Introduction, analysis and synthesis, mechanism terminology, planar, spherical and spatial mechanisms, mobility, kinematic inversion, Grashoffs law, mechanical advantage, equivalent mechanisms, unique mechanisms.
Fundamental laws of motion, generalized coordinates, configuration space, constraints, virtual work, principle of virtual work, energy and momentum, work and kinetic energy, equilibrium and stability, kinetic energy of a system, angular momentum.
Larange’s equation from D.Alembert’s principles, examples, Hamiltons equations, Hamiltons principle, Lagrange’s equation from Hamiltons principle, derivation of Hamiltons equations, examples.
Type, number, and dimensional synthesis, function generation, path generation and body guidance, Precision positions, structural error, Chebychev spacing, two position synthesis of slider crank mechanisms, crank-rocker mechanisms with optimum transmission angle.
Poles and relative poles, relative poles of 4-bar mechanism, relative poles of slider crank mechanism.
Two position synthesis of crank and rocker mechanisms, three position synthesis, four position synthesis (point precision reduction), overlay method, coupler curve synthesis, cognate linkages.
Freudenstein’s equation for four bar mechanism and slider crank mechanism, examples, Bloch’s method of synthesis.
Introduction, pressure angle, parameters affecting pressure angle, effect of offset follower motion, radius of curvature and undercutting, cams with specified contours.