Mechanics of Machines

MCB 3043
Lecture 01
Azman Zainuddin
Outline of Lecture 1
Course Introduction
Objectives, Instructors, Text, Instruments,
Assessment, Groupings, Labs & Tutorials.
Introduction to Mechanism
Links, Joints, Categories
Kinematic Diagram

Course Instructors
Azman Zainuddin
05-3687144
18-03-24
azmazai@petronas.com.my


Dr Tuan Mohammad Yusoff Shah Tuan Ya
05-3687198
19-03-03
tyusoff.ty@petronas.com.my


Course Outcomes
By the end of the course, students should be able to
Analyze the kinematics and dynamics of mechanisms
found in common machines.
Design mechanisms to generate simple motions.
Evaluate forces acting throughout a mechanism.
Apply computer tools to aid simple mechanism
analysis and design.
Course Text
Machines & Mechanisms
David Myszka;4th Ed, 2011,
Pearson-Prentice Hall

Drawing Instruments
Everyone should
have these.
Required in
tutorials, quizzes,
tests and exam.
Course Assessment
Freq %
Assignments ~4 ~10
Quizzes ~4 ~10
Project 1 ~10
Tests 2 20
Final Examination 1 50
TOTAL 100
Mechanics of Machines MCB3043
Semester May 2014 Timetable
8-9 9-10 10-11 11-12 12-1 1-2 2-3 3-4 4-5 5-6
Mon

Tut Gp A
17-01-07
Lab Gp D/G
18-02-05
Tue
Lab Gp E/H
17-01-15
Lec
14-02-08
Tut Gp B
17-01-07

Wed Lec
C2
Thu Lec
14-02-
08
Tut Gp C
17-01-07

Fri
Lab Gp F/I
18-02-05
Replacement Classes
Friday 11 am 12pm at C2
Week 1 & 2
No classes in Week 3
Tutorial
Compulsory
1 hr weekly starting from Week 2
Must bring the drawing instruments to
the tutorial starting from Week 4
Week 2 Week 14 (Exc Week 3,11)
At 17-01-07
Mechanics of Machines MCB 3043
Semester May 2014 Lab Schedule
Group
D E F G H I
Time
slot
Mon
2-4pm
Tue
10-12pm
Fri
3-5pm
Mon
2-4pm
Tue
10-12pm
Fri
3-5pm
Lab 1
9 June 10 June 13 June 16 June 17 June 20 June
Lab 2
23 June 24 June 27 June 30 June 1 July 4 July
Lab 1: Analytical Techniques (Microsoft Excel) [2 hrs]
Lab 2: Modelling & Simulation (MSC-ADAMS) [2 hrs]
Venue: CAE/CFD Lab 17-01-15/18-02-05
Assignments, Quiz, Project
Project & Assignments will be done in
groups of fives, will be formed by the
lecturer, by Week 2.
Quizzes will be conducted during lecture
or tutorial sessions. Quizzes that require
the use of drawing instruments will be
conducted during tutorial.
e-Learning
All students must register their names
to the e-learning.
All lecture materials of the week will be
uploaded to the system by Friday.

Course Topics
Mechanisms (Week 1-2)
Position analysis (Week 2-3)
Mechanism design (Week 4)
Velocity analysis (Week 5)
Acceleration analysis (Week 6-7)
Cams (Week 8-9)
Gears (Week 9-10)
Static Force Analysis (Week 11)
Dynamic Force Analysis (Week 12- 13)
Belts (Week 14)

Machine & Mechanism
Source of
Power
Mechanism
Output
Motion
MACHINE
Input
Motion
Limited motion capabilities
(eg fixed speed, direction
and displacement)
Useful motion
as required by
the application
Convert, transmit and direct forces/energy to perform useful work
Copyright 2004, 2006 by Azman Zainuddin
Machine & Mechanism
(Example)
Source of
Power:
Engine
Mechanism: Crank,
timing belt, pulleys,
gearbox, bevel
gears, driveshaft,
wheel
Output
Motion:
Forward
Movement
of Car
CAR
Input
Motion:
Linear
Reciprocati
ng Stroke
of Piston
Copyright 2004, 2006 by Azman Zainuddin
Mechanisms
Definitions
Machine: A device used to convert, transmit and direct
forces or energy to accomplish a certain objective.
Mechanism:
a device used to convert, transmit and direct motion to
accomplish a certain objective.
a series of links and joints designed to accept an input
motion and produce a useful and desirable output motion.
made up of several bodies (or links) connected by joints.
normally does not include the source of power.
also known as linkage.
A machine might comprises several mechanisms.

Components of a Mechanism
Link an individual part of a mechanism. It is a rigid
body. Springs, belts and cables are not links and are
ignored in kinematic analysis.
Joint a connection between two or more links. It
allows relative motion between the links it connected.
Also called kinematic pair or pair
link
joint
Categories of Links
Simple Link - A link that has only two nodes, points
on the link where the link can be connected to other
links. (Also called binary link).
Complex Link - A link with more than two nodes.
(Also called ternary link for a three-node link,
quartenary link for a four-node link)
simple link
complex link
Examples of Links
Joints
Revolute Joint
Pin Joint
Pivot Joint
Hinge Joint

Prismatic Joint
Sliding Joint
Piston Joint
R-joint
P-joint
Define relative motion
between links
R-Joints and P-Joints are categorized as PRIMARY JOINTS.
Most mechanisms are combinations of only R- and P-joints.
Robots with R- and P-Joints
Lower & Higher Kinematic Pairs
Lower pairs
- Joints with surface
contact
Higher pairs
- Joints with line or point
contact.
e.g Pin in a hole e.g. Pin in a slot
ability to be
lubricated
high
low
For low wear and long life, always choose
lower pairs rather than higher pairs
Other Lower Pairs
(besides R- and P-Joints)
Higher Pairs
Copyright 2004, 2006 by Azman Zainuddin
Summary of Joint Types
Pin rotation (1D)
Sliding translation (1D)
Cylindrical - rotation & translation (2D)
Spherical (or ball/socket) rotation (3D)
Helical (or screw) rotation & translation (1D)
Planar - translation (2D) & rotation (1D)
Cam - rotation & translation (2D)
Gear - rotation & translation (2D)

Lower
Pairs
Higher Pairs
Primary
Joints
Point of Interest
A point on a link where the motion is of special interest
point of
interest
It is of interest in the
analysis to determine the
path taken by the end
point as the link is
rotating about one of its
pin joints.
Copyright 2004, 2006 by Azman Zainuddin
Position 2
Position 1
Example of a Mechanism
Link
Joint
Link
Link
Link
Joint
Joint
Joint
= Frame
A link might be made up of several
different components but all of them
always move together, no relative
motion at all against each other.
Frame a type of link. This link
serves as a frame of reference to
other parts of the mechanism.
Normally, this link is stationary.
Open Chain vs Closed Chain
All links have at least two
joints
At least one link has only
one joint.
E.g. robotic arm, backhoe
bucket