project

A PROJECT REPORT

ON

INVERSION OF 4-BAR MECHANISM FOR KINEMATIC MOTION

Department of Mechanical Engineering

Government polytechnic

Chhota udepur

A PROJECT REPORT

ON

PREPARED BY

SR NO ENROLLMENT NO NAME OF STUDENT

1 106220319593 PATEL DHAVAL J.

2 096220319604 PATEL PRADIP S.

3 096220319583 PARMAR SNEHAL N.

4 106220319538 JOSHI MAYUR S.

5 106220319566 PATEL SATISH N.

6 096220319125 TADVI UMESH K.

7 106220319539 RATHOD DILIP A.

GUIDED BY

SHRI T.D.PATEL

HELPED BY

P.B.RATHVA

Department of Mechanical Engineering

Government polytechnic

Chhota udepur

INVERSION OF 4-BAR MECHANISM FOR KINEMATIC MOTION

This is to certify that Mr. ………………………………………………………….

Having Enrollment No:………………………….has completed part-I of the project

work having title “INVERSION OF 4-BAR MECHANISM FOR KINEMATIC MOTION”

He has undergone the process of shodhYatra,literature survey and problem

definition. He is supposed to carry out the residue IDP part II work on the same

problem during the semester VI for the final fulfillment of the IDP work which is

prerequisite to complete Diploma Engineering academic.

PROJECT GUIDE HEAD OF DEPARTMENT

Department of Mechanical Engineering

Government polytechnic

Chhota udepur

I am very glad to represent project report on “INVERSION OF 4-BAR

MECHANISM FOR KINEMATIC MOTION ". I have tried my level best to focus upon

each and every parameter. In concern with this topic the detail, necessary figure,

definition, tabular analysis has been enumerated in very easy, simple, compact and

lucid manner.

I have been able to achieve this task by the dynamic guidance of Honorable

Shri T. D. Patel sir; I have no words to express my Gratitude towards his kind and

outstanding treatment while clarifying my confusion. Because of his reference to the

sunshine engineering works, we able to fabricate our idea as a machine

I also extend my sincere thanks to our esteemed H.O.D. Whose guidance and

constant inspiration where a great use in Working on this project

I am also grateful to our honorable faculty member for providing numerous

facilities and guidance due to which this difficult task turned into a convenient task

Last but not least, I am very thankful to my project partners without whose kind

cooperation it was difficult and impossible to go through the leaps and bounds while

preparing this

ACKNOWLEDGEMENT

CHAPTER 1. Abstract

CHAPTER 2. Introduction

CHAPTER 3. Fundamental of kinematics

CHAPTER 4. Various calculations

CHAPTER 5. Material specification

CHAPTER 6. Assembly and detail drawing

CHAPTER 7. Process planning chart

CHAPTER 8. Costing and Estimation

CHAPTER 9. Work allocation matrix

CHAPTER 10. Application of project

CHAPTER 11. Conclusion

INDEX

ABSTRACT

The report shows the kinematic control, either direct or inverse, has the power to be a

powerful technique for the interactive positioning and the animation of complex articulated

fig. Although expressed in the joint parameter space of these structures, direct kinematics

still widely used to design complex motions from live recording, biomechanical models or

key frame interpolation.

Inverse kinematic control the simplest tool to map the Cartesian motion on to the

joint space, has shown good application for robotic and animation purposes. Nevertheless,

the resulting joint motions lack character, due to its norm minimization property although

such subjective criterion is not required for ergonomic evaluation; they are of first

importance for producing expressive animation until now co-operation of both techniques

has been rather limited in motion design. The method we introduce here fully combines both

direct and inverse kinematic control over a class of half space goals, enabling the

generalization of joint space based behaviors to large sets of articulated fig. The review

presented in the report describes current animation techniques.

Our approach is then developed in a project on the basis of combined direct and

inversion control. This scheme leads to a new methodology of motion editing presented in

the report and demonstrates its application to the correction of movements generated by a

walking model.

CHAPTER 1

INTRODUCTION

Kinematic control, either direct or inverse, has proven to be a powerful technique for

the interactive positioning and the animation of complex articulated figures. Although

expressed in the joint parameter space of these structures, direct kinematics are still widely used

to design complex motions from live recording, biomechanical models or key frame

interpolation. This space, henceforth referred to as joint space, is more suitable to represent and

capture the intrinsic dynamics of motion. On the other hand, motion expressed in Cartesian

space is the basis of goal oriented motion.

