EXPERIMENT NO.

1
AIM :
To study inversion of 3R-1P kinematic chain ( single slider
crank chain)

APPARATUS:
Four bar chain, links, pairs, sliding pair.

THEORY:

THE SLIDER CRANK CHAIN

When one of the turning pairs of four-bar chain is replaced by a
sliding pair it becomes a single slider crank chain. It is also possible
to replace two sliding pairs of a four bar chain to get double slider
crank chain. different mechanisms obtained by fixing different links
of a kinematic chain are known as inversions. A slider-crank chain
has following inversions:
FIRST INVERSION:
This inversion is obtained when link 1 is fixed with link 2 and 4 are
made the crank and the slider respectively.

Applications:
1.Reciprocating engine
2.Reciprocating compressor

SECOND INVERSION:
Fixing of link 2 a slider crank chain results in the second inversion.
When its link2 is fixed instead of link 1,link 3, along with slider at its
end B become a crank. This makes link 1 to rotate about O along with
the slider which also reciprocates on it.
WHITWORTH QUICK-RETURN MECHANISM:
It is a mechanism used in workshops to cut metals. The forward
stroke takes a little longer and cuts the metal whereas the return stroke
is idle and takes a short period. It converts rotary motion into
reciprocating motion, but unlike the crank and slider.

THIRD INVERSION:
By fixing link 3 of the slider crank mechanism, third inversion
is obtained. Now the link 2 again acts as a crank and link 4 oscillates

Application:
1.oscillating cylinder engine
2.crank and slotted lever mechanism

Oscillating cylinder engine:

As shown, link 4 is made in the form of a cylinder and a piston fixed
At the end of link 1. The piston reciprocates inside the cylinder
pivoted to the fixed link 3.
The arrangement is known as oscillating cylinder engine in which as a
piston reciprocates in the oscillating cylinder, the crank rotates.

Crank and slotted lever mechanism:

If the cylinder if an oscillating cylinder engine is made in the form of
a guide and a piston in form of a slider, the arrangement as follows is
obtained as the crank rotates about A guide 4 oscillates about B .at a
point C on the guide ,link 5 is pivoted , the other end of which is
connected to the cutting tool through a pivoted joint.
The fig. Shows the extreme position of the oscillating guide4.the time
of the forward stroke is proportional to the angle α whereas for the
return stroke it is proportional to the angle β
FOURTH INVERSION:
If the link 4of the slider crank mechanism is fixed, the fourth
inversion is obtained. Link 3 can oscillate about the fixed pivot B on
the link 4. This makes end A of the link 2 oscillate about B and end
O to reciprocate along the axis of fixed link 4.

Application:
1. Hand pump

RESULT:
The four inversion of single slider crank mechanism i.e.3R-1P
kinematic chain were studied and observed.
 EXPERIMENT NO.2
AIM:
To study the inversion of 2R-2P (double slider crank chain)

APPARATUS:
Link, pairs, 4 bar chain, sliding pairs, turning pairs.

THEORY:
DOUBLE SLIDER CRANK CHAIN
Four bar chains having two turning and two sliding pairs such that
two pairs of the same kind are adjacent is known as a double slider
crank chain. The following are its inversions:
FIRST INVERSION:
This inversion is obtained when link 1is fixed and the two adjacent
pairs 23 and 34 are turning pairs and the other two pairs 12 and14 are
sliding pairs.
Applications:
Elliptical trammel
In this the fixed link1 is in form of guide for slider 2 and 4.with the
movement of the sliders, any point C on the link 3,except the mid-
point AB will trace and ellipse on a fixed plate. The midpoint of AB
will trace a circle.

SECOND INVERSION:
If any of the slide-blocks of he first inversion is fixed, the second
inversion of double-slider-crank3 rotates about A and link1
reciprocates in the horizontal direction.
Application: scotch yoke
A scotch yoke mechanism is used to convert the rotary motion into a
sliding motion. As crank 3 rotates the horizontal portion of link 1
slides or reciprocates in the fixed link 4.

