YOKE MECHANISM

Abstract

“Multi Operational Mechanical Machine “This work was mainly carried for manufacturing
and fabrication industries. The machine which is used to produce the product with high
accuracy and quality and produce the goods in an economical manner. It makes the inventory
cost less. The multipurpose machine has performed different operations simultaneously with
high possibility. The scotch yoke mechanism which is attached with the main drive shaft
directly attached then it is used for different operation. Number of operations has been
performed by a single drive system. The main focus of the work is to reduce power usage and
increase the productivity reduced floor space. Portability is an important quality in any
machine in today’s world; every field of science and engineering has got portability as one of
its most important advancements. Therefore, the machine we have designed satisfies this
principle with respect to the manufacturing industry.
INTRODUCTION

It is obvious that whatever the power of control, even today, one cannot correctly operate a
machine with poor mechanics. If the input torque, that is, the torque ensuring the constant
speed, is highly variable, the resulting drive speed fluctuation will be substantial. Therefore,
highly variable input torques might excite torsional vibration, while input torques with
frequent sign changes present a very unfavorable loading case for the gears that are possibly
present between the mechanism and its driving actuator. This paper provides a simple and
efficient input torque balancing method, which can be applied to Scotch yoke mechanisms.
The Scotch yoke mechanism is subject to a wide range of applications and various
publications have been devoted to its study.1–5 This mechanism is most commonly used in
control valve actuators in high-pressure oil and gas pipelines, as well as in various internal
combustion engines, such as the Bourke engine, SyTech engine and many hot air engines and
steam engines. It is also used in testing machines to simulate vibrations having simple
harmonic motion.6 The Scotch yoke mechanism does not create lateral forces on the piston.
Therefore, the main advantages of applications include reducing friction, vibration and piston
wear, as well as smaller engine dimensions. The analysis of a Scotch yoke mechanism shows
that its input torque is highly variable. The input torque may be reduced by optimal
redistribution of moving masses.7–11 or by using non-circular gears.12 One of the more
efficient methods used to solve the problem of input torque balancing is creating a camspring
mechanism, in which the spring is used to absorb the energy from the system when the torque
is low, and release energy to the system when the required torque is high. It allows reducing
the fluctuation of the periodic torque in the high-speed mechanical systems.
 CHAPTER 2

LITERATURE REVIEW
1. Arakelian V and Briot S. Balancing of linkages and robot manipulators. In:
Advanced methods with illustrative examples. The Netherlands: Springer, 2015.

Input torque balancing through addition of an auxiliary mechanism is a well-known way to

improve the dynamic behavior of mechanisms. One of the more efficient methods used to
solve this problem is creating a cam-spring mechanism. However, the use of a cam
mechanism is not always possible or desirable because of the wear effect due to the
contact stresses and high friction between the roller and the cam. The Scotch yoke
mechanism is most commonly used in control valve actuators in high-pressure oil and
gas pipelines, as well as in various internal combustion engines, such as the Bourke
engine, SyTech engine and many hot air engines and steam engines. This mechanism
does not create lateral forces on the piston. Therefore, the main advantages of
applications include reducing friction, vibration and piston wear, as well as smaller engine
dimensions. However, the input torque of the Scotch yoke mechanism is variable and can
be balanced. This paper proposes to balance the input torque of Scotch yoke
mechanisms without any auxiliary linkage just by adding linear springs to the output
slider. It is shown that after cancellation of inertial effects the input torque due to friction in
joints becomes constant, which facilitates the control of the mechanism. An optimal
control is considered to improve the operation of balanced Scotch yoke mechanisms. The
efficiency of the suggested technique is illustrated via simulations carried out by using
ADAMS software.

2. Swevers J, Al-Bender F, Ganseman C, et al. An integrated friction model

structure with improved presliding behaviour for accurate friction
compensation. IEEE Trans Autom Control 2000; 45: 675–686.