Inverse kinematic control, the simplest tool to map the Cartesian motion onto the joint

space, has shown good application for robotic and animation purposes. Nevertheless, the

resulting joint motions lack character, due to its norm minimization property. Although such

subjective criterion is not required for ergonomic evaluation, they are of first importance for

producing expressive animation. Until now, cooperation of both techniques has been rather

limited in motion design. The method we introduce here fully combines both direct and inverse

kinematic control over a class of half-space goals, enabling the generalization of joint-space-

based behaviors to larger sets of articulated figures.

The review presented in the next section describes current animation techniques. Our

approach is then developed in the third section on the basis of combined direct and inverse

kinematic control. This scheme leads to a new methodology of motion editing presented in

section four while section five demonstrates its application to the correction of movements

generated by a walking model.

CHAPTER 2

FUNDAMENTAL OF KINEMATICS

The Kinematic as Define as Science of Pure Motion, without reference to force or mass

MECHANISM

The mechanism is an assemblage of (rigid) bodies formed and connected in such a

manner that they move upon each other with definite relative motion. (A chain/belt/cable is

non-rigid yet can be used in a mechanism. Another example of this would be air or hydraulic

fluid used in a pneumatic or hydraulic system - they are not rigid in the true sense yet are used to

transmit motion)

MACHINE

A mechanism or collection of mechanisms which transmit force from the source of

power to the resistance to be overcome. Another definition is that a machine is a combination

of resistant bodies so arranged that by their means the mechanical forces of nature can be

compelled to do work accompanied by certain determinate motions.

A mechanism is therefore kinematically described, its motion is what determines it as a

mechanism. A machine on the other hand is a mechanism which does work. Rigid structure,

truss, etc. - Statics Mechanism - Kinematics, Machine - Kinetics.

The Kinetics/Machine to make under some Design conditions and its terms. So, various

machine design strategies and its Elements show below.

Machine parts are known as "Elements"

Two elements in relative motion and in contact are known as a "PAIR"

The element joining pairs together is known as a "LINK".

A group of links and elements that are joined together is a "KINEMATICS OF

CHAIN".

Fix one link of the kinematic chain and the chain becomes a "MECHANISM"

An Apply force with the mechanism and it becomes a "MACHINE"

These are biases elements for the Kinematic of Motion

CHAPTER 3

EXAMPLE OF MECHANISM

1). CRANK LEVER RECIPROCATING DRIVE

2). SLIDER CRANK - ENGINE MECHANISM

3). BELL CRANK

4). PIVOTING PISTON CRANK

5). FOUR BAR LINKAGE, E TC.

PAIRING MECHANISM (Kinematic Pairs)

In order to transmit motion from the driver to the follower for example the links must be

connected together in some manner. Connections between links are called Kinematic Pairs.

Two bodies in contact constitute a pair. Looking back at the mechanisms shown so far it is

possible to see that most links are joined to two other links and thus may be said to be part of

not one but two pairs

CONSTRAINED KINEMATICS CHAIN =MECHANISM

A constrained Kinematic chain is a mechanism as the constraint implies that a fixed

link is present as a frame of reference. E.g. base or foundation. Without there being a fixed link

whose position is defined there can be no frame of reference for the motion of the assembly of

links. Without this ability to absolutely define the motion of each element there is no

mechanism.

CONSTRAINED CHAIN

Relative motion of the links always the same. In the figure below for the same position

"x" of link 5 there are two possible arrangements of links 3 and 4. Links 3 and 4 are

unconstrained therefore this is not a mechanism instead its Unconstrained Kinematic Chain

i.e. Were links 2 and 4 to be directly connected then it would be a constrained chain.

LOCKED CHAIN

If no motion at all were possible then a locked chain is obtained -also known as a structure

or truss.

CLOSED CHAIN

Most mechanisms consist of closed chains wherein each link is connected to at least two others

in the system. AN example of this would be the early radial aircraft engine type

OPEN CHAIN

An example of an open chain would be a pendulum - links with only one joint (but touches

another link intermittently)

JOINT TYPES

More than two links may join at the same point and examples of these types of joint are given

below: All these types of links may be used to form an open mechanism. Binary link, Ternary link and

Quaternary link respectively show the below fig.

PAIRS

A Pair is basically two (linked/ connected/joined/touching/links to contact) links. The

nature of the connection between the two links defines the pair type - i.e. the relative motion

which the links are permitted.

