Kinematics and Dynamics of Mechanical Systems

Introduction to linkages, types and classification of joints, mechanisms and machines. Calculation of degrees of freedom (mobility) for planar mechanisms utilizing Gruebler and Kutzbach equations. Grashof and non-Grashof conditions. Paradoxes. Intermittent motion. Toggle. Transmission angle. Compliant mechanisms. Cognates. Function generation. Motion generation. Path generation. Kinematics fundamentals of fourbar linkage mechanisms and inversions. Graphical linkage synthesis including fourbar quick-return mechanism. Analytical position analysis of fourbar, five-bar (ordinary and geared five-bar), and six-bar (Watt and Stephenson) mechanisms using Euler's mathematical notation. Analytical position synthesis of fourbar mechanisms with and without fixed pivots. Velocity and acceleration analyses. Design and analyses of gear trains [simple, compound (ordinary and reverted), and planetary gear trains]. Types of cams. Design of roller- follower cams (s-v-a-j diagrams). Dynamic force analysis for fourbar mechanisms and inversions. Project required.