Syllabus - Kinematics of Machines (AB 303)

Automation and Robotics

Kinematics of Machines (AB 303)

III-Semester

UNIT 1

Simple Mechanism

Introduction, kinematics and kinetics, , concept of kinematic links, basic terminology and definitions, types of motion, kinematic joint, kinematic pair, mechanisms and machines, degree of freedom, Mobility - Kutzbach criterion (Gruebler’s equation) - Grashoff's law, kinematic chains, inversions of four bar chain mechanism, single slider crank mechanism, double sliders crank mechanism

UNIT 2

Kinematic Analysis of Simple Mechanism

Velocity analysis of simple mechanisms, Graphical method, Velocity and acceleration polygons , Velocity analysis using instantaneous centres, Kennedy Theorem, relative velocity method, Acceleration Analysis, Coincident points, Coriolis component of Acceleration.

Unit 3

Kinematics of CAM Mechanisms

Introduction, classifications of Cams and followers, nomenclature, analysis of cam and follower motion: Displacement diagrams –Uniform velocity, parabolic, simple harmonic and cycloidal motions, construction of cam profile.

Unit 4

Power Transmission Systems

Kinematics of belt- pulley, flat and v –belt drive, rope drive , Relation between tension ratio for flat belt drive and rope drive, power transmission through belt and rope drives, centrifugal tension, initial tension in belt. condition of maximum power transmission for belt drive. Clutches and Brakes: Purpose of Clutch, classifications, Single and multi plate clutch, cone clutch, brakes, classifications, single and double block, band, internal and external.

Unit 5

Gears and Gear Trains

Basic terminology, Classification of toothed gearing, Law of gearing, tooth profiles, types of gears, spur, bevel, worm, helical, hypoid ,interference in involute gears, Gear trains, Types: Simple and Compound gear train, Reverted gear train, Epicyclic , Sun and Planet type.

Practicals

  • To study various types of Links, Pairs, Chain and Mechanism

  • To study inversion of Four Bar Mechanism, Single Slider Crank Chain Mechanism and Double Slider Crank Chain Mechanism

  • To study velocity diagram for Slider Crank Mechanism

  • To study various kinds of belts drives

  • To study and find coefficient of friction between belt and pulley

  • To study various types of Cam and Follower arrangement

  • To plot follower displacement Vs cam rotation graph for various cam follower arrangement

  • To study Different types of Gears

  • To study Different types of Gear Trains

  • To create various types of linkage mechanism in CAD and simulate the motion output and study the relevant effect

  • To generate spur gear involute tooth profile using simulated gear shaping process

Reference Books

  • Theory of Machines by S.S Ratan, THH

  • Theory of Machines by V.P Singh; Dhanpat Rai and sons, New Delhi

  • Theory of Machines by Jagdish Lal; Metropolitan Publishers, New Delhi

  • Theory of Machine by R.S.Khurmi, S. Chand

  • Theory of Machine by R.K.Bansal, ,Laxmi Publication

  • E-books/e-tools/relevant software to be used as recommended by AICTE/UBTE/NITTTR, Chandigarh