IBRI COLLEGE OF TECHNOLOGY
DEPARTMENT OF ENGINEERING
MECHANICAL & INDUSTRIAL ENGINEERING SECTION
DESIGN AND FABRICATION OF
STRAIGHT LINE MOTION MECHANISMS
A PROJECT REPORT
Submitted by
HILAL KHALIFA MUSABAH AL-MAJRAFI (S101825)
SALIM ABDULLAH RASHID AL-JABRI (S101769)
AHMED SAID AL-MAQBALI (S101699)
in partial fulfillment for the award
of
ADVANCED DIPLOMA IN MECHANICAL ENGINEERING
JUNE 2014
Design and Fabrication of Straight Line Mechanisms
IBRI COLLEGE OF TECHNOLOGY
DEPARTMENT OF ENGINEERING
MECHANICAL & INDUSTRIAL ENGINEERING SECTION
BONAFIDE CERTIFICATE
This is to certify that the Project titled DESIGN AND FABRICATION OF
STRAIGHT LINE MOTION MECHANISMS is a bonafide record of work
done by:
HILAL KHALIFA MUSABAH AL-MAJRAFI (S101825)
SALIM ABDULLAH RASHID AL-JABRI (S101769)
AHMED SAID AL-MAQBALI (S101699)
and submitted as a partial requirement for the completion of Advanced
Diploma in Mechanical Engineering in the semester - II of academic year
2013-2014.
Signature of Supervisor
Signature of HoS/M & I Section
(Dr. V. Jayakumar)
(Dr. K. Elangovan)
Signature of HoD/Engg.
(Mr. Nasser Al-Shammakhi)
ACKNOWLEDGEMENT
1
Design and Fabrication of Straight Line Mechanisms
First, we thank Allah Almighty for helping us to complete this project properly.
Also, we would like to thank college administration for providing all necessary tools and
instruments which has enabled us to finish our project on time. We express our sincere thanks
to the Dean, Head of the Engineering Department, and the Head of Mechanical Section for
their constant encouragement and support.
We would like to thank Dr. V. Jayakumar for his support and guidance, throughout
the process of this project. His advice, direction, and identifying the necessary and suitable
instruments, were the key to the success of this project.
We also give our thanks to Mr. Renaldo for the help in the workshop. Without the
generous help of these individuals, this work would not have been possible.
Hilal Khalifa Musabah AlMajrafi
Salim Abdullah Rashid Al-Jabri
Ahmed Said Al-Maqbali
ABST
RACT
2
Design and Fabrication of Straight Line Mechanisms
In this project, we have designed and fabricated bell four different
straight line mechanisms namely
1.
2.
3.
4.
Peaucellier Exact Straight Line Mechanism
Chebyshevs Straight Line Mechanism
Roberts Straight Line Mechanism
Watts Straight Line Mechanism
These
models
can
be
used
as
working
models
for
better
understanding the working principle of various straight line mechanisms.
We chose this project because of two reasons. The first reason is we want
to help student to understand how various straight line mechanisms are
working. The second reason is we want to help the lecturers to provide a
teaching aid of straight line mechanisms that are required to teach the
course Mechanics of Machines 1 so that to teach the mechanisms more
easily and clearly.
Through this project work, we have learnt the following:
1. The
2.
3.
4.
5.
working
principle
of
four
different
straight
line
mechanisms.
Synthesis aspects of those four mechanisms
The selection of materials required for the work.
The design aspect of the work.
The hands-on experience of variation manufactory process
and operation such as joining, bending, welding, drilling and
cutting process.
6. Assembly of various parts made.
7. Report writing.
Design and Fabrication of Straight Line Mechanisms
TABLE OF CONTENTS
Chapter No.
Title
Page No.
ABSTRACT
LIST OF TABLES
INTRODUCTION
OBJECTIVES
PROJECT PLANNING
11
DESIGN AND SYNTHESIS OF MECHANISMS
14
FABRICATION OF STRAIGHT LINE MECHANISMS
20
RESULTS AND DISCUSSION
28
CONCLUSION AND SCOPE FOR FURTHER WORK
31
REFERENCES
32
Design and Fabrication of Straight Line Mechanisms
LIST OF FIGURES
Figure No.
