Kinematics and Dynamics of Machines
C1M1
Outline
(Only do what is in BOLD BLUE)
:
3FSP CMS Positioning
Mechanism
0.
Title Page with group member names
1. Abstract (Concise statement of your desig
n solution

a paragraph or two)
2. Table of Contents (Inclu
de page numbers)
3. List of Figures (This is a Table of Contents for your Figures)
4. List of Tables (This is a Table of Contents for your Tables)
5. Index of Appendices
6
. Introduction (1 page is sufficient)
Problem Statement
:
Layman’s description
[Task o
f
????
]
Design Criteria: Physical requirements on which you base the design.
These requirements include objectives (ideal characteristics of the resulting
design) and constraints (characteristics that your design must satisfy)
7
.
Watt 2
Design Solution

Both analytics and graphics (
MathCad
and Excel
& WM
2D
)
Kinematic Synthesis
a.
Solution procedure outline
Explain the steps you took to arrive at your design(s)
i.
Describe the task
(
CMS
followed by
Ang. Coord. of 2 Cranks
with Crank

Rocker cons
traint
)
ii.
Give s
olution equations and figure with corresponding notation
Figure 1. 3FSP CMS Notation
Figure
2
.
2
FSP
Angular Coordination
Notation
iii.
Relate FSP specification and number of possible solutions
[2+1 FSP CMS: given (
1
,
1
,
1
) still
have 8 free choices
and with 2 specified
functions
=> inf
4
soln’s]
b.
Sol
ution
i.
Discuss your FSP selection and your "pre

specified" design parameter
selections
. This needs to include discussion of your specified performance
parameter selections.
(
e.g.,
(
)
and range for
rocker
).
ii. Solution(s) with final selections
You must include a figure
of your
4R

4Bar
Watt2
solution(s) with all
pin joints, link lengths, input angle, other link angles,
and CG’s
shown and
labeled exactly as in the equations u
sed in your analyses.
A good way to visually display the above is to make a table that
contains all the numerical values used placed directly below the figure. This
makes it easy for the reader to follow.
Table 1 CMS Specified Parameters
Solution
Number
0
(m)
0
(m)
0
(deg)
1
(m)
1
(m)
1
(deg)
2
(m)
2
(m)
2
(deg)
u
A
(m)
v
A
(m)
u
B
(m)
v
B
(m)
1
2
Table 2 CMS Determined Parameters
Solution
Number
U
Oa
=X
B
(m)
V
Oa
=Y
B
(m)
U
Ob
=X
F
(m)
V
Ob
=Y
F
(m)
L
2
=BE
(m)
L
3
=EG
(m)
L
4
=FG
(m)
1
2
Table
3
Angular Coordination
Specified Parameters
Solution
Number
U
Oa
=X
Oa
(m)
V
Oa
=Y
Oa
(m)
U
Ob
=X
B
(m)
V
Ob
=Y
B
(m)
L
2
=O
a
A
(m)
2
(deg)
4
(deg)
40
(deg)
41
(deg)
1
2
Table
4
Ang
ular Coordination
Determined
Parameters
Solution
Number
L
3
=AC
(m)
L
4
=BC
(m)
20
(deg)
21
(deg)
1
2
ii
i
. Graphical illustration of solutions in each position
iv
.
Working Model 2D
si
mulation file(s)
v. Discussion of motion characteristics
of solution
10. Brief summary experience and results
11
. References
1
2
.
Appendices
(Printouts of MathCad “scripts”)
Kinematic Synthesis
3FSP CMS
Angular Coord.
Dynamic Analysis
Watt 2 Lift Mechanism
Compound Epicyclic Gear Train
Discussion:____
Graphics:____ Analytics:____ WM2D:____ Optimization:____
Grade:______
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