MENG 306
Kinematics and Dynamics of Mechanical Systems
INTRODUCTION AND
COURSE OVERVIEW
Dr. Ahmed Askar
Principal Objectives of the course
What are your expectations about the course?
Think about some mechanisms that you have used before.
Why do you think this course is core for mechanical engineering
students?
Is there are a link between this course and MENG303?
Why studying mechanisms are important?
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Principal Objectives of the course
To develop your understanding of the fundamentals of synthesis
and analysis of mechanisms.
Use suitable computer software to model, analyse and simulate a
wide-range of mechanisms found in the practice.
To apply the “Design Process” as the solution of real-life
unstructured engineering design problem.
To improve your ability to communicate your understanding of
the subject through preparation of professional quality reports and
presentations.
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Course Grading
The total course grade is comprised of :
◦ Assignments: 10%
◦ Quizzes: 10%
◦ Project deliverables and presentation: 20%
◦ Midterm exam: 20%
◦ Final Exam: 40%
Despite that no grade are earned for the attendance, University
attendance policy needs to be followed.
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Course Contents
1. Introduction and course overview
2. Kinematics fundamentals
3. Graphical linkages synthesis
4. Position analysis
5. Velocity analysis
6. Acceleration analysis
7. Cams design
8. Kinematic analysis for gear systems
9. Dynamic force analysis
10. Balancing
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Kinematics fundamentals
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Graphical linkages synthesis
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Position, velocity and acceleration analyses
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Cams design
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Gears
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Balancing
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Dynamic Force Analysis
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Different ways of obtaining relative motion
There are different ways of obtaining relative motion between
input and output. Few examples.
Linkages
Cams
Gears Hoist
belt
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Different ways of obtaining relative motion
Geared 5-bar
mechanism
An overhead valve arrangement
for an automotive engine.
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DESIGN PROCESS
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DESIGN PROCESS
Example: design of an automotive windshield wiper system. The
proposed vehicle is a sports model with an aerodynamic look and
a sloped windshield.
Identification of need: It is something already required by the
customer.
Definition of problem: the purpose of this wiper system is to
clean water and debris from the windshield, giving clear vision to
the driver. Typically, this is accomplished by sweeping a pair of
wipers across the glass. A set of technical requirements should be
identified in this stage.
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DESIGN PROCESS
Synthes: design of mechanism that can accomplish the required
task. Different alternatives should be investigated.
Analysis and optimization: kinematic, dynamic and stress
analyses. Optimizing weight, minimizing torque requirements,
etc. Assess the different design and select the best one!
Evaluation: Check whether the stated specification is adequately
achieved.
Presentation: This can be in the form of presentation, report or a
prototype.
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THE SCIENCE OF MECHANICS
Statics: deals with analysis of stationary systems, that is, those in
which time is not a factor.
Dynamics: deals with systems that change with time.
Kinematics: the study of motion, quite apart from the forces
which produce that motion. More particularly kinematics is the
study of position, displacement rotation, speed, velocity, and
acceleration.
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ANALYSIS AND SYSTHESIS
Analysis: the techniques that allow the designer to critically
examine an already existing or proposed design in order to judge
its suitability for task.
Synthesis: the process of prescribing the sizes, shapes, material
compositions, and arrangements of parts so that the resulting
machine will perform the prescribed task.
Design: Creation of something (does not exist before).
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THE SCIENCE OF MECHANICS
Machine: a combination of resistant bodies so arranged that their
means the mechanical forces of nature can be compelled to do
work accompanied by certain determinate motion.
◦ The term machine is usually applied to a complete product.
◦ A car is a machine, as is a tractor
◦ Machines may have some devices performing specific
functions, like a windshield wiper in a car, which is called
mechanism.
Mechanism: an 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.
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THE SCIENCE OF MECHANICS
Example: adjustable height platform (machine)
A mechanism can be considered rigid parts that are arranged and
connected so that they produce the desired motion of the
platform.
adjustable height
Truss (structure) platform (machine)
Structure: a combination of resistant bodies connected by joints,
but its purpose is not to do work or to transform motion. A
structure is intended to be rigid.
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LINKS, JONTS AND KINEMATIC CHAINS
Linkages are the basic building blocks of all mechanisms.
A linkage consist of links, generally considered rigid, which are
connected by joints to form open or closed chains (or loops).