THIRD INVERSION:
This inversion is obtained when link3 of the first inversion is fixed
and the link1 is free to move.

The rotation of link1 has been shown in which the full lines show the
initial position. With rotation of the link 4 through 45˚ in the
clockwise direction, the link1 and 2 rotate through the same angle
whereas the midpoint of link 1 rotates through 90˚ in a circle with
length of link 3 as the diameter. Thus the angular velocity of the
midpoint of the link 1 is twice that of link 2 and 4
The sliding velocity of link 1 relative to link 4 will be maximum when
the midpoint of link 1is at the axis of link 4. In this position, the
sliding velocity is equal to the tangential velocity of the midpoint of
link 1
Maximum sliding velocity
= tangential velocity of midpoint of link 1
= angular velocity of midpoint of link 1*radius
= (2*angular velocity of link 4)*(distance b/w axes of link 2 and 4)/2

Application: Oldham’s coupling

If the rotating links2 and 4 of the mechanism are replaced by two shafts one can
act as the driver and the other as the driven shafts their axes at the pivot of link
2 and 4.
Oldham’s coupling is used to connect two parallel shafts when the distance b/w
their axes are small. The two shafts have flanges at the end and are supported in
the fixed bearing representing link 3.
As mentioned earlier, the midpoint of the intermediates piece describes a circle
with distance b/w the axes of the shafts as diameter. The maximum skidding
velocity of each tongue in the slot will be peripheral of the mid-point of the
Intermediate disc along the circular path.
Maximum sliding velocity
=peripheral velocity along the circular path
=angular velocity of shaft*distance b/w shafts

RESULT:
The inversion of 2R-2P i.e. double slider crank chain were studied and
observed carefully.
 EXPERIMENT NO. 3

AIM:
To study and analyse the four bar link mechanism.

APPARATUS:
Link, pairs, driver, crank etc

THEORY:

A four bar linkage or simply a 4-bar is the simplest movable

linkage. It consists of 4 rigid bodies (called bars or links) , each
attached to two others by single joints or pivots to form a closed loop.

If each joint has one rotational degree of freedom i.e. (it is a pivot) ,
then the mechanism is usually a planar, and the four bar is
determinate if the position of any two bodies are known (although
there maybe two solutions). One body typically does not move (called
the ground link, fixed link or the frame), so the position of only one
other body is needed to find all other positions. The two link
connected to the ground link are called grounded link. The remaining
link, not directly connected to the ground link is called coupler link.
in terms if mechanical action, one of the grounded link is selected to
be the input link , i.e. the link to which an external force is applied to
rotate it. The second grounded link is called the follower link, since
its motion is completely determined by the motion of input link
Planar four- bar linkages perform a wide variety of motions with a
few simple parts. They were also popular in the past due to ease of
calculations, prior to computers, compared to more complicated
mechanism.

GRASHOF’S LAW is applied to pinned linkages and states; the sum of the
shortest and longest link of a planar four bar linkage cannot be greater than the
sum of remaining two links if there is to be continuous relative motion b/w the
links.

RESULT: The four bar mechanism was analysed and studied carefully.
 EXPERIMENT NO. 4
AIM:
To study and analyse the gear box and differential gear.

APPARATUS:
Gear box, differential gear,clutch

THEORY:
GEAR BOX

A gearbox is an assembly of gears allowing the rotational speed of an

input shaft to be changed to a different speed. Often, more than one
gear ratio is provided and a mechanism for selecting among the ratios
is provided. The most common form of gearbox encountered in
everyday life is that of a car with manual transmission.

A modern car gearbox is of the constant mesh or synchromesh type,

in which all gears are in mesh, but only one of which is locked to the
shaft on which it is mounted at any one time, the other being allowed
to rotate freely. This type of gearbox avoids the problem of wear and
damage caused by bringing moving gear into mesh; however, it has
higher frictional losses then simpler type.
Heavy trucks and machinery usually are fitted with a simpler type of
gear box, known colloquially as a “crash gearbox”. Here, the
selected gear is brought directly into mesh, and any other are not
involved. Driving a vehicle with such a gear box requires
considerable skill, including mastering the technique known as double
declutching.

