‭INDIAN INSTITUTE OF TECHNOLOGY‬

‭GANDHINAGAR‬

‭ME 206‬

‭STATICS & DYNAMICS‬

‭Professor: Jayaprakash K R‬

‭Experiment-4‬

‭Group Number: 3‬

‭Group Members:‬

‭NAME‬ ‭ROLL NO.‬

‭ASHMIT CHHOKER‬ ‭22110040‬

‭ASTITVA ARYAN‬ ‭22110041‬

‭CHANDRA SHEKHAR‬ ‭22110056‬

‭DEBOJIT DAS‬ ‭22110067‬

‭MSC Adams Setup‬

‭Fig 1 : MSC Adams Setup (Isometric View)‬

‭Fig 2 MSC Adams Setup (Front View)‬

‭Abstract:‬

‭ his report details the experiment's outcomes, wherein we designed and analyzed a‬
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‭planar four-bar linkage mechanism. The experiment focused on a uniquely‬
‭configured system where one crank could complete a full 360-degree rotation at a‬
‭constant angular velocity while the opposite link, the rocker, executed only partial‬
‭rotations. Central to our study was the coupler link, connecting the crank and the‬
‭rocker, where we meticulously measured the velocity of its center of mass and its‬
‭angular velocity. To understand the system's kinematic behavior, these parameters‬
‭were evaluated under various crank angles, precisely at 90 degrees, 150 degrees,‬
‭210 degrees, and others. Our approach encompassed analytical calculations,‬
‭hands-on experimental observations, and ADAMS software simulations, offering a‬
‭holistic view of the mechanism's dynamics. The integration of theoretical analysis,‬
‭practical experimentation, and digital simulation solidified our understanding of the‬
‭fundamental principles of mechanics. It provided valuable insights into the practical‬
‭challenges and complexities inherent in mechanical system design and analysis.‬

‭Objective:‬

‭ o design a planar four-bar mechanism with one link (crank) that can rotate (at a‬
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‭constant angular velocity) entirely and the opposite link (rocker) rotates partially, and‬
‭also find the velocity (analytically, experimentally and in ADAMS) of the center of‬
‭mass of the coupler link (that connects crank and the rocker) and the angular‬
‭velocity of the coupler for at least six different angles (0,π 3⁄ , 2π 3⁄ ,...) of the crank.‬

‭Educational Alignment and Practical Engagement:‬

‭1. Alignment with Learning Objectives-‬

‭ bjective Correlation:‬‭This experiment directly aligns‬‭with the experiment‬

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‭objectives, particularly in understanding and applying dynamics principles to‬
‭mechanical systems. The construction and analysis of a four-bar linkage offer‬
‭practical insight into the fundamental concepts of kinematic motion.‬

‭Skills Development:‬‭The experiment fosters analytical‬‭thinking skills, measurement‬

‭ recision, and practical application of theoretical concepts. It also enhances our‬
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‭understanding of mechanical advantage and efficiency in simple machines, which is‬
‭ rucial for future mechanical engineering endeavors.‬‭In addition, introducing a‬
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‭simulation tool (MSC Adams) develops computational skills critical for modern‬
‭engineering practices.‬

‭2. Bridging Theoretical and Practical-‬

‭Theoretical Foundations:‬

‭Practical Implementation:‬

‭3. Preparation for Complexities-‬

‭ nticipating Real-World Challenges:‬‭The experiment‬‭simulates real-world‬

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‭engineering challenges, such as material imperfections and mechanical constraints.‬
‭It prepares us to anticipate and solve practical problems, an essential skill in‬
‭engineering.‬

‭ daptability and Problem-Solving:‬‭We learned to adapt‬‭our theoretical knowledge‬

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‭to practical situations, developing problem-solving skills through the experiment.‬
‭For instance, ensuring the smooth operation of the revolute joints and aligning the‬
‭linkage accurately were significant challenges that required innovative solutions.‬
‭Application of Fundamental Principles:‬

‭ - Kinematic Analysis:‬‭The experiment allowed us to‬‭apply kinematic principles to‬

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‭analyze the movement of the crank, coupler, and rocker. By giving constant the‬
‭angular velocity to the crank and observing the resulting motion of the coupler‬
‭(velocity and angular velocity about COM) and rocker, we could practically apply‬
‭and validate theoretical models and equations.‬

‭ - Integration of Technology:‬‭Utilizing the Arduino‬‭Uno R3 to control the crank's‬