Description of Figure
Page No.
1.1
Classification of straight line mechanisms
1.2
Straight line motion
4.1
Peaucellier exact straight line mechanism
15
4.2
Chebyshev's straight line mechanism
17
4.3
Robert's straight line mechanism
18
4.4
Watt's straight line mechanisms
18
5.1
Cutting operation
21
5.2
Cutting operation
21
5.3
Drilling operation
22
5.4
Drilling operation
22
5.5
Grinding operation
23
5.6
Grinding operation
23
5.7
Painting of parts
24
5.8
Painting of parts
24
5.9
Peaucellier exact straight line mechanism
25
5.10
Chebyshev's straight line mechanism
25
5.11
Robert's straight line mechanism
26
5.12
Watt's straight line mechanisms
26
Design and Fabrication of Straight Line Mechanisms
CHAPTER 1
`
Design and Fabrication of Straight Line Mechanisms
1. INTRODUCTION
1.1. Straight Line Motion Mechanisms
The mechanisms which are used to trace a straight line path are known as straight line
generators or straight line motion mechanisms.
Classification of straight line generators: The straight line motion mechanisms can be
classified into two main groups, as shown in Fig.1.1.
Fig.1.1. Classification of straight line motion mechanisms
1.2. Exact Straight Line Motion Mechanisms
1.0.0. Condition for Generating Exact Straight Line Motion
Principle: The principle of working of an exact straight line motion mechanism is based
on the simple geometry property that the inverse of a circle with reference to a pole on the
circle is a straight line.
Referring to Fig.1.2, if O be a point on the circumference of a circle diameter OP, OA be
any chord, and B is a point on OA produced, in such a way that OA OB = constant, then
the locus of a point B will be a straight line perpendicular to the diameter OP.
Design and Fabrication of Straight Line Mechanisms
Fig.1.2. Straight line motion
Proof: As shown in Fig.1.2, obtain point D by drawing a perpendicular from B on OC
produced. Since OAC = ODB = 90 and COA is common, therefore triangles OAC and
ODB are similar.
Now from similar triangles OAC and ODB, we can write
=
or
OD =
Clearly, the diameter OC is constant and for the product OA OB to be constant, OD will
be a constant. In other words, for all positions of A and line OA, tracing point moves along a
straight path BD which is perpendicular to OC produced.
1.3. Remarks
In this project work, we have tried to design and fabricate the following four important
straight line motion mechanisms:
1.
2.
3.
4.
Peaucellier Exact Straight Line Mechanism
Chebyshevs Straight Line Mechanism
Roberts Straight Line Mechanism
Watts Straight Line Mechanism
Design and Fabrication of Straight Line Mechanisms
CHAPTER 2
Design and Fabrication of Straight Line Mechanisms
2. OBJECTIVES
The main objectives of the project are given below.
1. To study and understand the principle, application and types of
straight line mechanisms.
2. To do literature review on the knowledge of straight line
mechanisms design.
3. To perform type synthesis and dimensional synthesis of the
following four straight line mechanisms.
1)
Peaucellier Exact Straight Line Mechanism
2)
Chebyshevs Straight Line Mechanism
3)
Roberts Straight Line Mechanism
4)
Watts Straight Line Mechanism
4. To make the appropriate selection of materials required for the work.
5. To carry out various manufacturing operations and processes such
as joining, bending, welding, drilling and cutting processes, which
are required to fabricate the designed mechanisms.
6. To paint and assemble the various parts made.
7. To make a project report detailing all the above activities.
10
Design and Fabrication of Straight Line Mechanisms
CHAPTER 3
11
Design and Fabrication of Straight Line Mechanisms
3. PROJECT PLANNING
To start this project, a meeting with supervisor in the first week was
done to manage the schedule of weekly meetings. The purpose was to
inform the supervisor on the progress of the project and to get guided by
the supervisor to solve any problem or difficulty. Briefing based on the
introduction and next task of the project was given by the supervisor.
