PACIFIC SCHOOL OF ENGINEERING

Sub:- kinematics of machine

Topic :- Special Mechanisms

Guided By:- Presented by:-

Prof. Dharmesh Babariya
(Assi. Prof. mechanical engineering department)
Savaliya Sukhdev S. (9084)
Tejani jeegar B. (9093)
Virani Pratik N. (9105)
Vekariya hardik G. (9100)
Straight line generating mechanisms

Classification of straight line

generating mechanism

Exact straight line Approximate straight

generating mechanism line mechanism
 Exact straight line generating mechanism
Basic principle:-
consider a circle.
PO is a diameter and OA is a chord.
Joint AP , B is a point on OA produced.
Draw BQ perpendicular to OP. if B is a point on OA produced in such a way
that
OA * OB= constant
 (A) Peaullier mechanism

It is an exact straight line generating mechanism.

The relative dimension of the various links are:-

AC=CB=BD=DA

OC=OD

O
Link rotates about .
 (B) Scott russel mechanism

There are three movable links OQ, PS and the slider S.

The dimensions of these links are in such a way that

OQ=QP=QS
In such case when link OQ is given a rotary motion the point P will move
along a straight line perpendicular to OS.
 ( C ) Harts mechanism:

this is a one type of straight line mechanism.

 There are AB , CD, AD, BC, OE and OQ.
The dimension are such that

AB=CD , AD=BC.

OE is the fixed link

The input rotary motion is given to link OQ.

The point E, Q and P are located in such a way that

==

If the above condition are satisfied, then P will move along a

straight line perpendicular to EO produced.
 Approximate straight line mechanism

(A) Grass hoppers mechanism:

Link AS is the turning pair which

is perpendicular to OS. The
proportion of the links are in
such a way that
=
When link OQ and S moves, the
point P traces an approximate
line.
 (B) Roberts mechanism:

It consists of four links AB , BC, CD

and DA.
The rigid member QP is rigidly
attached to the link BC. The
dimension of the link are such that,

BC= AD & B =C
AB or CD may be given the input
motion. The point P of the rigid rod
QP will trace an approximate
straight line along AD.
 (C) Tchiebicheff ( chebyshev) mechanism

The links are AB , CD, CB and AD.

AB = CD

is the trace point. The dimension are

such that

BP=B.

When link 4 rotates, p moves along an

axis parallel to AD. This will be an

approximate straight line.

 (D) watts mechanism

It has four link OA, AB, BQ, and OQ.

OQ is the fixed link OA and QB can
oscillates about centers O and Q
respectively.
P is a point on AB such that ,

=
As OA oscillates the point P will
describe an approximate straight
line.
 Automobile steering gear
mechanism
The steering gear mechanism is used for changing direction of wheels, so as to
move the automobile in desired path.
In order to turn the vehicle, the front wheels are mounted on short axles called
stub axles. the back wheel have the same common axis which is fixed in
direction with reference to chassis and the steering is achieved by the front
wheels. Front wheels are pivoted at the points A and B of front axle
For pure rolling motion,

l= wheel base
a= distance between the two wheels
b= distance between the pivots of front axles

-= = .(1)

Above equation of represent s the fundamental equation for correct steering.

Actual steering
mechanism
 Davis steering gear mechanism:

Davis steering mechanism is based on quadratic kinematics chain having four

turning pairs.
It consists of links AB , AJ, JK and KB in which links AB and JK are parallel.
Link JK is shorter than link AB and it is connected at pivots of the stub axle of
the two front wheels by means of two bell crank levers EAC and FBK.
The link JK slides in the bearing R and S and pin joined at J and K in the slotted
links AU and BV. Therefore, at J and K they form a combination of sliding and
turning pairs.

Let, l = wheel base

b = distance between pivots of front axle
h = height of link JK from front axle.

=
The range of is kept between 0.4 to 0.5 , so that 11 18 to 14 6
 Ackermann steering gear mechanism
Ackermann gear mechanism is based on four bar kinematic chain represent by
quadrilateral ABCD.
Link AK and BL are equal in length and they are inclined at an angle with the vertical
when the vehicle is moving on straight path . The link KL is shorter in length than link
AB but both are parallel to each other on straight path. Links EAK and FBL from bell
crank levers and are pivoted at A and B respectively.
This mechanism gives correct steering only at following three position:

1) when the vehicle moves on the straight path.

2) when the vehicle moves to the right and angle of turning is such that the wheel
axes A and B intersect on the axis of back axle.
3) when the vehicle is turning to the left and similar condition.
 Condition for correct steering is
-=
 Dtermination of angle

Assume that track rod KL moves to and their projections on AB are equal
 Hookes joint
It is used to connect two non-parallel and intersecting shafts. It is used for transmission of
motion and power four shafts with angular misalignment where flexible coupling does not
serve the purpose.
A common application of this joint is for transmission of power from engine gear box to
the rear axle. the engine shaft rotates at a uniform speed whereas the driven shafts
rotates at varying angular speeds continuously.

It is also use in
multispindle drilling
machine to transmit
power