NATIONAL

POLYTECHNIC INSTITUTE

HIGHER SCHOOL OF MECHANICAL

AND ELECTRICAL ENGINEERING
MECHANISMS
TEAM 1
AGUILAR HERRRA LUIS MANUEL
CORNEJO GARCIA JUAN IGNACIO
GALARZA GONZALEZ JESUS
GARCIA GOMEZ RODRIGO ALEJANDRO
HERNANDEZ ELIZALDE DIEGO ISAI
HERNANDEZ SALVADOR MILTON RODRIGO
RAMIREZ MOSQUEDA BRYAN ALEXIS
ROSAS JARA SAMUEL
ROMAN ORTIZ TLAPALE
BASIC CONCEPTS
•
BASIC DEFINITIONS
Kinematics: Study of relative movement without
consideration of forces. A main purpose of the kinematics is to
create (Design) the desired movements of the mechanical
elements considered, and then mathematically calculate the
positions, speeds and accelerations that such movements will
generate over those elements.

• Static: Study of forces and moments, separated from

movement.

• Kinetics: Dealing with the action of forces on bodies.

• Dynamics Is the combination of the last two.

• Machine: System of elements ready to perform work and transmit

movement, forces and energy in a predetermined mode.

• Mechanism :. It is a mechanical device that has the purpose of

transferring the movement and / or force of a source to an output and a
combination of rigid or resistant bodies connected in such a way that a
relative motion can exist between them.
 Cinematic pairs

The links of a mechanism must be connected to

each other in such a way that the movement or
potential movement can be transmitted or
allowed from the input or impeller link to the
output link between the connected links. By the
type of contact between the elements. complete
union or lower kinematic pair: surface contact.
Middle union or upper kinematic pair: contact on
a line or point. By type of board closure.
 The Lower Pairs, in turn, can be classified into six types:

• Rotating Pair. • Prismatic pair. • Helical or Screw Pair.

Callus Articulation Only Allows Here, one movement of
Is Also Called. Relative Movement rotation and another of
Only Allows One Of Sliding Between
Movement Of The Links. It has a translation are possible,
Relative Rotation degree of freedom, which are related to
Between The Two since the relative each other by the
Links. position is defined passage of the thread.
by the distance
traveled.
• Cylindrical pair. • Spherical Pair. It is • Flat Pair. It's
Although there is also also called a ball uncommon in
a movement of joint. Allows rotation mechanisms. It has
rotation and another
translation, are
around each of the three degrees of
independent of each three co-ordinate freedom, which
other, so it has two axes, correspond to two
degrees of freedom. linear
displacements and
one turn.
 CINEMATIC CHAINS
A kinematic chain is a set of kinematic links united by
kinematic elemental pairs; these elemental pairs through
form closures, force closures and chain closures, limit
their mobility relative to the elements of the chain. Given
a kinematic chain can be obtained from it different
mechanisms, according to the link that is considered as
fixed. These mechanisms are called chain investments.
 KINEMATIC INVESTMENT

It is called kinematic inversion of a mechanism to obtain a different mechanism from

another given without changing its number and type of kinematic pairs, but only changing
the link that acts as a fixed link in the mechanism. the first inversion (crankshaft
mechanism) the fixed link connects with a link to a link and with a slide to another, in the
second inversion (mechanism crank rocker), the fixed link connects with two joints to two
separate mobile links of the mechanism :
Crank connecting rod Crank-rocker
mechanism (inversion 1)
mechanism
 TIPES OF MOVEMENTS
If all the links move in parallel planes, they are said to
follow a flat or two-dimensional movement, otherwise
they are said to follow a spatial or three-dimensional
movement.
Space movement: It is one that allows movement in
three dimensions Plane movement: A large number of
mechanisms have movement, so that all the links
move in parallel planes. it is called flat or two-
dimensional movement.
The flat movement of a rigid body is classified as:
• Pure Rotation if the movement is with respect to axes perpendicular to
the plane of movement. The body has a point (center of rotation) that
has no movement with respect to the stationary frame of reference. All
other points of the body describe arcs with respect to that center.
• Pure Translation if all the points of the body move along straight or
curvilinear parallel paths and all the lines contained in the body remain
parallel to their original orientations. All points on the body describe
parallel trajectories (curves or straight lines).
• Complex Movement is a simultaneous combination of Rotation and
Translation, are combinations of rotations with respect to a maximum of
three non-parallel axes and translations in a maximum of three different
directions depending on the restrictions imposed by the joints between
links.
TYPES OF MECHANISMS
 TYPES OF MECHANISMS

