Mechanics of Machines

(Theory of Machines)

0944331
Prof. Mohammed Al-Odat
Introduction
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 Introduction

 Purpose
 Theory of Machines
 Kinematics and Kinetics
 Machines and Mechanisms
 A Brief History of Kinematics
 Applications of Kinematics

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 Course Catalog Description
• Mechanisms and applications, mobility and linkages. Cams,
gears and gear trains. Velocity and acceleration analysis in
mechanisms. Inertia forces. Principles of balance in rotating
& reciprocating
• Text Books: Design of Machinery: An Introduction to the
Synthesis and Analysis of Mechanisms and Machines 4rd
Edition by Robert L. Norton ,2020
• References:
– Machines & Mechanisms: Applied Kinematic Analysis 4th Edition
by David Myszk
– Erdman, A.G. Sandor, G.N. and Sridar Kota. MECHANISM
DESIGN. Prentice Hall, 2001. Fourth Edition.

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Course Topics

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 Course Information
Course goals:
• Analyze & design planar mechanisms
• Analyze forces, velocities & accelerations in
machines
• Use computers for the above
Textbook: Design of Machinery, R. Norton, McGraw-
Hill, 6rd ed., 2020.
Computer usage: Working Model, MATLAB
Grading:
Lecture notes:

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 Course Objectives
• The purpose of this course is to explore the topics
of kinematics and dynamics of machinery in
respect to the synthesis of mechanisms in order
to accomplish desired motions or tasks, and also
the analysis of mechanisms in order to determine
their rigid-body dynamic behavior.
• We will begin with careful definitions of the terms
used in these topics.

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 Theory of Machines
• The subject Theory of Machines may be defined
as that branch of Engineering-science, which
deals with the study of relative motion between the
various parts of a machine, and forces which act
on them. The knowledge of this subject is very
essential for an engineer in designing the various
parts of a machine.

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 Kinematics and Kinetics
• Kinematics
The study of motion without regard to forces.
• Kinetics
The study of forces on systems in motion.
• These two concepts are really not physically
separable. One principal aim of kinematics is to
create (design) the desired motions of the subject
mechanical parts and then mathematically compute
the positions, velocities, and accelerations which
those motions will create on the parts. 9
 Machines and Mechanisms
• A mechanism is a device which transforms
motion to some desirable pattern and
typically develops very low forces and
transmits little power.
• A machine typically contains mechanisms
which are designed to provide significant
forces and transmit significant power.

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 Machines and Mechanisms
• A useful working definition of a mechanism
is A system of elements arranged to transmit
motion in a predetermined fashion.
• On the other hand, a machine is A system of
elements arranged to transmit motion and
energy in a predetermined fashion.
• Some of the examples of mechanisms and
machines are:
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Mechanisms

Can crusher

Simple press 12
 Mechanisms
Moves packages from an assembly
bench to a conveyor

Microwave carrier to assist

Front loader
Lift platform

Device to close the

Lift platform 14
 Mechanisms

Rowing type exercise machine

Conceptual design for an

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Machines

Food Blender

Automatic
Transmission
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 Machines

Bulldozer Spider Robot

Amusement
Park Ride

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 A Brief History of Kinematics
• Machines and mechanisms have
been devised by people since
the dawn of history.
• The ancient Egyptians devised
primitive machines to
accomplish the building of the
pyramids and other monuments.
Though the wheel and pulley
(on an axle) were not known to
the Old Kingdom Egyptians,
they made use of the lever, the
inclined plane (or wedge), and
probably the log roller.
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 A Brief History of Kinematics
• A great deal of design effort
was spent from early times on
the problem of timekeeping as
more sophisticated clockworks
were devised. Much early
machine design was directed
toward military applications
(catapults, wall scaling
apparatus, etc.).

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 A Brief History of Kinematics
• James Watt (1736-1819) probably deserves
the title of first kinematician for his synthesis
of a straight-line linkage to guide the very
long stroke pistons in the then new steam
engines. Watt was certainly the first on record
to recognize the value of the motions of the
coupler link in the four-bar linkage.

Watt Straight-line linkage

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 A Brief History of Kinematics
• Euler (1707-1783) presented an
analytical treatment of mechanisms in
his Mechanicasive Motus Scienta
Analytice Exposita (1736-1742), which
included the concept that planar motion
is composed of two independent
components, namely, translation of a
point and rotation of the body about
that point. Euler also suggested the
separation of the problem of dynamic
analysis into the "geometrical" and the
"mechanical" in order to simplify the
determination of the system's dynamics. 22
 A Brief History of Kinematics
Gaspard Monge (1746-1818), inventor of
descriptive geometry, created a course in
elements of machines and set about the task
of classifying all mechanisms and machines
known to mankind!
His colleague, Hachette, completed the Gaspard Monge
work in 1806 and published it as what was
probably the first mechanism text in 1811.

Jean Nicolas Pierre Hachette

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 A Brief History of Kinematics
• Andre Marie Ampere (1775-1836), set
about the formidable task of classifying
"all human knowledge."
• In his Essai sur la Philosophie des
Sciences, he was the first to use the term
“cinematique,” from the Greek word for
motion,* to describe the study of motion
without regard to forces, and suggested
that "this science ought to include all that
can be said with respect to motion in its
different kinds, independently of the
forces by which it is produced.“

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 A Brief History of Kinematics
• Robert Willis (1800-1875) wrote the text Principles
of Mechanism in 1841 while a professor of natural
philosophy at the University of Cambridge, England.
He attempted to systematize the task of mechanism
synthesis. He counted five ways of obtaining relative
motion between input and output links: rolling
contact, sliding contact, linkages, wrapping
connectors (belts, chains), and tackle (rope or chain
hoists).

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 A Brief History of Kinematics
• Franz Reuleaux (1829-1905), published
Theoretische Kinematik in 1875. Reuleaux
defined six basic mechanical components: the
link, the wheel, the cam, the screw, the
ratchet, and the belt. He also defined "higher"
and "lower" pairs. He is generally considered
the father of modem kinematics and is
responsible for the symbolic notation of
skeletal, generic linkages used in all modem
kinematics texts.

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 Applications of Kinematics
Virtually any machine or device that moves contains one
or more kinematic elements such as linkages, cams, gears,
belts, chains. Your bicycle is a simple example of a
kinematic system that contains a chain drive to provide
torque multiplication and simple cable-operated linkages
for braking.

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 Applications of Kinematics
An automobile contains many more examples of
kinematic devices. Its steering system, wheel
suspensions, and piston-engine all contain linkages; the
engine's valves are opened by cams; and the transmission
is full of gears. Even the windshield wipers are linkage-
driven.

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 Applications of Kinematics
Figure (a) shows a spatial linkage used to control the rear wheel
movement of a modem automobile over bumps.

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 Applications of Kinematics
Construction equipment such as tractors, cranes, and backhoes
all use linkages extensively in their design. Figure (b) shows a
small backhoe that is a linkage driven by hydraulic cylinders.

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 Applications of Kinematics
Another application using linkages is that of exercise equipment as
shown in Figure (c).

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