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‭motion exemplifies the integration of modern technology in applying fundamental‬
‭principles. This approach made the experiment more engaging and demonstrated‬
‭how technology can aid in better understanding and implementing mechanical‬
‭concepts.‬

‭ - Linkage Design Principles:‬‭The experiment also‬‭involved applying mechanical‬

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‭design principles, especially in selecting and using materials like MDF board and‬
‭chopsticks for constructing the linkage. The design process highlighted the‬
‭importance of choosing appropriate materials and designing joints that can‬
‭withstand operational stresses while maintaining the accuracy and efficiency of the‬
‭mechanism.‬

‭Fabrication Details:‬

‭Materials Used:‬‭Chopstick and MDF Board.‬

‭●‬ U ‭ sage: Utilized for creating revolute joints in the linkage. The‬
‭chopstick serves as the pivot, and the MDF board is the structural‬
‭material for the crank, coupler, and rocker.‬
‭●‬ ‭Joint Construction: Revolute joints were made to connect the crank to‬
‭the coupler and the coupler to the rocker. Precision in creating these‬
‭joints is essential for the accurate movement of the linkage.‬
‭Integration of Technologies:‬

‭1- Arduino Uno R3 in Mechanism Control:‬

‭ he Arduino Uno R3 was crucial for imparting consistent motion to the crank,‬
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‭programmed to rotate it at a constant angular velocity. This precise control allowed‬
‭for accurate data collection, which is critical for comparing experimental results with‬
‭theoretical predictions. The Arduino's integration exemplifies the practical‬
‭application of electronic control in mechanical systems, enhancing the experiment's‬
‭relevance to modern engineering practices.‬

‭2- Utilization of Laser Cutting Machine:‬

‭ he laser cutting machine was used to fabricate the linkage components from MDF‬
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‭board. Its high accuracy ensured uniformity in the parts, which was essential for the‬
‭experiment's success.‬

‭3- MATLAB for Image Processing:‬

‭ ATLAB was utilized for image processing tasks, crucial for analyzing the motion of‬
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‭the linkage. By processing the visual data captured during the experiment, we could‬
‭extract detailed kinematic information like displacement, velocity, and angular‬
‭velocity profiles of the linkage.‬

‭4- MSC ADAMS for Simulation:‬

‭ he MSC ADAMS simulation software was instrumental in virtually modeling the‬

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‭four-bar linkage mechanism. It allowed us to simulate the kinematic and dynamic‬
‭behavior of the system under various conditions, providing a comparative platform‬
‭against our physical experiment.‬
‭What is a Four Bar Linkage ?‬

‭ four-bar linkage is a fundamental mechanical assembly used to convert‬

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‭motion. It consists of four rigid links which are connected in a loop by four‬
‭rotating joints. Here's a breakdown:‬

‭ inks:‬‭These are the rigid bars or rods. The four‬‭links include one fixed link‬
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‭(ground link), two moving links (input and output links), and one connecting‬
‭link (coupler or floating link).‬

‭ oints:‬‭The links are connected by joints, usually‬‭pivot joints, allowing‬

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‭rotational motion.‬

‭Where can we find Four Bar Linkages ?‬

‭1.‬ B ‭ icycle Suspension Systems‬‭: To provide shock absorption‬‭and maintain‬
‭wheel alignment.‬
‭2.‬ ‭Engine Connecting Rods‬‭: Connecting the piston to the‬‭crankshaft in an‬
‭internal combustion engine.‬
‭3.‬ ‭Pumping Mechanisms‬‭: In old-fashioned water pumps.‬
‭4.‬ ‭Door Hinge Mechanisms‬‭: Particularly in some car doors‬‭and machinery‬
‭covers.‬

‭Bicycle Suspension System‬ ‭Pumping Mechanism‬

‭What is the physics / mechanics behind four bar linkages ?‬

‭ he mechanics of four-bar linkages are governed by principles of kinematics and‬

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‭dynamics of rigid bodies. Key points include:‬

‭Degrees of Freedom (DOF):‬‭For planar mechanisms, DOF‬‭is given by the formula:‬

‭DOF = 3 (N-1) - 2J‬

‭Where‬‭N‬‭is the number of links and‬

‭ ‬‭is the number of joints. For a standard four-bar‬‭linkage, DOF = 1, meaning it has a‬
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‭single, independent motion.‬

‭Angular Velocity and Acceleration:‬‭The angular velocities‬‭and accelerations of the‬