HIGHER AND LOWER KINEMATIC PAIRS:

LOWER PAIRING: - Two surfaces are in contact i.e. piston and Cylinder, pivot slider. Etc.

HIGHER PAIRING: - Contact is at a point, or along a line e.g. ball bearing, roller bearing,

gear teeth, and cam surfaces. Wear is higher at higher pairs.

WRAPPING PAIR: - Chain & sprocket, belt & pulley, cable/drum.

JOINTS

There are many types of joint in Manufacturing Industries. Without intermediated

joint are not completely the constrain part. The full or successfully constrain part work of

joint. So that in our project has various joints into.

JOINT MOMENTS

Joint moments can be determined using the inverse dynamics approach with

kinematics, kinetics, and anthropometric data in concert with a rigid body segmental model.

The support moment, which is a net moment of ankle, knee, and hip joint moments, is less

variable than an individual joint moment during locomotion. It seems that the change in

moment of one joint is an offset which compensate for the moment of another joint.

The leg during walking can be seen as a stiff strut and the angular displacements of

joints are relatively small. However, the angular displacements of joints during running are

relatively larger and running requires larger moments at joints at a give ground reaction force.

Joint Power and Work

Joint power can be calculated as a product of joint moment and joint angular velocity.

Joint work can be calculated as an integral of power with respect to time. However, it is

important to keep in mind that the some of the muscles are two-joint muscles and the energy

can be transferred from one joint to another.

Net joint power and joint work at all joints of the lower body are always substantially

higher in running than walking because both net joint moment and joint angular velocity are

higher in running.

Many research studies performed on jogging. Knee and ankle joints during jogging

flex and absorb ME, and then extend and exert ME during the later part of the contact phase.

In our project has to use the two types of link which one of the Rigid Link and Moving

Link is used. Manufacturing Industries have to use different types of Kinematic of Mechanism.

Likes, Four Bar Mechanism, Single Side Crank Mechanism, Double Side Crank Mechanisms

etc. This Mechanism is the use of various applications for the various parts of the motion. So

that our project will define for the Steps punching, Wire Winding and also Textile Machinery.

(Niddle Lamps Warping Machine, Read making machine, ect). And also do that project is

mainly used in power transmission where all we have to move the whole part or whole m/c or

components

SIMPLE MECHANISMS

• DEGREEE OF FREEDOM

If each link is assumed to form two pair with two adjacent links, then the relation between

the numbers of pair (p) forming a kinematics chain and the number of links (l) may be

expressed as:

l=2p-4, (1)

Since in a kinematics chain each links form a part of two pair, therefore there will be as many

links as the number of pairs.

Another relation between (l) and number of joints (j) is,

j=3∕2l-2 (2)

Let us apply the equation,

Consider the arrangements of four links AB, BC, CD and DA as shown in figure.

l=4, p=4 and j=4

From eq (1) , l=2p-4

4=2×4-4=4

L.H.S. =R. H. S.

From eq (2) , j = 3∕2 l-2

4=3 ∕ 2×4-2=4

L.H.S. =R. H. S.

Arrangements of four links satisfied the eq. 1 & eq. 2, therefore it is a kinematics

chain of the one degree of freedom.

A chain in which a single link such as AD is sufficient to define the position of all

other links, it is then called a kinematics chain of one degree of freedom.

A little consideration will show that if a definite displacement (say θ) is given to the

link AD, keeping the links AB fixed, then the resulting displacements of the remaining two

links BC and CD are also perfectly definite. The relative motion is completely constrained.

Hence it may be called as a constrained kinematics chain, and it's the basic of all machines.

TYPES OF JOINTS (100)

BINERY JIONTS: when two links are joined at same connection, the joints known as

binary joints. For example, a chain has four links and four binary joints A, B, C and D. The

nature of the chain is a locked chain (or structure) or kinematics chain or unconstructed chain,

the following relation between the number of links and the number of binary joints, as given

by A.W.KLEIN,

j+ h/2 = 3/2 l - 2

j= Number of binary joints

h= Number of higher pairs

l= Number of links

When h=0,

J = 3/2 l – 2

Where l=4 and j=4,

4=3/2×4-2=4

Since the left hand side is equal to the right hand sight, therefore the chain is a

kinematics chain or constrained chain.

VELOCITY MECHANISM (RELATIVE VELOCITY METHODS)

• MOTION OF LINKS (145)

.

