Kinematics of Machines: 4600-321 Spring 2004Exam II

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Problem 1: (25 pts.)
Find the mechanical advantage (F
out
/F
in
) for the
linkage shown to the right, with:

1
= 50 cm,
2
= 20 cm,

3
= 70 cm,
4
= 70 cm.
The input force acts at the pin joint and is always
perpendicular to link 2 while the output force
acts midway along link 4 and is perpendicular to
link 4. In the current conguration:

2
= 87.1

,
3
= 45.6

,
4
= 90.0

.
F
in
F
out

4
O
2
A
B
O
4

4
C
Solution:
For this linkage the mechanical advantage is dened as:
M =
F
out
F
in
.
Neglecting any energy losses, P
in
= P
out
, so that:
P
in
= (F
in

2
)
_
F
v
A
_
= (F
out

4
)
_
F
v
C
_
= P
out
,
(F
in

2
)
_

2

2
_
= (F
out

4
)
_

4
2

4

4
_
.
Solving for the mechanical advantage:
M =
F
out
F
in
=
2
2

4
.
Therefore, we need to solve for

4
in terms of

3
, which implies that we need to solve the velocity
equations. The loop-closure equation for this system can be written as:
r
AO
2
+r
BA
= r
O
4
O
2
+r
BO
4
.
In terms of the directions dened in the gure, this becomes:

2

2
+
3

3
=
1
+
4

4
.
Taking the derivative of this equation to determine the velocities:
F
d
dt
_

2

2
+
3

3
=
1
+
4

4
_
,

2
(
2/F

2
) +
3
(
3/F

3
) =
4
(
4/F

4
) ,

2

2
+
3

3

3
=
4

4

4
.
Therefore, solving this for

4
in terms of

2
:
_

2

2
+
3

3

3
=
4

4

4
_

3
,

2
(
2

3
) =
4

4
(
4

3
),

4
=
_

2
sin(
3

2
)

4
sin(
3

4
)
_

2
Returning this to our expression for M:
M =
F
out
F
in
=
2 sin(
3

4
)
sin(
3

2
)
.
For this conguration of the linkage, M = 2.112.
Problem 2: (25 pts.)
Design a cam to move a at-face, reciprocating follower from 0 to 50 mm
in 75

, dwell for 60

, return in 120

, and then dwell for the remainder of

the cam cycle.
a) Find the equations and construct the displacement diagram. Use
harmonic proles for the rise and return.
b) Construct the cam prole.
Solution:
a) According to the design criteria, the displacement diagram should take to form:
0

< 75

: y() = (25 mm)

_
1 cos
_

75

__
,
75

< 135

: y() = (50 mm),

135

< 255

: y() = (25 mm)

_
1 + cos
_

2
135

120

__
,
255

< 360

: y() = (0 mm).
Therefore, the displacement diagram can be constructed as:
0

60

120

180

240

300

360

0 mm
12.5 mm
25.0 mm
37.5 mm
50.0 mm
62.5 mm
b) We choose a base circle of r
b
= 200 mm. Given the above displacement diagram, the follower
positions can be laid out on the cam as:
= 0

=
3
7
.
5

=
7
5

=
1
0
5

=
1
3
5

=
1
9
5

=
2
5
5

=
3
0
7
.
5

The cam surface must then lie within the follower positions and be tangent to each.
Problem 3: (25 pts.)
A 21-tooth pinion is in mesh with a 70-tooth gear. If the distance between
the two gear centers is d = 15 cm, nd:
a) the angular velocity ratio between the gear and the pinion;
b) the diametral pitch of each gear;
c) the pitch circle radius of each gear;
d) the base circle radius of each gear necessary for a 21
1
2

pressure
angle.
e) if the distance between the two gear centers changes to d = 16 cm,
what is the new pressure angle?
Solution:
a) The angular velocity ratio between the two gears in
mesh is:

2
=
N
2
N
3
.
With N
2
= 70 and N
3
= 21:

2
=
70
21
=
10
3
.
N
3
N
2
b) The diametral pitch of each gear is dened as:
P =
N
2
2 r
2
=
N
3
2 r
3
,
where r
i
is the pitch circle radius of each gear. If the distance between gear centers d is known:
d = r
2
+ r
3
=
N
2
2 P
+
N
3
2 P
,
so that the diametral pitch becomes:
P =
N
2
+ N
3
2 d
,
and for this gear pair, P =
91
30
= 3.03 cm
1
.
c) From the previous result:
r
2
=
N
2
2 P
=
150
13
= 11.54 cm, r
3
=
N
3
2 P
=
45
13
= 3.46 cm,
d) The base circle radius , pitch circle radius r, and pressure angle are related by:
= r cos ,
so that:

2
= 10.736 cm,
3
= 3.221 cm.
e) Finally, if the new distance between the gear is d

, the new pressure angle

is:
cos

=

2
+
3
d

=
_
d
d

_
cos ,
where d and are the separation and pressure angle of the original mount. This last relation
is true because the base circle radius is a property of an individual gear and cannot be altered,
unlike the pitch circle, which is a property of a gear pair. Therefore, we nd that

= 29.28

Problem 4: (25 pts.)

In the planetary gear system shown to the right:
N
2
= 100, N
3
= 101, N
4
= 20.
If gear 2 is xed to the ground. and the arm
(r
A
= 25 cm) is driven at 100 rpm counterclock-
wise, nd:
a) the output speed of the gear 3;
b) nd the pitch circle radius of gear 4, con-
sidered in mesh with gear 2;
c) nd the pitch circle radius of gear 4, con-
sidered in mesh with gear 3 (they are dif-
ferent);
N
4
N
2
N
3
Solution:
a) This train can be considered to be composed of two planetary gear trains. The rst, between
gears 2 and 4, drives the second, between gears 4 and 3. For either planetary gear pair the speed
ratio is:

j

A

A
=
N
k
N
j
,
that is, the gear ratio is dened relative to the speed of the arm.
For the rst pair, because gear 2 is xed in the ground
2
= 0, so that:

4
=
A

N
2
N
4
(
2

A
),
=
_
N
4
+ N
2
N
4
_

A
.
On the second pair:

A
=
N
4
N
3
,
so that:

3
=
N
3
+ N
4
N
3

N
4
N
3

4
=
_
1
N
2
N
3
_

A
.
For this system, we nd that
3
=
100
101
rpm ccw = 0.99 rpm ccw.
b) In a planetary system the distance between mating gears is equal to the arm length r
A
. Therefore
if gear j and k are in mesh, their pitch radii are:
r
j
=
_
N
j
N
j
+ N
k
_
r
A
, r
k
=
_
N
k
N
j
+ N
k
_
r
A
.
Therefore, for the gear pair comprised of gears 2 and 4:
r
4
=
_
N
4
N
2
+ N
4
_
r
A
= 4.167 cm.
c) Using the above, for the gear pair comprised of gears 3 and 4:
r
4
=
_
N
4
N
3
+ N
4
_
r
A
= 4.132 cm.
The pitch circle radii are properties of a gear pair, not of an individual gear, unlike the base
circle radii as noted in the previous problem.