JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD

Prerequisite

Kinematics of machinery

Course Objectives

The overall objective of this course is to learn how to analyze the motions of

mechanisms, design mechanisms to have given motions, and analyze forces in machines. To find radius of curvature of polodes.

Course outcomes: After completing this course, the student should be able to

• Understand the kinematic analysis of rolling bodies based on graphical, geometrical and analytical methods.
• Design of mechanisms by using graphically and analytically by involving function generator, rigid body guidance and path generation (Coupler curve) methods

UNIT - I

Advanced Kinematics of plane motion- I: Introduction to plane motion. Euler – Savary Equation, the Inflection circle, Analytical and graphical determination of di, Bobillier’s Construction, Collineation axis, Hartmann’s Construction, Inflection circle for the relative motion of two moving planes, Application of the Inflection circle to kinematic analysis.

UNIT - II

Advanced Kinematics of plane motion - II: Polode curvature, Hall’s Equation, Polode curvature in the four bar mechanism, coupler motion, relative motion of the output and input links, Freudenstein’s collineation – axis theorem, Carter –Hall circle.

UNIT - III

Introduction to Synthesis-Graphical Methods - I: The Four bar linkage, Guiding a body through Two distinct positions, Guiding a body through Three distinct positions, The Roto center triangle, Guiding a body through Four distinct positions: Burmester’s curve.

UNIT - IV

Introduction to Synthesis-Graphical Methods - II: Function generation- General discussion, Function generation: Overlay’s method, Function generation- Velocity – pole method, Path generation: Hrones’s and Nelson’s motion Atlas, Roberts’s theorem.

UNIT - V

Introduction to Synthesis - Analytical Methods: Function Generation: Freudenstien’s equation, Precision point approximation. Path Generation: Synthesis of Four-bar Mechanisms for specified instantaneous condition, Method of components, Synthesis of Four-bar Mechanisms for prescribed extreme values of the angular velocity of driven link, Method of components.

TEXT BOOKS:

• 1. Kinematics and Dynamics of plane mechanisms by Jeremy Hirschhorn, McGraw-Hill, 1962.
• 2. Theory of Mechanisms and Machines by Amitabh Ghosh and Ashok Kumar Mallik, E.W.P. Publishers.

REFERENCE BOOKS:

• 1. Kinematics and Linkage Design by Allen S.Hall Jr., PHI, 1964.
• 2. Theory of Machines and Mechanisms by J.E Shigley and J.J. Uicker Jr., McGraw-Hill, 1995.
• 3. A Robot Engineering Text book, Mohsen Shahinpoor, Harper & Row Publishers, New York, 1987.
• 4. Analysis of mechanisms and Robot manipulators by Joseph Duffy, Edward Arnold, 1980 M. TECH. I Year I Sem. (ENGG. DESIGN)