This paper presents a new dynamical friction model structure which allows accurate
modeling both in the sliding and the presliding regimes. Transition between these
two regimes is accomplished without a switching function. The model incorporates a
hysteresis function with nonlocal memory and arbitrary transition curves. These last
aspects prove essential for modeling presliding friction that is encountered in real
physical situations. The model as a whole can also handle the Stribeck effect and
stick-slip behavior as has been demonstrated by validation on a KUKA IR 361 robot.
In this sense, this model can be considered as more complete in comparison with
others found in the literature. The general friction model allows modeling of
 individual friction systems through the identification of a set of parameters that
determine the complete behavior of the system. In this way, the model structure has
been used to identify the friction behavior of a linear slide as well as that of the
above mentioned KUKA robot. The results of the latter identification have been
consequently used for feedforward friction compensation to obtain the most accurate
tracking.

3. Rahnejat H. Multi-body dynamics: vehicles, machines and mechanisms.

Warrendale, PA: SAE, 1998.

The historical developments in the discipline of engineering dynamics are briefly

reviewed, with attention paid to the formulation and solution of the dynamic
behaviour of multi-body systems. It is shown that the dynamic characteristics of
practical multi-body systems are dependent upon the interactions of many physical
phenomena that can induce, restrain or constrain motion of parts. The long process of
understanding and formulating the physics of multi-body motions, in some cases with
pioneering contributions centuries old, together with continual refinements in
numerical techniques and enhanced computing power has resulted in the solution of
quite complex and practical engineering problems. Linking the historical
developments to the fundamental physical phenomena and their interactions, the paper
presents solutions to two complex multi-body dynamic problems. The practical
implications of the approach in design of these systems are highlighted.

4. Soong RC. Minimization of the driving torque of full force balanced four-bar
linkages. J Kao Yuan Instit Technol 2001; 19: 591–594..

The concept of text mining is nothing but the mechanism of extracting non-trivial and
interesting data from the unstructured text dataset. Text mining is consisting of many
computer science disciplines with highly oriented towards the artificial intelligence in
general such as the applications like information retrieval, pattern recognition,
machine learning, natural language processing, and neural networks. The main
difference between the search and text mining is that, search needs users attentions
means based users requirement search action will perform whereas text mining is the
internal process which attempts to find out information in the pattern which is not
known before. To do the text mining, there are many methods presented still to the
 date those are having their own advantages and disadvantages. The major problems
related to such techniques are efficient use and update of discovered patterns,
problems related to the synonymy and polysemy etc. In this paper we are
investigating the one such method which is presented to overcome above said
problems related to the text mining’s. The method presented here is based on
innovative as well as effective pattern discovery technique and this consisting of
processes like pattern deploying and pattern evolving in order to improve the
effectiveness of using and updating discovered patterns for finding relevant and
interesting information.

5. Chaudhary H. Balancing of four-bar linkages using maximum recursive dynamic

algorithm. Mech Mach Theory 2007; 42: 216–232.

This paper presents a simple, computationally efficient technique for the optimum
balancing of four-bar linkages. The methodology is based on the maximum
recursiveness of the dynamic equations for the evaluation of bearing forces. Besides,
the balancing problem is posed as an optimum problem for which the optimality
criteria and the constraints are formulated. Mass distribution of linkage is embedded
in the constraints to obtain physically feasible linkage. The formulation is very
generic and can be easily extended to multi-loop as well.

6. Nishioka M and Yoshizawa M. Direct torque compensation cam mechanisms.

Trans Jpn Soc Mech Eng 1995; 61: 2020–2024.

Linkage and cam-follower mechanism design are often based on the simplifying assumption
of constant drive speed. Usually, however, the mutual interaction between the mechanism
and its actuator gives rise to a fluctuating drive speed, possibly resulting in a variety of
dynamic problems. This paper provides machine designers and researchers with a
structured design approach towards solving such problems. As such, it constitutes both an
extension and a complement to the 1979 input torque balancing survey by the second
author.
7. Nishioka M. Design of torque compensation cam using measured torque
distribution. In: Proceedings of the 10th world congress on the theory of
machines and mechanisms, Finland, 20–24 June 1999, pp.1471–1476. Oulu: Oulu
Univ. Press.