Such kinematic chains, with at least one link fixed, become
◦ mechanisms if at least two other links retain mobility, or
◦ structures if no mobility remains.
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Classifications of mechanisms
Several classifications Few DOFS and Many DOFS
Serial and Parallel
Planar/Spherical and Spatial
Rigid and Compliant
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LINKS, JONTS AND KINEMATIC CHAINS
Simple Link
Simple Link
(with point
of interest)
Complex Link
Pin Joint
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LINKS, JONTS AND KINEMATIC CHAINS
Slider Joint
Cam Joint
Gear Joint
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Kinematics Diagram
Kinematic diagram is used to express the complex parts of
machines for easy design process.
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Example
Draw the kinematic diagram for the shear that is used to cut and
trim electronic circuit board laminates.
Solution steps
1. Understand the motion.
2. Identify the Frame
3. Identify All Other Links
4. Identify the Joints
5. Identify Any Points of
Interest
6. Draw the Kinematic
Diagram
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Example
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Example: Vise Grip Plier
What is the function
of this link?
What is the function
of this screw?
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Example: Linkage-driven exercise mechanism
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Example: Rear-window wiper mechanism
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Example: Mechanical press
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4-Bar Nomenclature
Ground Link
Links pivoted to ground:
◦ Crank
◦ Rocker
Coupler
Ground Link
𝑂2 Ground Link 𝑂4
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Crank-slider mechanism Nomenclature
Slider
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Example of Mechanism’s Applications
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Example of Mechanism’s Applications
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Example of Mechanism’s Applications
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Example of Mechanism’s Applications
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Example of Mechanism’s Applications
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Example of Mechanism’s Applications
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Example of Mechanism’s Applications
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Example of Mechanism’s Applications
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Course Project
Learning objectives of the project
The student need to be able to deal with:
Group Formation: Group are formed by the students.
Project Management: Teams have limited time to complete
the conceptualization and assembly of their project.
Creative Project: The project is an open-ended design
problem where students define the theme of their choice. That
should provide the opportunity to develop innovation and
originality.
Design Objectives and Constraints: Students should identify
the design objectives and design constraints of their own
concepts.
Motion Transmission: Students should learn about
transmitting motion through different components.
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Course Project
Learning objectives of the project
Mechanism Function: Students will have to explore the
functions of different mechanisms. When students conceptualize
an idea, they will have to find ways to create such motion.
Synthesis and Optimization: Students will learn about
synthesizing and optimizing mechanisms.
Troubleshooting: Design is an iterative process. Students will
learn to solve problems that were not originally envisioned.
Reflection: Students need to analyze their work and present a
reflection of how their project can be improved. This diagnostic
analysis is part of the iteration process carried out in the design
process.
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Project Evaluation Criteria
Design Conceptualization: Creative thinking, collection of
design requirement and proper selection of concept.
Final Design: fulfilment of the function and design requires.
Documentation and Reflection: detailed and clear
documentation of the design and its analysis throughout the
semester.
Presentation: Team presentation skills.
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Course Project
Some possible projects
◦ Sit-to stand assisting chair.
◦ Legged walking robot.
◦ Design general purpose Robotic-Gripper.
◦ Mechanical walking device to test boots for durability
You don’t have to limit yourself to this project. Any relevant
mechanism design project is acceptable.
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Deliverables
D1-Design Constraints and Requirements Report: Detailed
list of constraints and requirements.
D2-Conceptual Design Report: Description and evaluation of
design concepts.
D3-Detailed Design Report: Detailed drawings, specifications,
and calculations.
D4-Prototype (Optional): Physical prototype of the wood lathe.
D5-Research Report: Summary of the research and analysis
phase.
D6-Final Presentation: Presentation of the design process and
final design.
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Project Team
Teams of 5-6 students
List of team members and the first deliverable (D1) has to be
submitted by week 4.
Any team submission after this date will be
capped at 60% of the total project points.
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Proposed Timeline
Week 1-2: Team formation and Research and Analysis
Week 3-4: Formulating Design Constraints and Specifying
Design Requirements
Week 5-8: Conceptual Design
Week 9-10: Detailed Design
Week 11-12: Prototyping and Testing (Optional)
Week 13: Documentation and Presentation Preparation
Week 14: Final Presentation
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