ME301 HOMEWORK 6

Page 1 of 4

METU MECHANICAL ENGINEERING DEPARTMENT
ME 301 THEORY OF MACHINES (SEC 03) FALL 2011
HOMEWORK 6 SOLUTION
Prepared By: Hakan MENCEK C 206 210 7232
Assignment Date: 27.12.2011 Due Date: 05.01.2012 (Submit to C-206 until 16:00)

Problem 1 (50 pt.): Consider the loader mechanism shown in Figure 1. A horizontal operational load F = 12 kN is
applied at point R. The dimensions of the mechanism for the given position are:
|AH| = 42 cm |BD| = |DC| = |CB| = 69 cm |CE| = 84 cm |PB| = 105 cm |AP| = 120 cm
|AQ| = 87 cm |FE| = 90 cm |ER| = 66 cm |HF| = 168 cm |FG| = 48 cm |GD| = 54 cm
Plot the free body diagrams of all links and calculate the hydraulic piston force P
23
in order to keep the mechanism in
equilibrium. Neglect the gravitational, frictional and inertial effects on the mechanism.

Figure 1
Solution 1: The free body diagrams of the links are shown below.

F
2
3
4
5
6
P
23

16

F
F
16

F
65

F
45

F
54

F
56

F
34

F
43

F
12

12

14

15

Link 2 & 3 (2F Member)

Link 4 (3F Member)

Link 5 (2F Member)

F
14

Link 6 (3F Member)

A

B

B

C

D

C

E

F

E

R

15
+

15

12


ME301 HOMEWORK 6
Page 2 of 4

According to given position, the values of the joint variables are;
12

= 20,
14

= 42,
15

= 78,
16

= 8 and
4

= 60.
Note that,
56 65 45 54 34 43
, & F F F F F F = = =

Link 6: ( ) ( ) ( )
( ) ( )
( )
16
56 15 16 16 56
15 16
| | | | sin
0 | |sin | | | | sin 0
| |sin
F
F FE ER
M F EF F FE ER F
EF
u
u t u u
u u
+
E = + + + = =

56
3,08 kN F =
Link 5:
45 65
F F =
Link 4: ( ) ( ) ( )
( )
( ) ( )
54 15 14
54 15 14 34 12 14 4 34
12 14 4
sin
0 | |sin | |sin 0
sin
D
F
M F CD F BD F
u u
u u u u |
u u |

E = + + = =
+

34
1,83 kN F =
Link 2&3:
12 43
F F =


Considering links 2&3 seperately yields,
23 12
P F =
23
1,83 kN P =
Matlab script for the calculations:
% Known Data
AH = 42; BD = 69; DC = 69; CB = 69; CE = 84; PB = 105;
AP = 120; AQ = 87; FE = 90; ER = 66; HF = 168; FG = 48;
GD = 54;
deg = pi/180;
theta12 = 20*deg; theta14 = 42*deg; theta15 = 78*deg;
theta16 = 8*deg; beta4 = 60*deg;
F = 12; % [kN]

% Force Analysis
F56 = (F * (FE + ER) * sin(theta16)) / (FE * sin(theta15-theta16));
F65 = F56;
F45 = F65;
F54 = F45;
F34 = - F54 * sin(theta15-theta14)/sin(theta12-(theta14+beta4));
F43 = F34;
F12 = F43;
P23 = F12;

F
43

F
12

12

Link 2
A
B

12

P
23

P
23

Link 3
The normal force and the moment between links 2 &3 are zero because both links are 2F
members. Therefore, they are not shown here.
ME301 HOMEWORK 6
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Problem 2 (50 pt.): Consider the planar mechanism shown in Figure 2. A horizontal force P is applied to link 6 and
T
12
is applied to gear 2 in order to keep the mechanism in equilibrium. Assume that the gravitational, frictional and
inertial effects are negligible. Plot the free body diagram of all links. Derive the necessary equations to find T
12
. The
number of equations should not exceed 5. Indicate the unknowns but do not attempt to solve the equations. Radii of
the gears 2 & 3 are r
2
and r
3
,

respectively.


Solution 2: The free body diagrams of the links are shown below.



B
H




E
A
C


D
F
(2)
(1)
(3)
(6)
(4)
(5)

12

13

14

15

G
s
16

s
43


P
T
12

|BH|=b
1
|DH|=c
1
|DG|=d
1
|BC|=b
3
|DE|=b
4
|EF|=b
5

Figure 2

F
Link 6 (3F Member) Link 5 (2F Member)

P
T
12

C
D

14

15

F
32

F
23

F
43

F
34

F
54

F
14
x
F
45

F
65

F
56

F
16

Link 4 (3F Member)
Link 2 (2F+1M Member) Link 3 (3F Member)
F
E
E
C
B
A

14
- /2

15

F
12

15

F
13

13

14
+ /2
F
14
y
ME301 HOMEWORK 6
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Note that,
56 65 45 54 34 43 23 32
, , & F F F F F F F F = = = = .
Link 6: ( )
5 15 6
0 cos 0
x
F F P u t E = + + =
( )
15 56
cos 0 P F u + = (2.1)

Link 5:
65 45
F F = (2.2)

Link 4: ( ) ( ) ( ) ( )
15 14 14 14
/2
54
1
34
0 | |sin | |sin / 2 0
D
F F M ED CD
t
u u u t u t E = + =
( )
4 15 54 34 14 43
sin 0 F F b s u u + = (2.3)

Link 3: ( ) ( )
43 14 13 23 3
0 | |sin /2 0
B
M F CB F r u t u E = + + =
( )
3 14 13 3 43 23
sin /2 0 b F F r u u t + + = (2.4)

Link 2: 0
A
M E =
12 32 2
0 T F r + = (2.5)

There are 5 equations and 5 unknowns, which are T
12
, F
32
, F
43
, F
54
, F
65
to be solved.