This paper presents the design and experiment of a balancing cam mechanism to
minimize the torque fluctuation of engine camshafts. Torque fluctuation of rotary
machines causes unwanted vibration that would impair their performance and
reliability. The combination of inertia, driving, and resistive torque fluctuations on
engine crankshafts and camshafts is the major source of vehicle vibration. For
camshafts, the magnitude of resistive torque fluctuation is more substantial than that
of inertia torque fluctuation at low to medium speeds. While previous methods
focused on suppressing or isolating vibration motion from engine to chassis, the
proposed method seeks to directly reduce the torque fluctuation on engine shafts.
The balancing mechanism consists of a cam, rocker, and spring. Given a resistive
torque curve of a camshaft, the cam profile can be synthesized such that the output
balancing torque cancels with the original resistive camshaft torque. Thus the
camshaft will statically generate zero output torque. Based on a derived camshaft
torque model, a design process of the cam profile is presented. The effect of inertia
torque at various speeds is compared with the balancing torque. Finally, a prototype
and its associated experiments are presented to demonstrate the torque balancing
performance.

8. Wang X, Subic A and Watson H. Two-dimensional lubrication analysis and

design optimization of a Scotch Yoke engine linear bearing. Proc IMechE, Part
C: J Mechanical Engineering Science 2006; 220: 1575–1587.

Recent study has shown that the application of a Scotch Yoke crank mechanism to a
reciprocating internal combustion engine reduces the engine’s size and weight and
generates sinusoidal piston motion that allows for complete balance of the engine.
This paper describes detailed investigation of the performance of a linear bearing
assembly, which is one of the key components of the Scotch Yoke mechanism. The
investigation starts by solving Reynolds equation for the Scotch Yoke linear bearing.
The two-dimensional lubricant flow is numerically simulated and the calculated
results are compared with experimental results from a linear bearing test rig. The
 performance characteristics and a design sensitivity analysis of the bearing are
presented. Dynamic testing and analysis of an instrumented linear bearing on a test rig
are used to validate the numerical simulation model. The oil supply and lubrication
mechanism in the linear bearing are analysed and described in detail. This work aims
to provide new insights into Scotch Yoke linear bearing design. In addition, strategies
for optimization of the linear bearing are discussed.

9. Yu J, Hub Y, Huo J, et al. Dolphin-like propulsive mechanism based on an

adjustable Scotch yoke. Mech Mach Theory 2009; 44: 603–614.

This paper addresses the design, construction, and motion control of an adjustable
Scotch yoke mechanism generating desired kinematics for dolphin-like robots. Since
dolphins propel themselves by dorsoventral oscillations following a sinusoidal path
with alterable amplitudes, a two-motor-driven Scotch yoke mechanism is adopted as
the primary propulsor to produce sinusoidal oscillations, where a certain combination
of a leading screw mechanism and a rack and pinion mechanism driven by the slave
motor are incorporated to independently change the length of the crank actuated by
the master motor. Meanwhile, the output of the Scotch yoke, i.e., reciprocating
motion, is converted into the up-and-down oscillations via a rack and gear
transmission. A DSP-based built-in motion control scheme is then brought forth and
applied to achieve dolphin-like propulsion. Preliminary tests, in a robotics context,
confirm the feasibility of the devised mechanism severing as a dedicated propulsor for
bio-inspired movements.

10. Chaudhary H. Balancing of four-bar linkages using maximum recursive dynamic

algorithm. Mech Mach Theory 2007; 42: 216–232.

This paper presents a simple, computationally efficient technique for the optimum
balancing of four-bar linkages. Themethodology is based on the maximum
recursiveness of the dynamic equations for the evaluation of bearing forces.Besides,
the balancing problem is posed as an optimum problem for which the optimality
criteria and the constraintsare formulated. Mass distribution of linkage is embedded in
the constraints to obtain physically feasible linkage. The for-mulation is very generic
and can be easily extended to multi-loop as well.
 CHAPTER 3

COMPONENT OF SCOTCH YOKE

The Scotch yoke mechanism is a reciprocating motion mechanism, converting the linear
motion of a slider into rotational motion, or vice versa. The piston or other reciprocating part
is directly coupled to a sliding yoke with a slot that engages a pin on the rotating part. In
many internal combustion engines, linear motion is converted into rotational motion by
means of a crankshaft, a piston and a rod that connects them. The Scotch yoke is considered
to be a more efficient means of producing the rotational motion as it spends more time at the
high point of its rotation than a piston and it has fewer parts.

