Experiment No 1: Objective

EXPERIMENT NO 1
OBJECTIVE:
 To learn construction and working principle of slider and crank mechanism
 Dynamic analysis of displacement velocity and acceleration
APPRATUS:
 Slider crank mechanism
 Meter rod
 Degree meter showing crank position
 Graph paper
INTRODUCTION:
LINK:
Every element or part of machine that can move relatively w.r.t other parts of the machine
is called link so a machine is a basically a combination of links.Links helps the machine in
performing useful operations because they offer various degrees of freedom in their
movement.
FOR EXAMPLE:
Polar planimeter is example of links
CLASSIFICATION OF LINK:
 Binary link
A link to which two links are connected is called binary link.
 Tertiary link
A link to which three links are connected is called tertiary link.
 Quaternery link
A link to which four links are connected is called quaternary link.

TYPES OF LINKS:
 Rigid link
Those links which do not undergo any change in shape while

transmitting motion are called rigid links.In reality rigid link don’t
exit.Those links which undergo small deformation are considered to
be rigid.Best example are crank shaft,connecting rod and cam
followers.
 Flexible link
Those links which is partly deformed not to affect the transmission of motion.
Belts ropes and chains are the example of of flexible link.
 Fluid link(Hydralic press)
 Floating link(Not connected to frame)
KINEMATICS:
Kinematics is the branch of classical mechanics which describes the motion of point bodies
and system of bodies without considering the cause of motion.Kinematics often reffered to
the geometry of motion.
KINETICS:
Kinetic is the branch of classical mechanics that describes the motion of bodies with
considering the cause of motion.
KINEMATICS PAIR:
Kinematics pair is a join between the surfaces of two rigid bodies that keep them incontact
and relatively movable.
CLASSIFICATION OF KINEMATICS PAIR:
LOWER PAIR:
When two links have surface contact between them the pair is known as lower pair e.g Nut
turning on the bolt, shaft rotating in the bearing, ball and socket joint etc.
 The relative motion is purely turning or sliding
HIGHER PAIR:
When the two links have line or point contact betwwen them, the pair is known as a hgher
pair e.g gear,cam and follower,rolling ball etc.
 The relative motion is combination of turning and sliding.
KINEMATIC CHAIN:
An assembly of links in which the relative motion of link is possible and motion of links
relative to the other is different and follows a law.The last link is attached to first one.
The following relationship holds for chains having lower pair
N=2P-4
J=3N/2 -2
Where
N = number of links
P = number of pair
J = number of joints
If LHS>RHS then the chain is locked
LHS=RHS then the chain is constrained
LHS<RHS then the chain is unconstrained
For kinematics chain having higher pair each higher pair is taken is equivalent to two lower
pairs.
MECHANISM:
When one link of kinematic chain is fixed and the arrangement of link is used to transmit
motion,then it is said to be a mechanism.
SLIDER CRANK MECHANISM:
Is used to convert linear motion into rotatory or rotatory into linear.

Mechanism is composed to several parts
 Crank
 Slider
 Connecting rods
Relation between angle of rotation of crank and Displacement,

velocity and acceleration of slider
x= (r+l)-(rcosα+lcosβ)
x= (r-rcosα) + (l-lcosβ)
x= r (1-cosα) +l (1-cosβ)
x= r {(1-cosα) +l/r (1-cosβ)}
Here l/r = ratio of length of the connecting rod to the length of the crank or it is also
called angle of obliquity represented by n=l/r
So 1) can be written as
x= r {(1-cosα) +n (1-cosβ)}……………1)
Also from the figure we see that

Where r is the radius of the circle and ‘l’ is the length of the connecting rod. The
measure of the crank rotation angle is given by the ‘α’ and the angle at which the
connecting rods are attached to the slider is ‘β’ as shown in figure, so from figure
AB= rsinα also
AB= lsinβ
Where AB is the perpendicular line drawn to the horizontal line
So
rsinα=lsinβ
sinβ= r/lsinα
sinβ= 1/nsinα…………………2)
As we know that
sin2β+cos2β=1 OR
cosβ= (1-sin2β)1/2
By using binomial series
cosβ= (1-1/2sin2β+….)
Or by writing it up to two terms we get
cosβ= (1-1/2sin2β)
from1)
x= r {(1-cosα) +n (1-1+1/2sin2β)}
x= r {(1-cosα) +n/2sin2β)}
From 2)
x= r {(1-cosα) +n/2(1/nSinα) 2}
x= r {(1-cosα) +n/2(1/n2sin2α)}
x= r {(1-cosα) +1/2n (sin2α)}
This is relation for displacement with the angle of rotation of crank
Relation for velocity
As we know that
Velocity v=dx/dt or it can be also written as
v= (dx/dα) (dα/dt)
v= (dx/dα) (w)………………………3)
Here we ignore ‘w’ because there is no motor attach to our apparatus.
v= dx/dα
v= d/dα(r {(1-cosα) +n/2 (sin2α)}
v= r {(0+sinα+n/2(2sinαcosα)}
v= r {(sinα+n/2(sin2α)}
So from 1) we can write it
v= r {(sinα+1/2n (sin2α)} w
This is equation of velocity of the slider with the angle of rotation of crank.
Relation with the acceleration of the rotation of crank
As we also know that
Acceleration a= (dv/dt) OR
a= (dv/dα) (dα/dt)
a= (dv/dα) (w)………………4)
In similar as we done previously we ignore w
So,
a= d/dα {(r) (w) (sinα+1/2n (sin2α)}
a= r (w) {(cosα+2(1/2n) (cos2α)}
a= r (w) {(cosα+1/n (cos2α)}
From 4)
a= r (w) {(cosα+1/n (cos2α)} w
a= r (w2) {(cosα+1/n (cos2α)}
This is relation of acceleration with the angle of rotation of cranK