‭links are related through the geometry of the linkage. For example, if w‬‭1‬ ‭and w‬‭2‬ ‭are‬
‭the angular velocities of two links, then their relationship can be expressed as:‬

‭w‭2‬ ‬ ‭= w‬‭1‬ ‭(l‬‭2‭/‬ l‬‭1‬‭)‬

‭Where l‬‭1‬ ‭and l‬‭2‬ ‭are the lengths of the respective‬‭links.‬

‭ ransmission Angle:‬‭This is the angle between the‬‭coupler and the output link,‬
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‭which affects the efficiency of force transfer. The transmission angle is a critical‬
‭factor in determining the mechanical advantage and efficiency of the linkage.‬

‭Four bar linkage working principle‬

‭ four-bar linkage works primarily on the principles of angular motion. When the‬
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‭input link (often called the driver or crank) is rotated, this motion is transmitted‬
‭through the coupler link to the output link (follower or rocker). The angular velocity‬
‭of each moving link is interconnected, and the relationship can be described by the‬
‭lengths of these links and their respective angular velocities. The input link's rotation‬
‭causes the coupler to pivot about its joints, leading to a corresponding movement in‬
‭the output link. The specific path and range of motion of the output link depend on‬
‭the lengths of the links and their arrangement. This simple yet effective mechanism‬
‭allows for a wide range of motions, from full circular rotations to back-and-forth‬
‭oscillations, making the four-bar linkage a versatile component in mechanical‬
‭systems.‬
‭Four Bar Linkage Parts‬

‭1.‬ ‭Ground Link or Frame‬‭: This is the fixed link of the‬‭mechanism.‬

‭2.‬ I‭nput Link (Driver or Crank )‬‭: This is where the input‬‭force or motion is‬
‭applied.‬

‭3.‬ O
‭ utput Link (Follower or Rocker )‬‭: This link provides‬‭the desired output‬
‭motion.‬

‭4.‬ ‭Coupler (Floating Link):‬‭Connects the input and output‬‭links.‬

‭Fig 7 : Parts of 4 Bar Linkage‬ ‭Fig 8 : 4 Bar linkage use in a desk lamp‬
‭Procedure:‬

‭1- Assembling the Linkage:‬

‭ evolute Joints:‬‭We constructed the Revolute joints‬‭using chopsticks and MDF‬

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‭board. These joints connected the crank to the coupler and the coupler to the‬
‭rocker, ensuring smooth and accurate motion within the linkage.‬

‭ round Fixation:‬‭The rocker's end was securely fixed‬‭to a stable platform, creating‬
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‭a precise pivot point. This setup was crucial for the consistent oscillatory movement‬
‭of the rocker.‬

I‭ntegration of Arduino Uno R3:‬‭At one end of the crank,‬‭we integrated the Arduino‬
‭Uno R3 to control its motion. The Arduino was programmed to rotate the crank at a‬
‭constant angular velocity. This controlled movement was essential for generating‬
‭repeatable and accurate experimental data.‬

‭2- Alignment and Measurements:‬

‭ orizontal Alignment:‬‭We meticulously checked and‬‭adjusted the alignment to‬

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‭ensure that the fixed end of the rocker and the rotating end of the crank were on the‬
‭same horizontal level. Accurate alignment is key to the proper functioning of the‬
‭linkage mechanism.‬

‭Distance Measurement:‬‭The distance between the fixed‬‭point of the rocker and‬

t‭ he crank's rotating end was measured to be exactly 40 cm. This precise‬
‭measurement was critical for the kinematic analysis of the linkage, and it works as‬
‭the fourth bar, which is fixed.‬

‭3- Integration of MSC ADAMS Simulation:‬

‭ imulation Setup:‬‭We used MSC ADAMS to simulate the‬‭four-bar linkage‬

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‭mechanism before conducting the physical experiment. This step allowed us to‬
‭predict the system's behavior under various conditions and prepare for potential‬
‭challenges in the physical setup.‬
‭ odeling the Linkage:‬‭In MSC ADAMS, the dimensions and constraints of the‬
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‭linkage were inputted precisely, mirroring our physical model. This virtual‬
‭representation helped us understand the expected motion patterns and identify any‬
‭areas of concern.‬

‭4- Image Processing with MATLAB:‬

‭ apturing Motion Data:‬‭During the physical experiment,‬‭we recorded the‬

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‭movement of the linkage using a camera (60 fps). This visual data was crucial for‬
‭analyzing the motion characteristics of the linkage.‬