Then we made research of literature review with the means of the
internet, available books, published articles and materials that are related
to the title of our project.
Designing phase started off by sketching few models using manual
sketch on A4 papers. We did comparison in order to choose the best
concept.
Following up, is the fabrication of make some method for this
project. Choosing the material, making some list for the material and
dimension is the next stage. Then planning of fabrication process for this
project is the final stage. After that, starting the fabrication processes. It
would take six weeks to get this design and fabrication process alteration
done. Making some analysis and testing for the project. Doing the
correction for any error in this project. Completing the fabrication process
with painting process.
12
Design and Fabrication of Straight Line Mechanisms
Week 8
Week 7 Week 6 Week 5 Week 4 Week 3 Week 2 Week 1
Activities
Project
Proposal +
Acceptance
Searching
For
Information
+ Materials
Discussion +
Work
Dividing
Fabrication
Process
Testing
Process
Finishing
Process
Report
Writing +
Submission
Quiz +
Presentation
3.1. Project Plan
13
Design and Fabrication of Straight Line Mechanisms
CHAPTER 4
14
Design and Fabrication of Straight Line Mechanisms
4. DESIGN AND SYNTHESIS OF MECHANISMS
4.1. The Peaucellier Mechanism
The Peaucellier mechanism is an exact straight line generating mechanism, satisfying the
above condition.
The configuration of the Peaucellier mechanism is shown in Fig. 4.1. It is an eight-link
mechanism. It consists of isosceles four bar chain OKBM. Additional links AK and AM
form a rhombus AKBM.
Fig. 4.1. The Peaucellier mechanism
The relative dimensions of the various links are:
Frame link OC = Crank link CA; OK = OM; AK = KB = BM = MA.
When the crank CA rotates about C, the tracing point B will move a straight path BD
perpendicular to OC produced, if and only if,
OA AB = constant
Proof: From the right angled triangles OLK and BLK, we get
and
OK2 = OL2 + LK2
(i)
BK2 = BL2 + LK2
(ii)
Subtracting equation (i) from (ii), we get
15
Design and Fabrication of Straight Line Mechanisms
OK2 BK2 = OL2 BL2 = (OL + AL) (OL AL) (iii)
But it can be noted thatOL + LB = OB and OL AL = OA
Now equation (iii) becomes
OK2 BK2 = OB OA
(iv)
Since OK and BK are constant link lengths, therefore
OK2 BK2 = constant
Now equation (iv) becomes
OA OB = constant
(v)
Since the Peaucellier mechanism satisfies the required condition, therefore the tracing
point B moves along a straight line perpendicular to OC produced.
4.2. Chebyshev's Straight Line Mechanism
The Chebyshev approximate straight line mechanism is also a four bar linkage
mechanism that is both historically important and also of practical importance. After the
invention of steam engine and straight line mechanism by Watt a range of straight line
mechanisms were designed. Chebyshev's mechanism is the first mechanism to be designed
after Watt's linkage by a Russian Mathematician Pafnuty Chebyshev. This mechanism was
invariable used for linear guidance of the piston and valves.
Like the Watt's Linkage Chebyshev's straight line mechanism is simple in
construction. It is a double rocker and the mid-point of the coupler is the point tracing the
approximate linear path. Chebyshev's mechanism has two critical advantages over Watt's
linkage, via, a very long segment of the path of the coupler midpoint is approximately linear
and both fixed points of the linkage are on the same side of the linear path, which in case of
Watt's linkage are on opposite sides.
The required proportions of the length of members of the linkage (Fig. 4.2) are:
a = 1, b = 2.5 and c = 2.
16
Design and Fabrication of Straight Line Mechanisms
Fig. 4.2. Chebyshev's Straight Line Mechanism
4.3. Robert's Straight Line Mechanism
Like the Chebyshev's mechanism Robert's approximate straight line mechanism is a
symmetrical four bar linkage. The construction of Robert's mechanism is different from the
approximate straight line mechanisms discussed so far, in the sense that, this mechanism has
an extension to the coupler at the coupler mid-point. This extension is perpendicular to the
line joining the two adjacent joints. The end point of the coupler extension generates an
approximate straight line for the motion between the fixed pivots.