Velocity of any points on a link with respect to other points on the same links

is always perpendicular to the joining these points on the configuration (or space) diagram.

ω= Angular velocity of links AD about A,

Velocity of the points D with respect to A,

Velocity of the point’s e on AD with respect to A,

From eq. 1 & 2,

VELOCITY OF A POINT ON A LINKS (145)

Consider two points A and D on a links. Let the absolute velocity of the points A i.e.

is known in magnitude and direction and the absolute velocity of the points D i.e. is

known in direction .velocity of D determined by the velocity diagram.

1. Take some convention point o, known as the pole.

2. Through o, draw oa parallel and equal to ,to some suitable scale.

3. Through a, draw a line perpendicular to AD of fig. this line will respect the velocity

of D with respect to A, i.e. .

4. Through o, draw the line parallel to intersecting the line of at d.

5. Measure od, which gives the require velocity of points B ( ), to the scale.

RUBBING VELOCITY AT A PIN JOINTS (147)

It is define as the algebraic sum of the two

links which are connected by pin joints, multiplied by

the radius of the pin.

Consider two links OA and OB connected by

a pin joints at O

Let =Angular velocity of the links OA

or the angular velocity of the points A with respect to O.

= Angular velocity of the links OB or the angular velocity of the points B with

respect to O

r= Radius of the pin.

Rubbing velocity at the pin joint O,

= r, if the links move in the same direction.

= r, if the links move in the opposite direction

FORCES ACTING OF A MECHANISM (161)

Consider a mechanism of four bar chain.

Let force Newton is acting at the joint D in the direction

of the velocity Of D ( m/s) which is perpendicular to

the link AD suppose a force FD Newton is transmitted to

the joint C in the direction of the velocity of C(i.e. m/s)

which is perpendicular to the link CB. If we neglect the

effect of friction and the change of kinematic energy of the

links (i.e. assuming the efficiency of transmission as

100%), then by the principal of conservation of energy,

Input work per unit time = output work per unit time

Work supplied to the joint D = work transmitted by the joint C.

= .

Effect of friction and assuming the efficiency of transmission as η,

MECHANICAL ADVANTAGE (162)

Actual Mechanical Advantage,

VARIOUS CALCULATIONS

• SHEAR FORCE AND BENDING MOMENT DIAGRAM

Here we should design the system of 6 kg load carrying capacity.

Total weight = 8 kg (system weight) + 6 kg (carrying weight)

= 12 kg.

→ Total Load = 12 kg.

= 118 Newton.

150

470

235

0.7848 N/MM UDL LOAD

A C D B

RA RB

FIG.

→ Taking moment About A,

X 470 = (0.7848 x 150) X (160 + 75)

= 58.86 N

+ = (0.7848 X150)

= 117.72 - 58.86

= 58.86 N

Shear force Diagram

= + = 58.86 N

= - = 58.86 N

= 58.86 N

= 58.86 N - (0.7848 x 150)

= -58.86 N

CHAPTER 4

A C

D B

x

58.86 N

58.86 N150-x(+)

(-)

(+)

(-)

M

SHEAR FORCE DIAGRAM

Bending Moment

= 0 =

= x 160

= 58.86 x 160 = 9417.6 M. mm

= 58.86 x 160 = 9417.6 M. mm

Maximum Building Moment at M

Let x be the C and M from the geometry of figure C and B,

=

x = 150 - x

2x = 150

x = 75 mm

= 27664.2 N.mm

DEFLECTION OF BEAM

=

I =

=

= 7812.5

Z =

=

MA MB

MC

MM

MD

BENDING MOMENT DIAGRAM

Fig from data book

As per Data book Abdullasarif Table – 1.5

L = 470 mm

E = 206 x N/mm a = 160 mm

c = 150 mm

I = 7812.5 b = 310 mm

d = 235 mm

R1 = 58.86 m

= 58.86 m

Mild steel, carbon (c) = 0.3

= a +

= 160 + }

= 258.936 mm

Wp =Wc = Wu x Wp = point Load

Wu = udl Load

= 0.7848 x 150

= 117.72

Deflection (A to B)

y (A to B) = [ 8 ( - x) + W ( - + + 2 ) ]

= [8 x 58.86 ((258.936 - (470 x (258.936))

+ 117.72{ – +

+ 2 (150 }]

= - 0.2426 mm

Deflection (B to C)

(B to C) = [ ( - x) + W x { }] -

= - 0.2426 –

= - 1.54 mm

Deflection (E to D)

= [ ( - x) + W x { }

-8 W (x - a - + W (2 b - )]

= 1.294 x [- 1.875 x + 22355648

- 8.117.72(258.936 - (160) -

+ 117.72 (2 x 310 x )]

= - 0.2262 mm

Total Deflection (y) = - 1.5504 mm

So taking the length of the model is as per beam calculation

SPACE DIAGRAM

VELOCITY DIAGRAM

Since A & B are fixed points, these points rich at one place in the diagram.