Working principle

Scotch Yoke mechanism is a simple type of mechanism which converts circular motion into
reciprocating motion as discussed in construction part above. The power is supplied to the Dc
motor, shaft and crank attached to the shaft start rotating. As the crank rotates the pin slides
inside the yoke and also moves the yoke forward. When the crank rotates through in
clockwise direction the yoke will get a displacement in the forward direction. The maximum
displacement will be equal to the length of the crank. When the crank completes the next of
rotation the yoke comes back to its initial position. For the next of rotation ,yoke moves in the
backward direction. When the crank completes a full rotation the yoke moves back to the
initial position. For a complete rotation of crank the yoke moves through a length equal to
double the length of the crank. The displacement of the yoke can be controlled by varying the
length of the crack.

• Position A:- Let us assume position a indicates beginning position of pin & position
given in diagram be the initial position of connecting rod (#1) & (#2).

• Position B:-As the disc rotates, slot reciprocates and the position of connecting rod
changes, connecting rod (#1) moves upward and connecting rod (#2) also moves
upward from its initial position.
 • Position C:-As the disc rotates further both the connecting rods (#1) & (#2) get to
their extreme upper post position.

• Position D:-After position C the connecting rods (#1) & (#2) starts to move
downward as the disc further rotates.

Applications

 This setup is most commonly used in control valve actuators in high-pressure oil
and gas pipelines.
 It is used in making double hack saw. It is used in reciprocating pumps to convert
rotational motion into reciprocating motion required for piston movement.
 It is used in beam engine pumps to convert rotational motion into reciprocating
motion.
 In making toys which have too & fro motion.

Advantages

 Direct conversion of rotary motion into reciprocating motion

 Easy construction & operation
 Can perform various operations such as cutting, slotting etc..
 Process can be automated

Disadvantages
 High wearing rate due to mechanical contact.
 Less application in real life
 Guide ways are necessary for proper reciprocating motion of arms.
Wiper Motor

Wiper Motor, the power source of the wiper blade, is the core of the whole wiper
system. Therefore, the quality of the wiper motor must be guaranteed to ensure its
performance. The wiper motor is a permanent-magnet direct current (DC) one. It is equipped
on the front windscreen glass with the mechanical parts of the worm gear. The worm gear
functions to slow down and increase torque. Its output shafts spur four-bar linkage, by which
the movement is changed from rotary to swinging.

Three-brush structure is adopted to make speed change more convenient. The

intermittent relay, by which the interval is controlled, utilizing the return of switch contacts
and the charge-discharge function of the resistor-capacitor in the relay, drives the wiper to
wipe in a certain cycle. The wiper blade tape, the tool to clean the rainwater and the filth on
the glass, presses the surface of the glass with springs. Only when the tip of the blade is in a
certain angle with the glass, can the required function be realized.

Inside the Wipers

The wipers combine two mechanical technologies to perform their task:

 A combination electric motor and worm gear reduction provides power to the
wipers.
 A neat linkage converts the rotational output of the motor into the back-and-forth
motion of the wipers.

Motor and Gear Reduction

It takes a lot of force to accelerate the wiper blades back and forth across the windshield so
quickly. In order to generate this type of force, a worm gear is used on the output of a small
electric motor.

The worm gear reduction can multiply the torque of the motor by about 50 times, while
slowing the output speed of the electric motor by 50 times as well. The output of the gear
reduction operates a linkage that moves the wipers back and forth.

Inside the motor/gear assembly is an electronic circuit that senses when the wipers are in
their down position. The circuit maintains power to the wipers until they are parked at the
bottom of the windshield, then cuts the power to the motor. This circuit also parks the wipers
between wipes when they are on their intermittent setting.

WIPER OPERATION:

A) NORMAL OPERATION:
Refer to Figure . With the dash switch on, the motor windings are grounded, and the
wipers are operating. The position of the insulated segment with respect to the park
switch is immaterial, as the motor is already grounded by the dash switch - if the wipers
are not in the park position, the park switch just provides an additional ground path. The
current path in this condition is shown by the dotted red lines. Note: The park switch
configuration is not as shown in the diagrams. In reality, the grounding plate with the
insulated segment is fixed, while the park switch rotates with the drive gear. I just couldn't
figure a good way to show that without a complicated drawing.

B) WIPERS OFF, BLADES NOT IN THE PARK POSITION:

Refer to Figure. With the dash switch off, the ground path is through the park switch. As
long as the wipers are not parked, the motor will continue to run. The current path in this
condition is shown by the dotted red lines.