‭ rocessing in MATLAB:‬‭The recorded video was imported‬‭into MATLAB for image‬

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‭processing. Here, we extracted vital motion parameters, such as the displacement‬
‭and velocity of different linkage parts at various crank angles. This processing‬
‭provided us with quantitative data to compare against our theoretical calculations‬
‭and MSC ADAMS simulation results.‬
‭Observations and Results:‬

‭ADAMS Simulation‬

‭(Crank angle with‬ ‭(Coupler)‬

‭horizontal)‬

‭Angles (degrees)‬ ‭V com (m/s)‬ ‭W coupler (degrees/s)‬

‭90 (initial stage)‬ ‭0.6189‬ ‭3.8267‬

‭150.5938‬ ‭0.5528‬ ‭32.6604‬

‭209.4054‬ ‭0.3403‬ ‭82.5422‬

‭269.9992‬ ‭0.3927‬ ‭75.1143‬

‭330.593‬ ‭0.7597‬ ‭94.6703‬

‭389.4046‬ ‭0.3446‬ ‭79.9‬

‭Analytical Derived‬

‭(Crank angle with‬ ‭(Coupler)‬

‭horizontal)‬

‭Angles (degrees)‬ ‭V com (m/s)‬ ‭W coupler (degrees/s)‬

‭90 (initial stage)‬ ‭0.618896756453751‬ ‭3.8365899470288‬

‭150.5938‬ ‭0.5527802796705288‬ ‭32.655021065817‬

‭209.4054‬ ‭0.34027854683547315‬ ‭82.548549681726‬

‭269.9992‬ ‭0.39266960561758435‬ ‭75.124753446512‬

‭330.593‬ ‭0.7104231819850962‬ ‭69.229684782911‬

‭389.4046‬ ‭0.3375707397381995‬ ‭81.968416042373‬

‭Experimentally Calculated‬

‭(Crank angle with‬ ‭(Coupler)‬

‭horizontal)‬

‭Angles (degrees)‬ ‭V com (m/s)‬ ‭W coupler (degrees/s)‬

‭90 (initial stage)‬ ‭0.37‬ ‭105‬

‭150.5938‬ ‭0.39‬ ‭26.76‬

‭209.4054‬ ‭0.35‬ ‭60.47‬

‭269.9992‬ ‭0.33‬ ‭74.48‬

‭330.593‬ ‭0.7‬ ‭129.61‬

‭389.4046‬ ‭0.45‬ ‭67.32‬

 ‭Fig 9 : Comparison of Magnitude of Vom of Coupler (ADAMS vs. Analytical vs. Experimental‬

‭Fig 10 : Comparison of Magnitude of Angular Velocity of Coupler (ADAMS vs. Analytical vs. Experimental‬
‭ADAMS Simulation‬

‭Angular Velocity vs Angle‬

‭Fig 11 (90 degree)‬

‭Fig 12 (150.5938 degree)‬

‭Fig 13 (209.4054 degree)‬

‭Fig 14 (269.9992 degree)‬

‭Fig 15 (330.593 degree)‬

‭Fig 16 (389.4046 degree)‬

‭Velocity (COM) vs Angle‬

‭Fig 17 (90 degree)‬

‭Fig 18 (150.5938 degree)‬

‭Fig 19 (209.4054 degree)‬

‭Fig 20 (269.9992 degree)‬

‭Fig 21 (330.593 degree)‬

‭Fig 22 (389.4046 degree)‬

‭Values obtained from python‬
‭Python code‬

‭Fig 23 Python Code for calculating Vcom and angular velocity of coupler (analytically)‬

‭Fig 24 Python code for plotting graphs of Angular Velocity vs Angle and Velocity (COM) vs Angle for ADAMS,‬
‭Analytical and Experimental‬
‭MATLAB Code‬

‭Fig 25 : MATLAB code for angle calculation of Images‬

‭Conclusion & Discussion :‬

‭ xperimental vs. Theoretical Results:‬‭The experiment‬‭aimed to analyze a planar‬

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‭four-bar linkage mechanism, comparing experimental data with MSC Adams‬
‭simulations and analytical calculations. While the results from MSC Adams and‬
‭analytical methods closely aligned, the experimental results showed a variance of‬
‭25% to 40%. This discrepancy highlights the challenges in precisely replicating‬
‭theoretical models in practical scenarios.‬

‭Source of Errors: Several factors could contribute to this variance:‬

‭ easurement Errors:‬‭Inaccuracies in measuring lengths‬‭and angles of the l‬

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‭inkage could lead to significant deviations in experimental results.‬

