Course Logistics
• 3 credits, 45 Lectures + tutorials
• Grading– Hw: 20%
– Quizzes: 10%
– Final project: 10%
– Midterm: 20%
– Final: 40%
• References:– Main Textbook: J.J. Uicker, Jr., G.R. Pennock, and J.E. Shigley;Theory of Machines and Mechanism, Oxford, 4th int. edition
– Secondary (Just for the two final chapters on Robotics, etc.):L.Sciavicco, B. Siciliano, “Modeling and Control of RobotManipulators”, 2nd Edition, Springer-Verlag Advanced Textbooks inControl and Signal Processing Series, London, UK, 2000;
2
Course Goals
• Goal:
– To present an overview of analysis, design and
synthesis of mechanism and machines by
considering kinematics and kinetics.
– The concepts of position, velocity, acceleration
and force analysis are presented in a thorough
manner.
3
Week No Contents
Week 1(9-13 Feb) Mechanisms: Introduction, Pairs
Types of Mechanisms, Mobility, Classification
Week 2 (16-20 Feb) Kinematic Inversion, Grashof’s Law
Mechanical Advantage, Overlay Method
Position & Displacement: Moving point, Position
Assignment #1 - Due one week from the day it is assigned.
Week 3(23-27 Feb) Position Difference, Apparent Position, Absolute Position
Loop Closure Equation
Week 4(2-6 Mar) Position Analysis (Graphic), Position Analysis (Algebraic)
Velocity: Rotation, Velocity Difference
Assignment #2 - Due one week from the day it is assigned.
Week 5(9-13 Mar) Velocity Polygons, Apparent Velocity (Linear & Angular)
Quiz #1
Week 6(16-20 Mar) Direct & Rolling Contact, Velocity Analysis, Inst. Ctr of Velocity, Aronhold-Kennedy Thm
Locating Instant Ctrs of Velocity, The angular velocity ration Thm.
Assignment #3- Due one week from the day it is assigned.
Week 7(23-27 Mar) MIDTERM EXAM
Acceleration: Angular Acceleration
Acceleration Difference, Acceleration Polygons
30 Mar – 3 Apr Spring Break
Week 8(6-10 Apr) Apparent Acceleration, Apparent Angular Acceleration
Direct & Rolling Contact, Strategies for Acceleration Analysis
Complex Algebra (Position Analysis)
Assignment #4 - Due one week from the day it is assigned.
Week9(13-17 Apr) Complex Algebra (Velocity / Acceleration Analysis)
Static Force Analysis: Newton’s Laws, Applied & Constraint Forces, Free Body Diagrams
Teaching Plan
Chapter 2
Chapter 3
Chapter 1
Chapter 4
Chapter 13
4
Week 10(20-24 Apr) Conditions for Equilibrium, 2 and 3 Force Members
4 Force Members, Friction Force Members, Dynamic Force Analysis: Center of Mass,
Mass Moments & Products of Inertia, D’Alembert’s Principle
Assignment #5 - Due one week from the day it is assigned.
Week 11(27 Apr-1 May) Cam Design: Classification of Cams & Followers, Displacement Diagrams
Graphical Layout of Cam profiles
Kinematic Coefficients of the Follower Motion
Week 12(4-8 May) Quiz #2
High Speed Cams
Standard Cam Motions
Assignment #6 - Due one week from the day it is assigned.
Week 13(11-15 May) Matching Derivatives
Reciprocating Flat Face Follower
Reciprocating Roller Follower
Week 14(18-22 May) Gears: Introduction to gearing,
involute tooth geometry, contact ratio,
Under cutting, Gear Trains
Week 15 (25-29 May)
*27 May- Al IsraaWalMi’raj*
*29 May- Last day of classes
Spatial Mechanisms: Euler Angles, Denavit-Hartenberg Parameters
Transformation Matrix Position Analysis
Matrix Velocity & Acceleration Analysis, Computer Programs for Mechanism Analysis, robot
Forward & Inverse Kinematics
Week 16(1-5 Jun) Final exams
Week 17(8-12 June)
*12 June- Grades dueFinal exams
Summer Break
Teaching Plan, contd.
Chapter 14
Chapter 6
Chapter 11
Chapter 7
5
Theory of Machines & Mechanisms
• Issue: understanding
– the relationship between the geometry and
motions of a mechanism and
– the forces producing them
• Relevant issues:
– Kinematics: analysis of mechanism motions
– Design of Mechanisms
– Kinetics
6
Mechanics
• Contents: motion, time & forces
• Branches:Mechanics
Dynamics
Kinematics Kinetics
Statics
8
Definitions
• Machine: combination of resistant bodies so
arranged that by their means the mechanical
forces of nature can be compelled to do work
accompanied by certain determinate motions.
• Mechanism: 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.
9
Definitions
Joints
Links
Kinematics
ChainMechanism
Fix one
link as
frame
Machine
Add
input
energy
10
Pairs/Joints
• Relative motion between elements “pairs”
– Recognize type of relative motion
– Assign variable parameters to measure motion
(pair variables)
• Kinematics Pairs
– Lower: surface contact between elements
– Higher: line or point contact
11
Higher Pairs
• All those pairs that ….. they are NOT of the “lower type” e.g.
– Wheel rolling and/or sliding on a rail
– Ball rolling on a flat surface
– Cam contacting its follower, etc.
• “Wrapping Pair”: a subcategory where one of the links has one-way rigidity e.g.
– Belt & pulley
– Chain & sprocket
– Rope & drum etc.
13