PROCEDURE:
1. Placethe rotatory table at zero and use rthis as referance point with zero displacement.
2. Rotate the table clockwise and effect it by 30° from starting point.
3. Note the reading(position)on the linear scale of the slide for this degree of off in inchs.
4. Keep offsetting the rotatory crank by 30° and noting the coresponding values of the
position till 360°.
5. Plot a graph between the displacement and the crank position to obtain a curve.
6. Compute the experimental value of the velocity by taking point on the curve and
drawing tangents the find slope on these points.
7. Now plot a graph between the velocity and position
8. Now take various points on velocity curve and draw tangent,slope of these tangents will
give acceleration on these points.
9. Draw acceleration graph between acceleration and position
Comments:
In the Displacement vs degree graph, first the line is increases then it decreases after the
peak value of the graph.
In the velocity vs degree graph, the graph is sin curve.
In the acceleration vs degree graph, the graph is cosine curve.
the values deviatefrom the ideal values because of the friction between the moving
parts of slider and crank mechanism.
In expreinced worker may also cause wrong result.
References:
From Google images.
Project reported by Eric Brigham; April 25, 2013.
(SCRIBD): Project reported by Syed Anis Badshah

OBSERVATION AND CALCULATION
No. of Crank position Displacement Velocity Acceleration

Obs. (Degree) ( Inches) ( Inches/Degree) ( Inches/Degree2)
1 0 0 0 0
2 30 0.45 0.015 5*10^-4
3 60 1.5 0.025 4.16*10^-4
4 90 2.85 0.0316 3.51*10^-4
5 120 4 0.033 2.75*10^-4
6 150 4.8 0.032 2.133*10^-4
7 180 5 0.027 1.5*10^-4
8 210 4.7 0.022 1.04*10^-4
9 240 3.9 0.0163 6.79*10^-5
10 270 2.75 0.01 3.7*10^-5
11 300 1.4 0.0046 1.53*10^-5
12 330 0.35 0.001 3.2*10^-6
13 360 0 0 0
GRAPH
Fiqure 1: Position Displacement

graph
6
3 Fiqure 1: Position
Displacement graph
2
0
0 100 200 300 400
0.035
0.03
0.025
0.02
Fiqure 2: Position
0.015 Velocity Graph
0.01
0.005
0
0 100 200 300 400
Fiqure 3: Position Acceleration graph

0.0006
0.0005
0.0004
0.0003 Fiqure 3: Position

Acceleration graph
0.0002
0.0001
0
0 100 200 300 400

Experiment No 1: Objective

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EXPERIMENT NO 1

 To learn construction and working principle of slider and crank mechanism

 Dynamic analysis of displacement velocity and acceleration

 Slider crank mechanism

 Degree meter showing crank position

Polar planimeter is example of links

A link to which two links are connected is called binary link.

A link to which three links are connected is called tertiary link.

A link to which four links are connected is called quaternary link.

Those links which do not undergo any change in shape while

Belts ropes and chains are the example of of flexible link.

 Fluid link(Hydralic press)

 Floating link(Not connected to frame)

CLASSIFICATION OF KINEMATICS PAIR:

 The relative motion is purely turning or sliding

 The relative motion is combination of turning and sliding.

The following relationship holds for chains having lower pair

If LHS>RHS then the chain is locked

LHS=RHS then the chain is constrained

LHS<RHS then the chain is unconstrained

SLIDER CRANK MECHANISM:

Is used to convert linear motion into rotatory or rotatory into linear.

Relation between angle of rotation of crank and Displacement,

Also from the figure we see that

This is relation of acceleration with the angle of rotation of cranK

7. Now plot a graph between the velocity and position

9. Draw acceleration graph between acceleration and position

In the velocity vs degree graph, the graph is sin curve.

In the acceleration vs degree graph, the graph is cosine curve.

In expreinced worker may also cause wrong result.

Project reported by Eric Brigham; April 25, 2013.

(SCRIBD): Project reported by Syed Anis Badshah

No. of Crank position Displacement Velocity Acceleration

Fiqure 1: Position Displacement

Fiqure 3: Position Acceleration graph

0.0003 Fiqure 3: Position

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