Introduction
January 6, 2020
K Patra
IIT Patna
Introduction to Instructor and Students
Objectives
Syllabus
Text/References
Learning outcomes
Machines and Mechanisms
Kinematics and Kinetics
A Brief History of Kinematics
Applications of Kinematics
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Indian Institute of Engineering Science and Technology (IIEST), Shibpur, Howrah
B.E. – Mechanical Engineering (1997)
Hindustan Motors, Hoogley, West Bengal
Graduate Engineer Trainee – (1997-98)
IIT Guwahati
Mtech (M/c design) – Mechanical Engineering (2003)
IIT Kharagpur
PhD (Manufacturing) – Mechanical Engineering (2007)
NTU Singapore
Postdoctoral research (medical robotics) – Mech. & Aerospace Engineering
(2007-08)
IIT Patna, Joined in December, 2008 (Associate Professor since Dec, 2015)
Teaching: Eng. drawing, Eng. mat., M/c Design, Robotics, KOM, KDM, Sensors &
Actuators
Research: Soft sensors & actuators for robotics, energy harvesting,
Micromachining for MEMS
Collaboartion: BME, Hungary, NUS Sinagpore, U of Saskatchewan, Canada; TU
Dortmund, Germany; South Ural State Unv, Russia; University of Swansea, UK
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The objectives of this course are to cover
Kinematics and dynamics of planar single degree-of-
freedom mechanisms
Specifically, this course will introduce students to the
graphical and analytical techniques used for analysis and
design of planar mechanism
Course project will be assigned to enable students to
apply learned theoretical concepts to real life problems
A side objective of this course will be to introduce
Matlab as a computer tool to solve analysis equations
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Introduction and course policies
Degrees of freedom, elements of kinematic chains,
Kutzbach, Gruebler, Grashof’s criterion
Graphical method of kinematic (displacement, velocity
and acceleration) analysis of planar mechanisms
Analytical and computer-aided method of kinematic
analysis of planar and spatial mechanisms
Synthesis of mechanisms
Special mechanisms: steering, Hooke’s joint
Introduction to Cams, classification, terminology of
Cams, Design and synthesis of cams by analytical and
graphical methods
Different gear trains, applications of gears in gear boxes
Static and dynamic force analysis, friction in joints
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J. E. Shighley and J.J. Uicker, Theory of Machines and
Mechanisms, McGraw Hill, 1995
A. K. Mallik, A. Ghosh, G. Dittrich, Kinematic analysis and
synthesis of Mechanisms, CRC, 1994.
A. G. Erdman and G. N. Sandor, Mechanism Design,
Analysis and Synthesis Volume 1, PHI, Inc., 1997.
J. S. Rao and R. V. Dukkipati, Mechanism and Machine
Theory, New Age International, 1992.
S. S. Rattan, Theory of Machines, Tata McGraw Hill, 1993.
T. Bevan. Theory of Machines, CBS Publishers and
Distributors, 1984
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Following learning outcomes are expected
Learn and apply geometrical, analytical and computer
skills to kinematics and dynamics analysis of machine
elements including linkages, cams, and gears, within the
general machine design context.
Apply the theoretical principles to a real life problem
using mechanism.
Application of MATLAB software to solve kinematics and
dynamics problems of mechanisms.
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A mechanism is a device which transforms
motion to some desirable pattern.
(Assemblage of resistant bodies connected by
movable joints to form a closed kinematic chain
with one link fixed and having the purpose of
transforming motion)
A machine typically contains mechanisms which
are designed to provide significant forces and
transmit significant power.
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A useful working definition of a mechanism is A
system of elements arranged to transmit
motion in a predetermined fashion.
On the other hand, a machine is A system of
elements arranged to transmit motion and
energy in a predetermined fashion.
Some of the examples of mechanisms and
machines are:
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Moves packages from an assembly
bench to a conveyor
Device to close
the top flap of
boxes
Simple press
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Lift platform
Front loader
Lift platform
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Bulldozer
Food Blender
Spider Robot
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Kinematics
The study of motion without regard to forces.
Dynamics
The study of forces on systems in motion.
(deals with systems that change with time)
These two concepts are really not physically
separable. One principal aim of kinematics is
to create (design) the desired motions of the
mechanical parts and then mathematically
compute the positions, velocities, and
accelerations which those motions will create
on the parts.
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Machines and mechanisms
have been devised by people
since the dawn of history.
The ancient Egyptians
(around 3000 BC) devised
primitive machines to
accomplish the building of the
pyramids and other
monuments. Though the
wheel and pulley (on an axle)
were not known to the Old
Kingdom Egyptians, they
made use of the lever, the
inclined plane (or wedge),
and probably the log roller.
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A great deal of design effort
was spent from early times
on the problem of
timekeeping with the
invention of pendulum in the
16th century.
Much early machine design
was directed toward military
applications (catapults, wall
scaling apparatus, etc.).
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James Watt (1736-1819) probably
deserves the title of first kinematician
for his synthesis of a straight-line
linkage to guide the very long stroke
pistons in the then new steam engines.
Watt was certainly the first on record to
recognize the value of the motions of the
coupler link in the four-bar linkage.
Watt Straight-line linkage
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Oliver Evans (1755-1819) an
early American inventor, also
designed a straight-line linkage
for a steam engine.
1805_Evans_ High Pressure
Steam Engine
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Euler (1707-1783) presented an
analytical treatment of mechanisms in
his Mechanica sive Motus Scientia
Analytice Exposita (1736-1742),
planar motion is composed of two
independent components, namely,
translation of a point and rotation of the
body about that point.
Euler also suggested the separation of
the problem of dynamic analysis into the
"geometrical" and the "mechanical" in
order to simplify the determination of the
system's dynamics.
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Gaspard Monge (1746-1818), inventor of
descriptive geometry, created a course in
elements of machines and set about the task
of classifying all mechanisms and machines
known to mankind!
His colleague, Hachette, completed the Gaspard Monge
work in 1806 and published it as what was
probably the first mechanism text in 1811.
Jean Nicolas
Pierre Hachette
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