Angular velocity of a with respect to d, )

=

Linear velocity of a with respect to d, ( )

= x AD

= 4.262 x 25

= 106.5 mm/Sec

Linear velocity of d with respect to c,

= x DC DC = 135.6 mm

AB = 234 mm

BC = 250 mm

AD = 25 mm

& measure from Diagram

= 133.19 mm/Sec

= 117.38 mm/Sec

Angular velocity of d with respect to C,

= =

= 0.9822

Angular velocity of b with respect to C,

= =

= 0.469

FOR ACCELERATION DIAGRAM

ACCELERATION DIAGRAM

SCALE- 1 MM= 1MM/SEC

a',b'

d'

x

dc

tacdc'

y

tacb

bc

cb

ad

dc=Redial component

tacb=Tangential component

racd= resultant component

racd

Radial component of acceleration of a with respect to d,

→ = =

= mm/

Radial component of acceleration of d with respect to c,

→ = =

= mm/

Radial component of acceleration of c with respect to b,

→ = =

= mm/

Tangential component of acceleration of d with respect to c,

→ =

Tangential component of acceleration of b with respect to c,

→ = mm

Angular Acceleration,

Angular Acceleration of d with respect to e,

→ = =

=

Angular Acceleration of b with respect to c,

→ = = =

MOTION OF LINKS AT DIFFERENT ANGLE

SPEED CALCULATION

FIG

=

=

=

= 40.7 rpm

= Angular Velocity =

= 4.262

= Linear Velocity =

=

= 134.68 mm/sec.

0.13468 m/sec. (Theoretical Velocity)

Practical Velocity ( ) = 104 mm/sec.

= 0.104 m/sec.

CHAIN LENGTH

Length= 470+94.83+265.65+17.2+265.83+94.83= 1208.58 mm ≈ 4 ft.

MOTOR DETAIL:-

Power = 186.5 watt

Greater than theoretical value as per power rating Table _______________

→ Geared Motor

→ Parallel Axis

→ Single Phase, AC Drive

→ Gear Ratio = 1:10

→ Input rpm = 720 rpm

→ Output rpm = 72 rpm

Load carrying capacity = 15 kg/cm

Option /Alternative

→ Two Types of Motor

(1) A.C. Synchronized Motor

(2) Torque Motor

MATERIAL SPECIFICATION

BASE PLATE:-

The Base Patti has manufactured by the Drilling machine. The operation of the

Drilling machine has to make the Dia 6 mm hole at 470 mm center. The material of Base

Patti is M.S. (Mild Steel).The Raw Material is require is that 25 mm Width x 6 mm Thick x

500mm Long.

FIX PLATE:-

The Fix Plate has manufactured by the Drilling Machine. The operation of the

Drilling Machine has to make the Dia 6 mm Hole at 43 mm centre. The Material of Fix Plate

is M.S. (Mild Steel).The Raw Material is requiring is that 100 mm Long x 50mm Width

x5mm Thick.

Fix Link (Rigid Link):-

The Fix Link has manufactured by the Drilling Machine. The Operation of Drilling

Machine has to make the Dia 6 mm Hole at 250 mm Centre. The Material of Fix Link is M.S.

(Mild Steel).The Raw Material is requiring is that 12mm Width x 3 mm Thick x 270mm

Long.

MOVING LINK :-

The Moving Link has manufactured by the Drilling Machine. The operation of Drilling

Machine has to make the Dia 6 mm Hole at 20 mm Centre. The Material of Moving Link is

M.S. (Mild Steel).The Raw Material is require is that 12mm Width x 3 mm Thick x 40mm

Long.

BUSH:-

The Bush has manufactured by lathe machine. The operation of the bush is that the

firstly is property size cutting the lathe machine. Second is that Dia of the 12 mm throughout

hole into. In our project require the various size of the bush of that 7.5 mm, 12.5 mm, 15mm,

55,mm,58mm,51mm, 38mm, 39mm. long respectively after the finish the hole operation that

of Chamfer is to made at both side. The material of Bush is N.S.(Mild Steel) The raw

material is require s that 6mm round polished bar.

