MECH3030 Mechanisms of Machinery Dr. Dr. Yi-Kue Yi-Kuen n Lee Lee Associate Professor Professor Department of Mechanical & Aerospace Engineering Hong Kong University of Science and Technology
[email protected]
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MECH3030
MECH3030 Mechanisms of Machinery Course Description: Application of kinematics and dynamics d ynamics in the analysis, design and synthesis of mechanisms. Type n im n i n l i n f link m n gears based on motion requirements and force transmission, in contrast to the strength requirements. Graphical, analytical and computer methods in analysis and design of mechanisms. Design considerations in mechanism synthesis.
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MECH3030
MECH3030 Mechanisms of Machinery Course Description: Application of kinematics and dynamics d ynamics in the analysis, design and synthesis of mechanisms. Type n im n i n l i n f link m n gears based on motion requirements and force transmission, in contrast to the strength requirements. Graphical, analytical and computer methods in analysis and design of mechanisms. Design considerations in mechanism synthesis.
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MECH3030
MECH 3030 Text book: Robert Norton, Design of Machinery, McGraw-Hill, 2011 Used Used b more more than than 100 100 uni unive vers rsit itie iess worldwide www.designofmachinery.com
Prerequisites: MECH 2020 Statics and Dynamics Vector Calculus and Analytical Geometry 3
MECH3030
MECH 3030 Mechanisms of Machinery Grading Policy: The grade will be based on the following weighting factors: Homework 10% Class attendance/good questions/term project 10% Mid-term 40% Final Exam 40% Homework is due on specified date (TBA (TBA on LMES) LMES) Late homework will not be counted Mid-term: 19 Mar 2015 (Thur) 4
MECH3030
MECH 3030 Important Notice The regular class schedule is as follows: Lecture hour: Tue, Thu, G010, CYT Bldg utoria our: L1:Mo,We,Fri L :Tu,T ,Fri (Room 4402, Computer Bar, Lift 17-18)
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MECH3030
MECH 103 Office hours: Tue, 16:30-17:30, Rm 2551 (Lift 27-28) Contact office hour with TAs is to be arranged with the TAs directly
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Can you identify a Structure within this bicycle?
Can you name a mechanisms on this
Frame = Structure
Chain and Sprocket = One example of a mechanism 7
Structures can be seen all around us in our everyday lives. High Rise Building
Bridge Supporting Roadway 8
Residential Dwelling
How many can you identify?
Drill
Car 9
Light rail train
Tractor
Exercise Bicycle
All these machines have working parts called –
Rack and Pinion 10
Pulley Wheels
Cam and Follower
Mechanisms, Motion and Force
Collins Dictionary
Collins Dictionary
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What input is needed for a drill to work?
Collins Dictionary
The lever of the drill is pulled down The chuck of the drill moves down 12
A
is a device which transforms motion to some desirable pattern and typically develops very low forces and transmits little power
A
typically contains mechanisms which are designed to provide significant forces and transmit significant power
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A
useful working definition of a = a system of elements arranged to transmit in a predetermined fashion
On
the other hand, a = a system of elements arranged to transmit in a predetermined fashion
Some
of the examples of mechanisms and machines are:
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Mechanisms
Front loader
Lift platform
Device to close the top flap of boxes
Lift platform 15
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Machines
Bulldozer
Spider Robot
Amusement Park Ride
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Machines
Food Blender
Automatic Transmission
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MECH3030
Foundation of Mechanics Mechanics
is the science of force and
motion of matter, including continuum ,
,
mechanics, statistical mechanics, molecular dynamics Ref: http://www.asme.org/pubs/amr/class.html http://en.wikipedia.org/wiki/Mechanics 18
MECH3030
Foundation of Mechanics Biology
involves biomechanics related to
structure and function at all hierarchical levels from cells, tissues, organs, and individuals (not only biochem) (A living cell is not a continuum, but a protein machine, factory with internal machinery .
Engineering
(aero, mech, marine, civil, chemical, materials, biomedical,
biotechnological, space, structural engineers develop and use fluid and solid mechanics)
make useful things that do not exist in nature and involve design and invention. Be concerned with safety and economics 19
MECH3030
Foundation of Mechanics Historical remarks
Galileo
Galilei (1564-1642) treated the strength of beams and columns
Bernoulli
(1654-1705) introduced the simple beam
theory Newton Euler
1643-1727 : Newtonian mechanics
(1707-1783) derived the column formula
Coulomb
(1736-1806) considered failure criterion
Lagrange
(1736-1813) formulated the equations of bending and vibration of plates
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Lagrangian mechanics
MECH3030
Foundation of Mechanics Historical remarks Hooke (law, 1660) Navier (general equations of elasticity: solid mechanics, 1821) Cauchy (1789-1857, concept of stress and strain,
’
Poisson (1781-1840, molecular theory of elasticity) Green (1793-1841), Stokes (1819-1903), Kelvin (1824-1907) Truedell, Rivlin, Noll, Erikson, etc . (theory of finite strain, more recent years)
http://www.hk-phy.org/ 21
Machines and mechanisms have been devised by people since the dawn of history
Ancient
devised primitive machines to accomplish the building of the ramids and other monuments. Though the wheel and pulley (on an axle) were not known to the Old Kingdom Egyptians, they made use of lever, the inclined plane (or wedge), and probably the
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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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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 e va ue o e mo ons o e coup er link in the four-bar linkage.