C) WIPER SWITCH OFF, WIPERS IN PARK POSITION.

 Refer to Figure . With the dash switch off, and the park switch open, there is no ground
path for the motor. When the park switch opens, the blade motion stops and the wipers are
parked.

Specifications;

BATTERY:

An electric battery is a collection of one or more electrochemical cells in which stored

chemical energy is converted into electrical energy. The principles of operation haven’t
changed much since the time of Volta. Each cell consists of two half cells connected in series
through an electrolytic solution. One half cell houses the Anode to which the positive ions
migrate from the Electrolyte and the other houses the Cathode to which the negative ones
drift. The two cells are may be connected via a semi permeable membranous structure
allowing ions to flow but not the mixing of electrolytes as in the case of most primary cells or
in the same solution as in secondary cells.

WORKING PRINCIPLE

The energy released during accepting an electron by a neutral atom is known as electron
affinity. As the atomic structure for different materials are different, the electron affinity of
different materials will differ. If two different kinds of metals or metallic compounds are
immersed in the same electrolyte solution, one of them will gain electrons and the other will
release electrons. Which metal (or metallic compound) will gain electrons and which will
lose them depends upon the electron affinities of these metals or metallic compounds. The
metal with low electron affinity will gain electrons from the negative ions of the electrolyte
solution. On the other hand, the metal with high electron affinity will release electrons and
these electrons come out into the electrolyte solution and are added to the positive ions of the
solution. In this way, one of these metals or compounds gains electrons and another one loses
electrons. As a result, there will be a difference in electron concentration between these two
metals. This difference of electron concentration causes an electrical potential difference to
develop between the metals. This electrical potential difference or emf can be utilized as a
source of voltage in any electronics or electrical circuit. This is a general and basic principle
of battery .

BATTERY CONNECTION BLOCK DIAGRAM

SPECIFICATIONS

NOMINAL VOLTAGE 12V

INTERNAL IMPEDANCE 0.25 Ω
CHARGING CUT OFF VOLTAGE 13.3 V
DISCHARGING CUT OFF 10.5
VOLTAGE
OPERATING TEMPERATURE charging 0oC ~ 45oC
discharging -0oC ~ 55oC
Chemistry Lead Acid
Capacity 7Ah
Rating whr 84
Length 5.95 inches
Width 2.56 inches
Height 3.7 inches
Weight 1 Kg

CHAPTER 4
 DESIGN OF YOKE MECHANISM

Slider-Crank Mechanism Slider crank consists of a rotating crank and slider attached to it.
The torque is applied to the crank and syringe pump is connected through slider. A parametric
study of slider-crank mechanism was done by and the authors analyzed the effect of input
speed and torque over the slider crank. It was stated that slider crank would have oscillations
due to the eye-gap in the joint of slider-crank. A dynamic model was constructed by for slider
crank and the various forces affecting the resultant force was analysed. The swaying of the
joints create a main problem in slider crank and suggested an optimal model for slider crack
with slider as flexible link. The effect of variable speed in slider crank mechanism was
studied. It was found that slider-crank needs high amount of torque to overcome the initial
inertial force of links and the link sways against gravity. Due to reaction force of gravity the
link tend to bend decreasing the quality of the power to be transmitted. The dynamic stability
of slider crank with flexible link was found out by based on the analysis and it was found that
bending in link was minimized when using flexible link.

The self-weight of the slider decides the critical speed of the system and also determines the
bending moment due to gravity. Hence flexible link’s weight also accounted to losses. Even
though modifications were made to optimize slider crank, the inertial torque required to
initiate the mechanism is very high and this high torque can also induce fluctuations in
output. In any transmission system the source and destination should be as near as possible to
minimize the unaccounted losses in transmission distance. Slider crank minimum length of
transmission is decided through length of the crank. The length should be as optimum as
possible. Also the length of the transmission induces swaying couple in motor shaft which is
undesirable and hence the length of crank plays an important role in power transmission.
i) a rotating scotch and

ii) a sliding yoke. Sliding yoke is driven by a pin that is eccentrically placed on to the rolling
scotch. In this mechanism the number of links and joints are less hence reliability of the
mechanism is more. There is no link in the mechanism that works against its self -weight.
found that scotch yoke transmission was optimal in low torque and low speed applications.
The main disadvantage of scotch yoke was that it was rolling and sliding friction acts directly
on to the shaft of motor. In such cases low speed operation would reduce the effect of these
forces in the shaft. found that the back and forward motion of scotch yoke is synchronously
equal and so it was obvious that this mechanism could drive two syringes and synchronously
at the same time with equal force. found that scotch yoke mechanism behaves well even in
vertical transmission. The disadvantage of scotch yoke was that its transmission efficiency
depended on the eccentrically placed pin and due to sliding contact the pin may wear out
easily. To avoid this a rubber bush can be provided at the contact point.