• A mechanism, in engineering, is a device that transforms input forces and movement into a desired set of
output forces and movement. Mechanisms generally consist of moving components that can include:

• Gears and gear trains

• Belt and chain drives
• Cam and followers
• linkage
• Friction devices, such as brakes and clutches
• Structural components such as a frame, fasteners, bearings, springs, lubricants
• Various machine elements, such as splines, pins, and keys[
 SIMPLE MECHANISM

• A simple machine is a mechanical device that changes the direction or magnitude of a force. In general,
they can be defined as the simplest mechanisms that use mechanical advantage (also called leverage) to
multiply force. Usually the term refers to the six classical simple machines which were defined by
Renaissance scientists:

• Lever
• Wheel and axle
• Pulley
• Inclined plane
• Wedge
• Screw
• A system of rigid bodies interconnected by joints is called a kinematic chain.
Individual
• rigid bodies within the kinematic chain are called links. A kinematic chain
• can be serial, parallel, or serial and parallel combined together, i.e. the kinematic
• chain can be open, closed, or branched.
CLASSIFICATION OF
BASIC MECHANISMS
 FOUR BAR LINKAGE

• A typical four bar mechanism, as the name

denotes, is formed of a kinematic chain of four
members connected by revolute joints. This
mechanism can have four possible
configurations with a different link fixed as
frame each time.
• Types of four-bar linkages, s = shortest link, l = longest link
 QUICK RETURN MECHANISM
• A quick return mechanism is used where
there is a need to convert rotary motion
into reciprocating motion. As the disc
rotates the black slide moves forwards
and backwards. Many machine shave this
type of mechanism and in the school
workshop the best example is the
shaping machine.
 STRAIGHT LINE MECHANISM
• It is a mechanism in which a point of one of the rigid solids traces a path
containing a rectilinear portion of an exact or approximate shape.

• From the industrial revolution of the eighteenth century, they began to look
for this type of mechanism because they are ideal for automating
manufacturing and assembly processes. Nowadays the interest in them is
lower due to the greater boom of pneumatic and electric drives.
• There are many straight line mechanisms, some of which are:

• Roberts Straight Line Mechanism

• Watt straight line mechanism
• Chebyshev straight line mechanism
• Hoekens straight line mechanism
• Paucellier straight line mechanism
 CAMERA MOVEMENT

• Camera wheels This

mechanism takes
different forms that
operate inside a box
or housing. A type of
camera wheel has
only one rotor placed
strictly inside the box
and is usually a
variant of the crank-
 •
The wankel engine in this
mechanism the expanding
gases act on the rotor of three
lobes which rotates directly on
the eccentric and transmits the
torsion torque to the arrow of
the exit by means of the
exetric that forms the part of
the arrow
 COUPLING MOVEMENT
The clutches are mechanisms that allow the coupling or uncoupling
between axes etc. Fixed couplings: or flanges are elements that are
used to join shafts Mobile couplings are used to join drive trees that can
be moved
 INTERMITTENT MOVEMENT
The Geneva wheel, also known as the
Maltese cross, is a mechanism that
converts a continuous circular motion
into an intermittent circular motion. It
consists of a gear where the drive
wheel has a pivot that reaches a rail of
the driven wheel and then advances
one step. The drive wheel also has a
circular block that allows you to
complete the turn keeping the driven
wheel locked.
 FLEXIBLE LINK MOVEMENT

Flexible links: Are those machine elements that can only offer
resistance in a single compression form as it could be the case of the
bolts that receive the push of the crank with respect to the connecting
rod.
 FRICTION MECHANISMS
Friction wheels.- Its function is to transmit is the movement
of a wheel or pinion to another driven through the force of
friction. The transmission of the movement by friction can
be carried out in two ways depending on the separation of
the trees or axes between which the movement is to be
transmitted. Depending on this separation we find:

• External friction
wheels: formed by two
discs that are in contact
by their peripheries.
• Internal friction wheels: • Truncated cone friction
the inner and outer wheels: they are
characterized in that they
wheel rotate in the same
serve to transmit the
direction. The same movement between axes
transmission relation of whose extensions are cut.
the previous case is They have a cone shape.
fulfilled.
 MECHANISMS OF GEAR TRAIN •
Gear train is called that transmission in which there are more
than two gears. Gear trains are used when: • The gear ratio
to be achieved differs greatly from the unit. • The input and
output shafts of the transmission are far apart. • You want the
transmission ratio to be modifiable. Gear trains can be
classified into simple trains, if there is only one wheel per
axle; and compounds, if in some axis there is more than one
gear. It is also possible to differentiate between gear trains
and multipliers, depending on whether the transmission ratio
is less than or greater than unity.
 CAM MECHANISM
It allows to obtain an alternative linear movement or an oscillating one,
from a rotary one; but it does not allow us to obtain the rotary from an
alternative linear (or oscillating) one. It is a non-reversible mechanism
This mechanism is used in: automobile engines (for the opening and
closing of valves) programmers of washing machines (for the opening
and closing of circuits that govern their operation, fishing reels
(mechanism of advance and retraction of the reel)
GRAPHIC METHODS
 DEFINITION.