DIFFERENTIAL GEAR SYSTEM:

A Gear differential is a mechanism that is capable of adding and
subtracting mechanically. To be more precise, we should say that it
adds the total revolution of two shafts. It also subtracts the total
revolution of one shaft from the total revolution of another shafts-and
the delivers the answer by third shaft. The gear differential will
continuously and accurately add or subtract any no. of revolutions. It
will produce a continuous series of answers as the input change.

There are two kinds of differential gear system: variable and fixed.
The variable differential allows the output ratio of system to be
adjusted by applying the rotation. This is the standard differential
found in most vehicles. Fixed differential use a design where a two
parts of a device rotate at almost the same speed, the (small)
difference causing an unusual large ratio for the overall system.

When a vehicles takes a turn, the outer wheel travel faster then the
inner wheel. In automobiles, the front wheel can rotate freely on their
axes and thus, can adapt themselves to the conditions. However rear
wheels are driven by the engine through gearing .therefore some
sought of Automobiles device are necessary so that the two rear
wheels are driven at slightly different speed. This is accomplished by
fitting a differential gear on the real axle.

RESULT: The gear box and the differential gear were studied and
analysed carefully.
 EXPERIMENT NO.5
AIM:
To study various clutches i.e. single plate clutch, multiple clutch ,
cone clutch.

APPARATUS:
Single plate clutch, multiple clutch, cone clutch.

THEORY:
A clutch is a mechanism for transmitting rotation, which can be
engaged and disengaged. Clutch is useful in devices that have two
rotating shafts. In these devices, one shaft is typically driven by a
motor or pulley, and the other shaft driven by a motor, and other
drives a drill clutch. The clutch connects the two shafts so that they
can either be locked together and spin at the same speed (engaged), or
be decoupled and spin at different speed (disengaged).

SINGLE PLATE CLUTCH:

Most of the light vehicles use single-plate clutch to transmit torque

from the engine to the transmission input shaft. The flywheel is the
clutch driving member. The clutch unit is mounted on flywheel’s
machined rear face, so that the unit rotate with the flywheel. The
clutch unit consist of – a friction type disc, with 2 friction facings and
central splined hub- a pressure plate assembly, consisting of a pressed
steel cover, a pressure plate with a machined flat face and a segment
diaphragm spring. And a release bearing and operating fork. The
fiction disc is sandwiched between the machined surface of the
flywheel and the pressure plate is bolted to the outer edge of the
flywheel face.

MULTIPLATE CLUTCH:

This type of clutch has several driving members interleaved

with several driven members. It is used in motor cycles and in some
diesel locomotives with mechanical transmission. It is also used in
some electronically-controlled all wheel driven system. This is most
common type of clutch on modern types of vehicles. when the brake
is pushed the calliper containing piston pushes the pad towards the
brake disc which slows the wheel down. On the brake drum it is
similar as when the handbrake is pulled the cylinder pushes the brake
shoe towards the drum which also slows the wheel down.

CONE CLUTCH:
A Cone clutch serves the same purpose as a disk or plate clutch.
However, instead of mating two spinning disk , the cone clutch uses
two conical surfaces to transmit torque by friction . the cone clutch
transfers a higher torque than plate or disk clutches of the same size
wedging action and increased surface area . cone clutches are
generally now only used in low peripheral speed applications
although they were once common in automobiles and other
combusting engine transmissions. They are usually now confined to
very specialist transmission in racing, rallying , or in extreme off road
vehicles, although they are common in power boats. Small cone
clutches are used in synchronized mechanism in manual
transmissions.

RESULT:
Different type of clutches were analysed and studied carefully.
 EXPERIMENT NO.7
AIM:
To study the epicycle gear train

APPARATUS:
Sun gear, planet gear, annealing circle, frame

THEORY:
►What is a gear train?
A gear train is a combination of gear used to transmit motion from
one shaft to another. It becomes necessary when it is required to
obtain large speed reduction within a small space.