This mechanism designed by Richard Robert has the proportions of lengths of
members of the linkage (Fig. 4.3) as:
a = 1, b = 1.2, c = 2 and d = 1.09.
This approximate straight line mechanism is generally used for linear guidance of the
tracing point. The point required to traverse on straight line is constrained to the end point of
the coupler extension. Robert's straight line mechanism is normally used in the coupler driven
mode, that is, the mechanism is not driven by either of the cranks or rockers instead the
coupler extension is used to just guide the requisite point along an approximate straight line.
17
Design and Fabrication of Straight Line Mechanisms
Fig 4.3. Robert's Straight Line Mechanism
4.4. Watt's Straight Line Mechanism
Watt's linkage consists of a chain of three rods, two longer and equal length ones on
the outside ends of the chain, connected by a short rod in the middle (Fig. 4.4). Or all three
rods can be equals. The outer endpoints of the long rods are fixed in place relative to each
other, and otherwise the three rods are free to pivot around the joints where they meet. Thus,
counting the fixed-length connection between the outer endpoints as another bar, Watt's
linkage is an example of a four-bar linkage.
Fig 4.4. Watt's Straight Line Mechanism
18
Design and Fabrication of Straight Line Mechanisms
4.5. Selection of Materials and Equipment
No.
Materials
Quantity
Milky stickers
Drilling machine
Cutting machine
Spray paint(silver)
Grinding machine
Bolts and nuts
20
Steel Rods
Measurement tape
Ruler & pens
10
Handles
1&4
8
19
Design and Fabrication of Straight Line Mechanisms
CHAPTER 5
20
Design and Fabrication of Straight Line Mechanisms
5. FABRICATION OF STRAIGHT LINE MECHANISMS
The step by step procedure followed during the fabrication of those four straight line
mechanisms are presented in this section.
5.1. Cutting Rods and Sheets
The base of each models of mechanisms have been cut by cutting machine (Figs. 5.1 & 5.2)
and also we have cut the rods as per the dimensions in previous diagrams of each the four
mechanisms. Frame has been designed as per the dimensions given in the diagrams (55 cm x
55 cm).
Fig. 5.1. Cutting operation
Fig. 5.2. Cutting operation
21
Design and Fabrication of Straight Line Mechanisms
5.2. Drilling of Rods and Sheets
After we have found the dimensions of each mechanism and we drilled the steel rods and
sheets (Figs. 5.3 & 5.4) for the fixed points then we have drilled the rods for the linkage.
Fig. 5.3. Drilling operation
Fig. 5.4. Drilling operation
22
Design and Fabrication of Straight Line Mechanisms
23
Design and Fabrication of Straight Line Mechanisms
5.3. Grinding of Rods Surface
In this part we have used grinding machine (Figs. 5.5 & 5.6) to have good surface for the rods
before we paint them and also to make them more beauty.
Fig. 5.5. Grinding operation
Fig. 5.6. Grinding operation
24
Design and Fabrication of Straight Line Mechanisms
5.4. Painting of Parts
In this part first we have used silver spray pain for the rods and milky sticker for sheets (Figs.
5.7 & 5.8).
Fig. 5.7. Painting of parts
Fig. 5.8. Painting of parts
5.5. Assembling of Parts
In this part we have used screws to fix the linkage between nuts and bolts also with the
sheets. After that we have fixed the handles, each models carries by two handles.
25
Design and Fabrication of Straight Line Mechanisms
5.6. Photos of Fabricated Mechanisms
Figs. 5.9 to 5.12 show the photographs of final straight line
mechanisms.