Geometric Reltionships.

Mechanical Magnitud.
 ANGULAR AND TANGENTIAL VELOCITY.

ª Tangential Velocity
Product
Angular Velocity
Radius
Trajectory

ª Angular Velocity
Rotation
Displacement
 INSTANT CENTRE OF ROTATION

s the point fixed to a body undergoing planar movement that has zero velocity at a
particular instant of time. At this instant, the velocity vectors of the trajectories of
other points in the body generate a circular field around this point which is
identical to what is generated by a pure rotation.
 KENNEDY'S THEOREM

Is the point fixed to a body undergoing planar movement that has zero velocity at a
particular instant of time. At this instant, the velocity vectors of the trajectories of
other points in the body generate a circular field around this point which is
identical to what is generated by a pure rotation.
𝑛(𝑛 − 1)
𝑁=
2
ACCELERATION
 ACCELERATION
• It is the increase or decrease in speed of a mobile during its journey, per unit of time.
• That is, acceleration refers to how fast a moving object changes its speed
• For example, if an object takes four seconds to reach the speed of 20 km / h, it will have
greater acceleration than another object that takes six seconds to reach such speed.
• In the ULM (uniform line movement) the speed is constant, so the acceleration is zero
EQUATIONS

When the body that has a uniformly accelerated rectilinear movement (UARM)
maintains a constant acceleration.
 ANGULAR ACCELERATION
We define angular acceleration as the changes experienced by
speed in the units of time. We make reference to it with the Greek
letter alpha α. Like the angular velocity, the acceleration is of a vector
current.
• It is expressed in radians per second squared, its formula is as follows:

Where:
- dw = angular velocity.
- dt= time elapsed.
- α=angular acceleration.
 CURVILINEAN MOVEMENT

• We call curvilinear movement to the movement that makes a particle or a mobile that
follows a parabolic, elliptical, vibratory, oscillatory or circular trajectory.

• The circular movement is an example of movement in two directions, is observed

very often in our surroundings, the wheels of cars, the movement of hard drives, the
movement of satellites
 EQUATIONS
• Vector speed

• The mean velocity vector is defined as the quotient between the displacement vector
between the time it has spent in traveling Dt.

Vector acceleration
NORMAL AND TANGENTIAL COMPONENTS OF
ACCELERATION.

• To calculate the acceleration of a particle, the following process is followed:

Making substitutions you have to:

Where we finally have:

Then the acceleration has two components, a tangential component and a normal
component.
• If the velocity of the particle
increases, at is positive and
the vector component points
in the direction of movement.
If the velocity of the particle
decreases, at is negative and
at points against the direction
of the movement.
• The vector component an, on
the other hand, always goes
towards the center of
curvature C of the trajectory
 RELATIVE ACCELERATION
• It receives this name the acceleration of the relative movement in the composition of
movements.

• The relative acceleration is equal to that resulting from the absolute acceleration, from
the centrifuge in the dragging motion and from the composite centrifuge. V. CORIOLIS
THEOREM.
THE CORIOLIS ACCELERATION EQUATION
aco=-2w ´ v

where :

“W” is the angular velocity

“V” is the velocity of the body measured by the non-inertial

observer.
GEARS TYPES OF GEARS
AND THEIR APPLICATIONS
• Cylindrical gears
• Double helicoids
• Cylindrical gear with helical teeth
• Conical gears
• Helical cone
• Hypoid conical gear
 CYLINDRICAL GEAR
• -they are the most common
• They are generally used at small and medium speeds
 APPLICATIONS OF CYLINDRICAL GEARS
• Power plants for electricity, hydroelectric power and
elements of land transport.
• Steel industry, rolling mills, conveyor belts, shipyards,
cement factories.
• Cranes, hoists, machine tools, textile machinery
 HELICAL TOOTH CYLINDRICAL GEARS
• They are characterized by their oblique toothing in relation to the axis of rotation
 DOUBLE HELICAL GEAR