‭ anufacturing Tolerances:‬‭Slight differences in the‬‭construction of the‬

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‭linkage components, such as uneven lengths or misaligned joints, can affect‬
‭the mechanism's motion.‬

‭ riction and Wear:‬ ‭Friction at the joints and possible‬‭wear of components‬

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‭during the experiment can alter the motion characteristics of the linkage.‬

‭ ata Collection Methodology:‬‭The methods used to collect‬‭experimental‬

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‭data, such as the placement of sensors or the precision of timing devices,‬
‭can introduce errors.‬

I‭nterpretation of Results:‬‭Despite these discrepancies,‬‭the experimental data were‬

‭of the same order of magnitude as the simulated and calculated results. This‬
‭consistency underscores the validity of the theoretical models used and provides a‬
‭realistic understanding of the system's behavior.‬

I‭mplications for Mechanical Design:‬‭The experiment‬‭emphasizes the importance‬

‭of considering practical constraints and real-world variables in mechanical design‬
‭and analysis. It also highlights the role of simulation tools like MSC Adams in‬
‭predicting system behavior and aiding in the design process.‬

‭ verall we can see the experimental, analytical and values generated from‬
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‭simulation follow the same trend with some deviation. These deviations could be‬
‭due to the errors mentioned above.‬
‭Learnings:‬

‭ heoretical vs. Practical Knowledge:‬‭The experiment‬‭reinforced the importance of‬

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‭bridging the gap between theoretical knowledge and practical application.‬
‭Understanding the nuances of real-world conditions is crucial for effective‬
‭mechanical design.‬

‭ recision in Construction:‬‭The necessity for precise‬‭manufacturing and alignment‬

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‭in mechanical systems was evident. Even minor deviations can significantly impact‬
‭the system's performance.‬

I‭mportance of Simulation Tools:‬‭The experiment underscored‬‭the utility of‬

‭simulation tools in predicting and analyzing the behavior of mechanical systems,‬
‭serving as a valuable complement to physical experiments.‬

‭ ata Analysis Skills:‬‭Analyzing the discrepancies‬‭between theoretical and‬

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‭experimental results honed our data interpretation skills, an essential aspect of‬
‭engineering research.‬

‭What could have been done better?‬

‭ nhanced Measurement Techniques:‬‭More precise measurement‬‭tools and‬

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‭methods could reduce errors in the experimental setup. Implementing digital‬
‭measuring devices and ensuring meticulous alignment and calibration could‬
‭improve accuracy. More FPS cameras could be used for experimental analysis.‬

I‭mproved Experimental Setup:‬‭Redesigning the experiment‬‭to minimize friction‬

‭and wear, perhaps by using higher quality materials or better lubrication at joints,‬
‭could yield results more consistent with theoretical predictions.‬

‭ ata Collection and Processing:‬‭Refining the data‬‭collection methodology, such‬

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‭as using high-precision sensors or advanced image processing techniques, could‬
‭enhance the reliability of the experimental data.‬

I‭terative Testing and Analysis:‬‭Conducting multiple‬‭iterations of the experiment‬

‭with adjustments based on initial findings could help in identifying and minimizing‬
‭sources of error.‬
‭References:‬
[‭1]‬‭Dynamics‬‭(no date)‬‭Four-Bar Linkages‬‭. Available‬‭at:‬
‭https://dynref.engr.illinois.edu/aml.html‬‭(Accessed:‬‭21 November 2023).‬

[‭2] R. L. Norton, "Design of Machinery: An Introduction to the Synthesis and‬

‭Analysis of Mechanisms and Machines," McGraw-Hill Education, 5th edition, 2011.‬

[‭3] J. J. Craig, "Introduction to Robotics: Mechanics and Control," Pearson, 4th‬

‭edition, 2017.‬

[‭4] M. S. Erdman and G. N. Sandor, "Mechanism Design: Analysis and Synthesis,"‬

‭Prentice Hall, 4th edition, 2001.‬

[‭5] K. J. Waldron and G. L. Kinzel, "Kinematics, Dynamics, and Design of‬

‭Machinery," Wiley, 2nd edition, 2003.‬

‭Acknowledgement:‬
‭ he invaluable support of Prof. Jayaprakash K R was greatly appreciated. Thanks to‬
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‭Machine Workshop, Tinker’s Lab provided us with the raw materials and equipment.‬
‭Special thanks to Nirav Bhatt, sir, for the prompt issue of materials for this assignment.‬