►Types of gear train:-

a) Simple gear train- in this each shaft support one gear. A series
of gear, capable of receiving and transmitting motion from one
gear to another is called simple gear train
In it all, all the gears axes remain fixed relative to the frame and
each gear is on a separate shaft. All the gears can be in a straight
line or arranged in a zigzag manner. It can also have level gears.
 T=no. of teeth in a gear,
N=speed of gear in rpm

N2/N1=T1/T2[also w1/w2=2πN2/2Πn1=N1/N2]
And
N3/N2=T2/T3,N4/N3=T3/T4,N5/N4=T4/T5,
multiplying

N2/N1*N3/N2*N4/N3*N5/N4=T2/T3*T3/T4*T4/T5
Train value
N5/N1=T1/T5=NO. of teeth’s of driver gear/no. Of teeth’s on
driven gear
Speed ratio=1/train value
N1/N5=T5/T1,thus intermeddles gear have no effect on speed ratio,
therefore they are known as “idlers”

b) Compound gear train- when a series of gear are connected in

such a way that two or more gear rotate about an axis with the
same angular velocity, it is known as compound gear train

If the gear 1 is driven then,

N2/N1=T1/T2,N4/N3-T3/T4,N6/N5=T5/T6
OR
N2/N1 *N4/N3*N6/N5=T1/T2*T3/T4*T5/T6
OR
N2/N1*N4/N2*N6/N4=T1/T2*T3/T4*T5/T6

N6/N1=T1/T2*T3/T4*T5/T6
OR

Train value=Product of no. of teeth on driving gear

Product of no of teeth on driven gear
c) Reserve gear train:-
If the axes of the first and last wheel of a compound year coincide ,it
is called reserve gear train
This arrangement is used in clock and in simple lathes

N4/N1=product of no. Of teeth on driving gears

product of no. Of teeth on driven gear
=T1/T2*T3/T4
ALSO if R1 is the pitch circle radius of a gear R1+R2=R3+R4

d)Planetary or epicyclic gear train –

A gear train having a relative motion of axes is called a planetary or
epicyclic train. In epicyclic train , the axis of at least one of the gear
also moves relative to the frame . The term epicyclic emerges from
the fact that the wheel rolls outside another wheel rolls inside it .in
that case the path traced will be hypocycloid.

Analyses of epicyclic gear train:-

Epicyclic train usually have complex motion therefore, a
comparatively simple method are used to analysis them which do not
require accurate visualisation of motions .
The method are-
►Fix the arm method – in this method, an arm is fixed which
joins the two gears.
Now, if the mechanism is locked together and turned through a
number of revolutions, the relative motions between a,s,f will not
alter.
 ►Relative velocity method – angular velocity of s(Ws)
Wsa+Wa
Or Ns=Nsa+Na
Similarly, Np=-Npa
+Na (Ns &Np are to be in opposite directions)
Nsa=Ns-Na &Npa =Na-Np
Or Nsa/Npa=Ns-Na/Na-Np
Or Tp/Ta=Ns-Na/Np-Na

RESULT:
Epicyclic gear train was studied carefully.
 EXPERIMENT NO.6

AIM:
To study the CAM and follower mechanism

APPARATUS:
1) CAM
2) FOLLOWER
3) FRAME

THEORY:
►What is a CAM and a follower?
A cam is a mechanical member used to impart desired motion to a
follower by direct contact
The CAM may be rotating or reciprocating where as the follower may
be rotating, reciprocating or oscillating.

►Applications of CAMs:-
They are widely used in automatic machines, internal combusting
engines, machine tools, printing control mechanism and etc.
A cam & the follower combination belongs the category of higher
pains.