• This type of gears were invented by the French car

manufacturer Andre Citroen
 CONICAL GEAR

• This family of gears solves the transmission between

intersecting and intersecting axles
 HYPOID CONICAL GEAR
• It is a group of conical helical gears formed by a reducer
pinion
 HELICAL CONICAL GEAR

• It is used to reduce the speed on a 90º axis

• The difference with the straight cone is that it has a larger contact surface
 CONE GEAR APPLICATIONS

• There is a wide variety of shapes and sizes of gears from

the smallest used in watchmaking and scientific instruments
is a module of 0.05 to large dimensions used for example in
the reductions of speed of steam turbines, kiln drive cement
fabian mills and more.
6. GEARS
 6.1 CHARACTERISTICS AND TYPES OF
GEARS.
• The main classification of the gears is according to the arrangement of their axes of
rotation and according to the types of teeth.

• According to this the different types of gears are:

 PARALLELAL AXES.

• Cylindrical straigth teeth

• Helical tooth cylindrical.
• Double helical.
 PERPENDICULAR AXES.

• Perpendicular axes.
• Tapered straight teeth.
• Hypoid conics and helical teeth.
• Wheel and screw.
 6.2 CLASSIFICATION OF GEAR TRAINS

• A gear train is a mechanism formed by several pairs of gears coupled together such
that the driven element of one of them is the driver of the next. Usually denominated
as the kinematic chain formed by several wheels that roll without sliding each.
•CLASSIFICATION:
1. Simple ordinary train.

2. Compound ordinary train.

3. Mixed train or planetary train.

 6.3 TRAIN VALUE

• Simple ordinary train.

𝜔𝑓 𝑁𝑖
𝑇. 𝑉. = =
𝜔𝑖 𝑁𝑓
• Compound ordinary train.
𝜔𝑓 𝑁𝑖
𝑇. 𝑉. = =
𝜔𝑖 𝑁𝑓

𝜔3 𝑁2
=
𝜔2 𝑁3
𝜔5 𝑁4
=
𝜔4 𝑁5
𝜔3 𝜔5 𝑁2 𝑁4
=
𝜔2 𝜔4 𝑁3 𝑁5

𝜔5 𝑁2 𝑁4
𝑇. 𝑉. = =
𝜔2 𝑁3 𝑁5
6.4 SYMBOLOGY FOR GEAR TRAIN
DIAGRAMS.
6.5 CALCULATION OF SPEEDS IN GEAR
TRAINS
𝜔𝑓 𝑁𝑖
𝑇. 𝑉. = =
𝜔𝑖 𝑁𝑓

𝜔2 = 100 𝑅𝑃𝑀.

𝜔3 80
=
100 20

100(80)
𝜔3 = = 400 𝑅𝑃𝑀.
20
6.5.1 ANGULAR VELOCITY IN SIMPLE
ORDINARY TRAINS.
 THE GEAR RATIO IS THE SPEED OF A GEAR
MULTIPLIED BY THE NUMBER OF PINIONS, OR TEETH,
IN IT COMPARED TO THE SPEED AND NUMBER OF
TEETH OF A SECOND GEAR CONTROLLED BY THE
FIRST. IT DOES NOT MATTER HOW MANY GEARS
THERE ARE BETWEEN THE DRIVING GEAR AND THE
LAST GEAR. THIS RELATIONSHIP CAN ALSO BE
EXPRESSED USING THE NUMBER OF TEETH OF EACH
OF THESE GEARS IN COMPARISON WITH ANOTHER.
THE RELATIONSHIP BETWEEN THE SPEEDS OF ROTATION OF
THE WHEELS DEPENDS ON THE NUMBER OF TEETH OF EACH
AND IS EXPRESSED BY THE FOLLOWING EQUATIONS.

𝑊1 𝑛2
𝑊1 𝑛1 = 𝑊2 𝑛2 =
𝑊2 𝑛1

number of drive gear sprockets

𝑊𝑐 = 𝑊𝑚 ∙
number of gear driven gears

𝑊𝑐 = 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦
𝑊𝑚 = 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑚𝑜𝑡𝑜𝑟
6.5.1 ANGULAR VELOCITY IN ORDINARY
COMPOSITE TRAINS.
 IT IS THE ONE IN WHICH, AT LEAST ONE PAIR OF
WHEELS ARE RIGIDLY FIXED TO THE SAME ARROW SO
THAT THE TWO ROTATE AT THE SAME ANGULAR
VELOCITY.
THIS IS EXPRESSED WITH THE FOLLOWING EQUATION.