Fig. 5.9. The Peacellier straight line mechanism
Fig. 5.10. The Chebyshevs straight line mechanism
26
Design and Fabrication of Straight Line Mechanisms
Fig. 5.11. The Roberts straight line mechanism
Fig. 5.12. The Roberts straight line mechanism
27
Design and Fabrication of Straight Line Mechanisms
CHAPTER 6
28
Design and Fabrication of Straight Line Mechanisms
6. RESULTS AND DISCUSSION
6.1. Testing and Results
We have found some mistakes when we have done testing for our
mechanisms, like painting not good in surfaces and some mechanisms not
have fixed the nuts and no flexibility of some bolts.
We have started test the mechanisms with some engineering
lecturers and they feel it is very useful and perfect in teaching purposes.
We are solving the problems of surfaces by repeat painting correctly and
for the bolts we used some desirable bolts and nuts.
6.2. Applications of Straight Line Mechanisms
There are many applications can used straight line mechanisms.
(i)
Many types of machines can are worked by using different kind of
(ii)
straight line mechanisms.
Engineering students can easily understand how mechanisms work.
6.3. Discussion
Fabrication of Straight Line Mechanisms are to make different samples of straight line
mechanisms those are designed to use in engineering purposes. It has good weight and
suitable to carry and move. They can help the student to understand how do the mechanisms
work and in short time.
This kind of project can help mechanical and industrial engineering to how can those
mechanisms used in factories and in many machines. There is no machine can works without
any mechanisms controlled them or help them to complete their main objectives of
movement.
There were no enough number of mechanisms in laps in Ibri College of Technology
then we decided to create or design new mechanisms. Now, this shape can give more
advantages in understanding and comprehension.
In this project we tried to make those mechanisms as well as them strong and suitable
to use for long time so, we decided to use thick wood sheet to shape our mechanisms. And
we have used steel rods and nuts and bolts to fix the rods.
29
Design and Fabrication of Straight Line Mechanisms
We have prepared this project by collecting information about the
Fabrication of straight line mechanisms. Also, we wrote this report by our
self by collecting the information from the Internet, friends and from our
mind. We worked with this project in a group of three members as one
team.
We also have faced several problems at the beginning. For
example, choosing the idea of the project and design appropriate
dimension those mechanisms.
Cutting machine made bad surface of our rods so, that leads us to
use grinding machine to get good and smooth surfaces. When we have
started painting the rods the painting didnt looks good and we repaint it
again. Also the stickers are not so good to be put in wood sheets so we
tried to make them correctly.
30
Design and Fabrication of Straight Line Mechanisms
CHAPTER 7
31
Design and Fabrication of Straight Line Mechanisms
7. CONCLUSIONS AND SCOPE FOR FUTURE WORK
In this project, we have designed and fabricated four different
straight line mechanisms namely
1.
2.
3.
4.
Peaucellier Exact Straight Line Mechanism
Chebyshevs Straight Line Mechanism
Roberts Straight Line Mechanism
Watts Straight Line Mechanism
that can be used as working models for better understanding the working
principle of various straight line mechanisms. These four models can be
used as a teaching aid by the lecturers teaching the Mechanics of
Machines course to better explain the working principle and synthesis
aspects of mechanisms.
Through this project work, we have learnt the following:
1. The
2.
3.
4.
5.
working
principle
of
four
different
straight
line
mechanisms.
Synthesis aspects of those four mechanisms
The selection of materials required for the work.
The design aspect of the work.
The hands-on experience of variation manufactory process
and operation such as joining, bending, welding, drilling and
cutting process.
6. Assembly of various parts made.
7. Report writing.
Though our idea has worked very well and its performance is very
satisfactory,
this
work
can
be
further
extended
by
using
these
mechanisms for some specific applications. This suggestion can be
considered as a scope for further work.
32
Design and Fabrication of Straight Line Mechanisms
REFERENCES
1.
2.
3.
4.
5.
6.
R. S. Khurmi., Theory of Machines, Khanna Publications, New Delhi, 2005.
V. Jayakumar., Kinematics of Machinery, Lakshmi Publications, Chennai, 2008.
[Link]
[Link]
[Link]
[Link]
33