Necessary elements of cam are-

●A driver member known as cam
●a driver member called the follower
●a frame which supports the cam & guides the follower

♠ Types of CAMs-
CAMs are classified according to-
1. Shape
2. Follower movement
3. Manner of constraints of the follower

ACCORDING TO SHAPE
1. Wedge and flat cams-
A wedge cam has a wedge W which, in general, has a traditional
motion. The follower F can either translate or oscillate. A spring is
usually used to maintain the contact b/w the cam and the follower.
Another setup can be where the cam is stationary & the follower
constraint or guide G causes the relative motion of cam and follower.

2. Radial disc or cam-

A cam is which the follower moves radically from the centre of
rotation of the cam is known as a radical or disc cam. They are very
popular due to their simplicity & compactness

3. Spiral cam
A spiral cam is a face cam in which a groove is cut in the form of a
spiral. the spiral groove consist of teeth which mesh with a pin gear
follower .the velocity of the follower is proportional to the radial
distance of the groove from the axis of the cam .it use is limited since
the cam has to reserve its direction to reset the position of the
follower. It finds use in computers.

4. Cylindrical cam-
In the cylindrical cam, a cylinder which has a circumferential contour
cut in the surface rotates about its axis
They are also known as barrel or drum’s cam

5. Conjugate cam
A conjugate cam is a double disc cam, the two discs being keyed
together and is in constant touch with the two roller of a follower.
Thus, the follower has a positive constraint. They are preferred where
low wear , low noise , better control of a follower , high speed , high
dynamic loads etc , are required .

6. Globoidal cam-
A globoidal cam can have two types of surface
1) Convex
2) Concave
A circumferential contour is cut on the surface of rotation of the cam
to impart motion to the follower which has an oscillating motion

7. Sperical cams-
In the spherical cam, the follower oscillates about an axis
perpendicular to the axis of rotation of the cam.
A spherical cam is in the form of a spherical surface which transmits
motion to the follower.
ACCORDING TO FOLLOWER MOVEMENT
The motions of the followers are distinguished from each other by the
dwells they have. A dwell is the zero displacement or the absence of
motion of the cam.

1. Rise – Return –Dwell(D-R-R-D)

In this, there is altermaterise and return of the follower with no
periods of dwells. The follower has a linear or a regular
displacement.

2. Dwell-Rise-Return-Dwell(D-R-R-D)
In this type of cam, there is rise &return of the follower after a
dwell. If frequently used.

3. Dwell-Rise-Dwell-Return-Dwell(D-R-D-R-D)
The dwelling of cam is followed y rise &dwell &subsequently
by return of the follower is by a fall, the motion may be known
as dwell-rise-dwell,

ACCORDING TO MANNER OF CONSTRAINT OF THE

FOLLOWER-

1. Pre-loaded string cam-

A preloaded cam pression spring is used for the purpose of
keeping the contact between the cam & follower.

2. Positive drive cam

In this type, constant touch b/w the cam and the follower is
maintained y the roller follower operating in the groove of the
cam.
 3. Gravity cam-
If the rise of the cam is achieved by the rising surface of
the cam & the return by the force of gravity or due to the
weight of the cam.

Types of follower –
They are classified by –
A) Shape
B) Movement
C) Location of line movement

♦According to shape :-
1. Knife –edge follower
It is simple in construction .its use is limited as it touches a
great wear of the surface at the point of contact.
2. Roller follower:-
It has a cylindrical roller free to rotate about a pin-joint. In
case of steep rise, a roller follower jams the cam.

3. Mushroom follower it does not pose the problem of jam the

cam. It a flat faced follower is used then it has high surface
stresses &wear are quite high due to deflection & mid
alignment. It is reduced when spherical- faced follower is used .
 ♦ According to moment-
1. Reciprocating follower:-
In this cam rotates the follower reciprocates on translates in
the guide.

2. Oscillating follower:-
It is pivoted at a suitable point on the frame &oscillates as
the cam makes rotary motion .

♦ According to location of line movement:-

1. Radial follower –
In this type of line of movement of the follower passes
through the centre of rotation of cam .

2. Offset follower-
In this type, the line of movement of the follower is offset
from the centre of rotation of the cam.

RESULT:
Cam and follower system was analysed and studied
carefully.