𝑃1 ∙ number of drive gear sprockets

𝑊𝑐 = 𝑊𝑚 ∙
𝑃2 ∙ (number of gear driven gears)

𝑊𝑐 = 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦
𝑊𝑚 = 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑚𝑜𝑡𝑜𝑟
P = pulley
6.5.3 ANGULAR SPEED IN PLANETARY
TRAINS.
 A PLANETARY GEAR OR EPICYCLIC GEAR IS A GEAR
SYSTEM (OR GEAR TRAIN) CONSISTING OF ONE OR
MORE EXTERNAL GEARS OR PLANETS ROTATING ON A
CENTRAL GEAR OR SUN.
THIS IS EXPRESSED WITH THE FOLLOWING
EQUATION.

𝑊𝐹 − 𝑊𝐵
T.V.= (equation 1)
𝑊𝐼 − 𝑊𝐵

T.V= Train Value

𝑊𝐹 = angular speed of the final gear
𝑊𝐼 = angular velocity of the initial gear
𝑊𝐵 = angular speed of the arm
 THE FIXED ARM IS ASSUMED 𝑊𝐵
NM
T. V. =
NC
𝑁𝑀 = number of motor teeth
𝑁𝐶 = number of teeth of the driven

Is solved and replaced in (equation 1)

 6.6 CALCULATION OF ANGULAR
ACCELERATION IN GEAR TRAINS
𝑁𝑇𝑑 30
𝑊𝑇 = 𝑊𝑀 ∙ 𝑊𝑇𝐴 = 1800 rpm ∙
𝑁𝐷𝑡 60
𝑊𝑇𝐴 = 900 rpm
DATA:
𝑊𝑀 = 1800 𝑟𝑝𝑚
𝑁𝑇𝑑 = 30 𝑇𝑒𝑒𝑡ℎ
𝑁𝐷𝑡 = 60 𝑇𝑒𝑒𝑡ℎ
CLASSIFICATION OF THE
MECHANISM OF CAMS
 OPERATION OF THE CAM
• For its correct operation, this mechanism needs, at least: tree, support, cam and
cam follower (feeler) accompanied by a recovery system (spring, spring )
• The shaft is the axis of rotation of the cam and the person in charge of
transmitting its rotating movement.
• The support is in charge of keeping the whole unit together and, normally,
guiding the movement of the follower
• The cam is always the one that receives the rotary movement through the axis or
the tree on which it is mounted. Its profile makes the follower execute a very
precise cycle of movements.
• The follower (stylus) rests directly on the profile of the cam and moves as it
rotates. To ensure that the tracker is permanently in contact with the cam, it is
necessary to equip it with a recovery system (normally a spring or a rsorte)
 CYLINDRICAL CAM
• Slotted cylindrical cam Cylindrical shaped axial cam and
one or more grooves carved on the cylinder which, when
the cam is rotated, cause the follower or followers to move
in a direction parallel to the axis of rotation of the cam. The
figure shows a slotted cylindrical cam and its application a
gearbox of a motorcycle
 CYLINDRICAL CAM OF FACE
• Ax of axial type in the shape of a cylinder to which an oblique section has been
made with respect to its axis, section on which the follower rests, which moves in a
direction parallel to the axis of rotation of the cam.
 TRANSMISSION LEVEL OTRASLATION
• The contour or shape of the translation cam is determined by the specific movement
of the follower. This type of cam is the basic form, since all surfaces are uniform or,
more frequently, with variable inclinations.
 DISC CAM

• In the case of disc cams, the body of these are in the form of a disc with the contour
of the cam forming on the circumference, in these cams usually the line of action of
the follower is perpendicular to the axis of the cam and makes contact with the cam
with the help of a spring.
 CLASSIFICATIONS OF THE FOLLOWERS
• By the way to make contact with the
cam.
• Of blade (punch rod)
• Of wheelbarrow or slice (rod of slice)
 CLASSIFICATIONS OF THE FOLLOWERS
-Of flat face
-Of spherical face
-By position with respect to the axis of the cam.
-Centered.
-Offset
-For closed cam
•
MOVEMENTS ON CAM
The cams are classified according to their basic forms. four different types of cams
are presented: disc, wedge cam, drum cam and face cam. The least common is the
wedge cam since it requires a Alternate entry movement instead of a continuous
movement and the most common cam is the plate cam.
 MOVEMENTS ON CAM
• Cycloidal movement
• This movement is named for the geometric curve called
• cycloid
• The cycloidal movement is a valid cam design, since it complies with the
fundamental law of cam design
 MOVEMENTS ON CAM
• Mechanism cam-probe flat • Space cam-stylus mechanism
• The movements of the cam and the • The movements of the cam and the
probe
• tracer are made in different planes not
• they are made in the same plane or in parallel
parallel planes