MATERIAL PROPERETY

In many Manufacturing Industries has various Types of Material for various

applications. Generally the industries are use the M.S. (Mild Steel), Stainless Steel, Ferrous

Metal and Non- Ferrous Metal etc. The material selection is important terms of industrial

area. Because it is main property of the machine element. So that here to introduces the various

functional of Material Property.

CHAPTER 5

Stainless Steel Alloys

Stainless steel alloys are austenitic, ferritic, artistic, precipitation hardened, and duplex

metals that are available in a wide variety of grades, shapes, and sizes. Austenitic stainless steels

have excellent corrosion resistance, unusually good formability, and increased strength due to

cold working. They are non-magnetic or only slightly magnetic. Two hundred (200) series

austenitic stainless steels contain chromium, nickel, and manganese. Three hundred (300)

series austenitic stainless steels contain chromium and nickel. Ferrite stainless steels are straight-

chromium, 400 series metals that cannot be hardened by heat treatment, and only moderately

hardened by cold working. They are magnetic, have good ductility, and resist corrosion and

oxidation. Martens tic stainless steels, another type of straight-chromium 400 series metals, are

magnetic, fairly ductile, and resist corrosion in mild environments. Some products can be

heated to tensile strengths that exceed 200,000 psi (1379 MPa). Precipitation hardened (PH)

stainless steels are chromium-nickel metals, some of which contain alloying elements such as

copper or aluminum. They can be hardened by solution treating and aged to high strength.

Duplex stainless steel alloys have improved mechanical properties and consist of a

combination of ferritic and austenitic phases.

Ferrous Metals and Iron Alloys

Ferrous metals and alloys are iron-based materials that are used in a wide variety of

industrial applications. Examples include carbon steels, alloy steels, stainJess steels, tool steels,

cast iron, cast steel, maraging steel, and specialty or proprietary iron-based alloys. Many

materials meet the compositional standards of the Unified Numbering System (UNS), a

specification established by the American Society

SOFTWARE USE IN PROJECT

The Kinematic of Motion has various Links and Parts. So, here in our project is to use

the PRO-ENGINEERING AND AUTO CAD Software to made the Drawings of the Parts.

Another Technical supported to be guided through the experimental when to assembly

of the components.

.

DEATAIL AND ASSEMBLY DRAWING

CHAPTER 6

FLOW PROCESS CHART

FLOW PROCESS CHART

Analyst: Approval; Summary of Activities

Job: Part No;

Activity (symbols) Count Time Distances

Material: Operations

Other Detail:- Inspections

Moves

Delays

Storages

Seq. Activity Description Symbol

Time Distance Analysis

CHAPTER 7

FLOW PROCESS CHART

Analyst: Approval; Summary of Activities

Job: Part No;

Activity (symbols) Count Time Distances

Material: Operations

Other Detail:- Inspections

Moves

Delays

Storages

Seq. Activity Description Symbol

Time Distance Analysis

FLOW PROCESS CHART

Analyst: Approval; Summary of Activities

Job: Part No;

Activity (symbols) Count Time Distances

Material: Operations

Other Detail:- Inspections

Moves

Delays

Storages

Seq. Activity Description Symbol

Time Distance Analysis

OU

TL

INE

PE

OC

ES

S C

HA

RT

COSTING AND ESTIMATION OF PROJECT

MATERIAL COST

Number Name Material Qty. Amount

1 Gear motor - 1 3000

2 Rod (Ф10) M.S 1 300

3 Strip M.S 1 200

4 Bearing Steel 2 200

5 Bolt M.S 1 10

6 Bolt M.S 4 40

7 Bolt M.S 8 40

8 Bolt M.S 4 40

9 Bolt M.S 2 20

10 Washer M.S 4 10

11 Nut M.S 8 20

12 Cap screw M.S 4 10

Total material cost 3890

LABOUR COST

Sr.

no. Name of process Total time

hour

Rate/hr

Rs.

Total cost

Rs.

1 Turning 5 35 475

2 Drilling 3 20 260

3 Welding - 10 110

4 Threading 1 35 150

5 Assembly 1 30 330

TOTAL LABOUR COST 1325

CHAPTER 8

OTHER EXPENSES

Sr. No. Other expenses Cost Rs.