Watt Straight-line linkage 24
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(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 , , 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
A Brief History of Kinematics
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(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. e s genera y cons ere e a er o modem kinematics and is responsible for the symbolic notation of skeletal, generic linkages used in all modem kinematics texts.
MECH3030
Foundation of Mechanics Hamilton
(1805-1865): Hamiltonian mechanics Micron, submicron, nano-structures with size . Growth and remodeling of living tissues physics)
(will lead mechanics to another plateau)
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Tissue Engineering, Regenerative Medicine
MECH3030
Foundation of Mechanics Mechanics
are a mainstay of our
civilization and are developed side by side with science and technology analytical
solutions
computational Experimental
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methods (CAD/CAM)
mechanics
MECH3030
Foundation of Mechanics Mechanics
are a mainstay of our civilization
Engineering
Mechanics: Airplanes, ships, rockets, spacecraft, automobiles, trains, rails, hi hwa s buildin s en ines micromachines
Materials Artificial
of design properties
heart valves, hearts, limbs, skin, pacemakers
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Aerospace Engineering
• Shenzhou IV, China's Jiuquan launch center, 30 Dec 2002 • Shenzhou V on 15 Oct 2003 • Shenzhou VI on 12 Oct 2005 • Shenzhou VII in Oct 2008 30
USA NASA Space Shuttle: Atlantis http://www.unitedspacealliance.com/press/photo.htm
Hong Kong MTR Train
APM (Mitsubishi Heavy Industries, Japan)
First started in 1979, built by Metro Cammell, UK MTR Co. is also in change of Automatic People Mover (APM) in HK Internation al airport 31
Artificial Heart: AbioCor @
• rotary pump • Ti + polymer • 0.9 kg • Wireless powered
http://www.abiomed.com/ 32
MECH3030
Foundation of Mechanics Biomechanics Constituents:
living organism has a solid structure (shape and size) and internal fluid flow ranspor ma er a s an eep organs a ve ce s ma e new ma er a s . Constitutive Equations: Biofluid is nonNewtonian. Biomaterials do not obey Hooke’s law. The constitutive equations for DNA and other molecules are to be determined 33
MECH3030
Foundation of Mechanics Biomechanics Hierarchy Gait,
of sizes and mechanics:
posture and sports: length of the whole body.
Hemodynamics Coronary
of heart valves
atherosclerosis (hardening of blood vessel): diameter of the coronary arteries for hemodynamics, or thickness of the endothelial cell (micron) for shear stress on vessel wall, or cell itself for molecular mechanism
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MECH3030
Foundation of Mechanics
Biomechanics Perspectives Biomechanics
deals with DNA-controlled changing materials.
Bio-mechanics is the new frontier for mechanics!!
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Working Model 2D: a computer aided dynamics simulator • Powerful physics-based 2D kinematic and dynamic motion Simulation and analysis • Provides accurate solutions to complex engineering motion Simulation problems • Save time and money by avoiding expensive prototyping and product failures • Installed the computers in Computer Barn (Rm 4402, Lift 17-18) http://www.workingmodel.com/ 36
Snapshot of Working Model 2D
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Snapshot of Working Model 2D
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Inverted Slider-crank
http://highered.mcgraw-hill.com/sites/0072470461/information_center_view0/ 39
Cylindrical cam mechanism
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Geneva mechanism
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Bevel gear automobile transmission
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Gas pedal mechanism
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Drum brake mechanism
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Microrobot in US Sandia National Lab
http://mems.sandia.gov 45
Texas Instruments’ DLP Chip
www.dlp.com 46
iPhone 3G and many smartphone use microaccelerometer
ST Microelectronics: 3-axis LIS331DL, 3 3 1 mm3 47
iPhone 3G uses ST Microelectronics LIS331 DL
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iPhone 4 uses ST Microelectronics micro gryo - 3-axis digital L3G4200D - 44 1.1 mm3 - made by ST Microelectronics - rs m cro gryo use smartphone - Vibrating tuning fork (mass-spring system)
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SEGWAY Scooter uses 5 MEMS gyro
www.segway.com 50
Japan Honda ASIMO
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http://world.honda.com/ASIMO/
Biomimetic Robots Snake robot: Oblix
Titan IV, 4-leg walking robot
Prof Shigeo HIROSE(広瀬茂男), http://www-robot.mes.titech.ac.jp/ 52
Multi-locomotion Robot
Prof Toshio Fukuda’s Lab, Nagoya University, Japan http://www.mein.nagoya-u.ac.jp 53
Multi-locomotion Robot learn from Nature
http://en.wikipedia.org/wiki/Gorilla 54
Multi-locomotion Robot learn from Nature
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Soft Robotics
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Conventional robot Rigid body mechanism Made of rigid materials Powerful and precise Soft robot , , Adaptive to surrounding Human compatible
http://youtu.be/2DsbS9cMOAE
,
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ASM Pacific Technology Ltd (0522), Hong Kong Equipment for electronic packaging
• About 54% of world’s CMOS image sensors (CIS) in electronic products includin iPhone : assembled by ASM equipment • Thermal compression bonder (TCB), LED packaging
•http://bit.ly/1F0PGLt 57
Robotics Market Research by NEDO Japan: 2012-2035 NEDO
• Japan: active R&D in robotics for decade • Google: acquired 8 ro o cs companies, • Apple • Amazon: Kiva
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