ED4152 Advanced Mechanisms in Design Syllabus:
ED4152 Advanced Mechanisms in Design Syllabus – Anna University PG Syllabus Regulation 2021
COURSE OBJECTIVES
1. To learn the concepts of gross motion capability and develop multi loop kinematic chains and equivalent mechanisms
2. To study complex mechanisms to determine velocity and acceleration of output links.
3. To learn to locate inflection points and to draw the inflection circle
4. To study the synthesis of planar mechanisms
5. To learn to design of six bar coupler driven mechanisms and cam mechanisms
UNIT-I INTRODUCTION
Review of fundamentals of kinematics-classifications of mechanisms-components of mechanisms – mobility analysis – formation of one D.O.F. multi loop kinematic chains, Network formula – Gross motion concepts-Basic kinematic structures of serial and parallel robot manipulators-Compliant mechanisms – Equivalent mechanisms.
UNIT-II KINEMATIC ANALYSIS
Position Analysis – Vector loop equations for four bar, slider crank, inverted slider crank, geared five bar and six bar linkages. Analytical methods for velocity and acceleration Analysis– four bar linkage jerk analysis. Plane complex mechanisms-auxiliary point method. Spatial RSSR mechanism-Denavit-Hartenberg Parameters – Forward and inverse kinematics of robot manipulators.
UNIT-III PATH CURVATURE THEORY, COUPLER CURVE
Fixed and moving centrodes, inflection points and inflection circle. Euler Savary equation, graphical constructions – cubic of stationary curvature. Four bar coupler curve-cusp -crunode -coupler driven six-bar mechanisms-straight line mechanisms
UNIT-IV SYNTHESIS OF FOUR BAR MECHANISMS
Type synthesis – Number synthesis – Associated Linkage Concept. Dimensional synthesis – function generation, path generation, motion generation. Graphical methods-Pole technique inversion technique-point position reduction-two, three and four position synthesis of four- bar mechanisms. Analytical methods- Freudenstein’s Equation-Bloch’s Synthesis.
UNIT-V SYNTHESIS OF COUPLER CURVE BASED MECHANISMS & CAM MECHANISMS
Cognate Lingages-parallel motion Linkages. Design of six bar mechanisms-single dwell double dwell-double stroke. Geared five bar mechanism-multi-dwell. Cam Mechanisms determination of optimum size of cams. Mechanism defects. Study and use of Mechanism using Simulation Soft- ware packages. Students should design and fabricate a mechanism model as term project.
COURSE OUTCOMES:
On Completion of the course the student will be able to
1. Apply concepts of gross motion capability and develop multi loop kinematic chains and equivalent mechanisms
2. Determine velocity and acceleration of complex mechanisms
3. Evaluate inflection points and draw the inflection circle
4. Synthesise planar mechanisms
5. Design of six bar coupler driven mechanisms and cam mechanisms
REFERENCES:
1. Amitabha Ghosh and Asok Kumar Mallik, “Theory of Mechanism and Machines”, EWLP, Delhi,1999.
2. Kenneth J, Waldron, Gary L. Kinzel, “Kinematics, Dynamics and Design of Machinery”, John Wiley-sons, 2016.
3. Robert L.Norton., “Design of Machinery”,Tata McGraw Hill, 2012
4. Sandor G.N., and Erdman A.G., “Advanced Mechanism Design Analysis and Synthesis”, Prentice Hall, 1984.
5. Uicker, J.J., Pennock, G. R. and Shigley, J.E., “Theory of Machines and Mechanisms”, Oxford University Press, 2017.