1 Telephone 100

2 Internet surfing charge 300

3 Stationary 200

4 Printing- zerox charge 400

TOTAL COST 1000

Costing of project

1). Prime cost

= Direct material cost+ direct labour cost+ direct expenses

= 3890.00+1325.00+1000.00

=6215.00 Rs.

2).Factory overhead cost

=10% prime cost

= 621.00 Rs.

3).Factory cost

=prime cost + factory overhead

= 6215.00+621.00

=6836.00 Rs.

4).Total production cost

= Factory cost+ sales overhead (5% of F.C)

=6836.00+341

=7177.00 Rs.

5). Net desired profit

=15% total production cost

=1076.00 Rs.

6). Selling price

=T.P.C + profit.

=8253.00 Rs

WORK ALLOCATION MATRIX

NO

DESCRIPTION OF ACTIVITY

WHO WILL

PERFORM ?

PLANNED DATES

ACTUAL DATES Who has

PERFORMED

SIGN

STARTING

ENDING

STARTING

ENDING

1 PREFACE

2 OBJECTIVES

3 WORKING

4 ALLOCATION OF WORK

5 RECORD KEEPING

6 MASTER SCHEDUAL

7 ASSEMBLY DRAWING

8 DETAIL DRAWING1

9 DETAIL DRAWING 2

10 DATA COLLECTION OF M/C

11 BILL OF MATERIAL

12 MAKE OR BUY DECISION

13 BOUGHT OUT PARTS

14 OPC

15 CONSUMABLES

16 COST ESTIMATION

17 RESOURCES

18 MANUFACURING PART 1

19 2

20 3

21 4

22 INSPECTION

23 ASSEMBLY

24 DETAIL OF TESTING

25 REWORK-CONCLUSION

26 COSTING

27 SOLUTIONS

28 PREPARATION-

29 -OF PROJECT

30 PRESENTATION

CHAPTER 9

APPLICATION :-

Familiarization with typical mechanisms applied in the machines for textile and

clothing production. Development of skills in application of the methods of kinematic and

dynamic analysis in rotation transmitters' and planar mechanisms.The Kinematic Motion is

the use of many Manufacturing Industries. Also use in Machine which to be run with Higher

Pair as well as Lower Pair. Other side in Automation Company as like of Automobile

Company, Forged Foundry, Casting Foundry, Steel Foundry act.

Our Project uses in mainly Textile Machinery. The Textile Machinery is also used to

operate the Mechanical Mechanism. As like about Power Loomps Textile Machine, Niddle

Loomps Textile Machine, Warping Machine, etc.

KINEMATIC MOTION IN ROBOTIC TECHNOLOGY

During the conceptual design process, the research on-ejectives of mechanism

combination and mechanical system are different. Mechanism combination can be viewed as a

mechanism with single process actions and single input/ output behaviors. Mechanical system,

on the other hand, output behaviors. Mechanical system, on the other hand, has multi motion

output features, coordinating and corresponding to accomplish multiprocessing actions;

therefore, it can be described by mutilation behavior.

Based on an analysis of mechanism combination methods of a current mechanism

system kinematic scheme, input/output kinematic behavior and their constant re-locations were

proposed to represent the kinematic behavior knowledge of a mechanical system. Furthermore,

a tree structure of a kinematic behavior decomposition process for a mechanical system was

provided. Considering multiple outputs for a mechanical system, the matching algorithm and the

attributes propagation method of ki-nematic behavior was used to generate a mechanism

combination scheme. Its intermediate design solution and the constraint relations between input

and output are generated to fill the common blackboard. Moreover, using information on the

blackboard as input motion, the behavior attributes of other process actions are transmitted to

attribute items of the blackboard, which finally enables a computer-aided automatic design

process of a mechanical system kinematic scheme. To avoid the problem of schemes

combination explosion caused by unbounded depth in the search process, bounded depth-first

search was used to control the number of expanded hierarchies for a design tree.

CHAPTER 10

CONCLUSION:-

Rotation transmitters, kinematic and dynamic principles of motion. Planar mechanisms

driven by rotation or relative motion

The aim of this work is to propose a mechanical solution which would allow the loom’s

working conditions to be improved, and to present a method which would enable the best

parameters of the device used to be selected. This in turn will contribute to the better

formation of the woven fabrics, especially those characterized by very high weft density.

CHAPTER 11