structural
Material [Units]
Steel
Young's
2.00E+11 Pa
Modulus

Shear
76923000000 Pa
Modulus

Tensile
Ultimate 460000000 Pa
Strength

Compressive
250000000 Pa
Yield Strength
8.) Fig-7: Position of the Link with respect to displacement:

9.) Fig-8: Forces on link-1:

10.) Fig-9: Forces on link- 2:


11.) Force Calculations for various displacements Table-2
Deflections dx in cm 2 1.5 1 0.5 0 -0.5 -1 -1.5 -2
θ (deg) 2.00885 1.103025 0.482758 0.11967 0 -0.0043 -0.00481 -0.00575 -0.00706
α (deg) 23.67035 17.48428 11.54194 5.73948 0 -5.61492 -11.0452 -16.3291 -21.5031
β (deg) 64.3208 71.4127 77.9753 84.14085 90 95.61922 101.05 106.3348 111.5102
Force required (N) 4.6 3.45 2.3 1.15 0 -1.15 -2.3 -3.45 -4.6
Fa1 4.597173 3.449361 2.299918 1.149997 0 -1.15 -2.3 -3.45 -4.6
Link-1
Fr1 0.161248 0.066413 0.019379 0.002402 0 8.63E-05 0.000193 0.000346 0.000567

Fa2 1.84678 1.036532 0.460196 0.115006 0 0.112518 0.440641 0.969979 1.68614


Link-2
Fr2 4.213004 3.290608 2.253491 1.144235 0 -1.14448 -2.2574 -3.31084 -4.27983

12.) Fig-10: Meshing and wireframe model of link-2:

13.) Fig-11: Forces applied on link-2


14.) Fig-12: Forces applied on the link-1

15.) Fig-13: Forces applied on the pin

16.) Fig-14: Shear Stress and Maximum Shear Stress:


17.) Fig-15: Equivalent stress on link-1

18.) Fig-16: Shear Stress on link-1:


19.) Fig -17: Maximum Principal Stress on link-1:

20.) Fig- 18: Total Deformation on link-1:

21.) Fig -19: Equivalent stress on pin


22.) Fig-20: Shear Stress on pin

23.) Fig -21: Total Deformation on Pin

24.) Fig-22: Maximum Principal Stress on PIN.

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