Simulation and Analysis

Both Slider-Crank and Scotch-Yoke is simulated using MSC’s multibody simulation software
ADAMS. In this case both are operated at the same torque level of 0.9 N-mm for such a low
torque the fluctuations may be neglected as in case of fluid flow operations. The above shown
prototype (Figure 3) is simulation model of scotch yoke constructed using MSC ADAMS.
The pin placed eccentrically is assumed to be forged or casted along with the scotch to reduce
losses. The frictional losses between pin and the yoke are neglected. The Kinematic Model of
the Scotch yoke
When self-weight of the linkages are taken in to account, the slider sways in the space which
is undesirable as it is driven by a motor it may cause serious trouble which is shown in Figure
7. However by neglecting self-weight of the linkages the result.
ANALYTICAL MODEL

Let the Angular displacement of scotch is ’Zt’The yoke gets displaced sinusoidal at an angle Zt. Hence
Displacement ‘X’ of yoke for Zrotation of scotch of radius x is X = x sin Zt
 CHAPTER 5

CONCLUSION

This paper deals with the input torque balancing of Scotch yoke mechanisms due to inertia
effects. The input torque balancing in linkages is usually carried out by adding cam-spring
mechanisms. In this study it is disclosed that Scotch yoke mechanisms can be balanced
without any auxiliary linkage by adding linear springs to the output slider. Although the
described solution is very simple, this is the first time, it has been proposed. The analysis of
the input torque showed that the variation of elastic balancing forces is a function of the slider
displacement. Therefore, the balancing of the input torque of a Scotch yoke mechanism can
be carried out by two pairs of springs connected with the output slider. The suggested
balancing solution has been improved for the Scotch yoke mechanism taking into account the
friction in the mechanism’s joints. Numerical simulations showed that in comparison with
balanced mechanism, 98% reduction in input torque has been achieved. It has been shown
that after balancing the input torque becomes constant, which facilitate the control of the
mechanism. It has also been shown that after balancing the reaction forces in two revolute
joints become constant and far less than before balancing (for the considered mechanism
about 91% in joint A and 72% in joint O). However, the given reduction can be reached if the
input link has a constant angular velocity. To ensure this condition an optimal control has
been developed. It was shown that the given optimal control law ensures a constant input
angular velocity taking into account the friction in joints, as well as the given input torque.
 CHAPTER 6

REFERENCES

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3. Ling J, Cao Y and Wang Q. Critical working frequency of reciprocating heat-transfer

devices in axially reciprocating mechanisms. J Heat Transfer Eng 1998; 41: 73–80.

4. Wang X, Subic A and Watson H. Two-dimensional lubrication analysis and design

optimization of a Scotch Yoke engine linear bearing. Proc IMechE, Part C: J Mechanical
Engineering Science 2006; 220: 1575–1587.

5. Yu J, Hub Y, Huo J, et al. Dolphin-like propulsive mechanism based on an adjustable

Scotch yoke. Mech Mach Theory 2009; 44: 603–614.

6. Martin GH. Kinematics and dynamics of machines. United States: Waveland Press, 2002.

7. Berkof RS. The input torque in linkages. Mech Mach Theory 1979; 14: 61–73.

8. Soong RC. Minimization of the driving torque of full force balanced four-bar linkages. J
Kao Yuan Instit Technol 2001; 19: 591–594.

9. Yan HS and Soong RC. Kinematic and dynamic design of four-bar linkages by links
counterweighing with variable input speed. Mech Mach Theory 2001; 36: 1051–1071.

10. Chaudhary H. Balancing of four-bar linkages using maximum recursive dynamic

algorithm. Mech Mach Theory 2007; 42: 216–232