Lab Session #1

Explore the working of Slider Crank Mechanism and compare the experimental results
with the analytical solution discussed in the class.

Apparatus
 Slider Crank Mechanism
 Measurement tools: Scale, Vernier calipers and Protractor

Introduction

Working principle of Slider Crank Mechanism

The diagram below shows the essential parts of a slider and crank mechanism. The slider, for
example, can be a piston in a cylinder or a linear drive element in a machine. Thus, the primary
input is either a torque applied to the crank arm, or a force applied to the slider.

Expressions for Analytical Analysis

For the analysis we use the parameters defined in the diagram below.

 Crank arm ab has length R and rotates anti-clockwise with constant angular velocity ω
about centre of rotation point a. Its position is defined by crank angle θ.
 Connecting rod bc has length L
 Slider pin joint point c is constrained to move along its horizontal axis x. x = 0 when
crank angle θ = 0
 φ is the angle between the connecting rod and the x axis
 Line bd is the projection of point b on to line ac perpendicular to the x axis.
 Angular velocity, ω = 2π radians/sec (60 rpm)
 n = L/R

MCT-213L MECHANISMS
Department of Mechatronics and Control Engineering
You are required to:
1. Derive an expression for x (the horizontal displacement of slider c as a function of angle
θ (the crank angle).
2. Differentiate the expression from 1 with respect to time to obtain an expression for the
velocity of slider point c
3. Differentiate the expression from 2 with respect to time to obtain an expression for the
acceleration of slider point c.
Expression for displacement (x):

Expression for velocity (v):

Expression for acceleration (a):

The students are required to provide following information:

1) Compute the Degree of freedom of the mechanism.

Answer:
The degree of freedom (DOF) of a mechanism refers to the number of
independent parameters needed to describe the configuration or motion of the
mechanism. For the Slider Crank Mechanism, we can compute the DOF using the
following steps:

 Count the number of links in the mechanism. In this case, there are three links: the
slider, the connecting rod, and the crank.

 Count the number of joints in the mechanism. A joint is a connection between two
links that allows relative motion between them. In this case, there are two joints:
the prismatic joint between the slider and the fixed frame, and the revolute joint
between the connecting rod and the crank.

 Subtract the number of constraints from the sum of the degrees of freedom of
each joint. A constraint is a restriction on the motion of the mechanism, such as a
fixed joint or a prescribed path. In this case, there are two constraints: the fixed
frame that constrains the motion of the slider, and the prescribed motion of the
crank. The prismatic joint has one DOF (translation along a straight line), and the
revolute joint has two DOF (rotation about two perpendicular axes).

MCT-213L MECHANISMS
Department of Mechatronics and Control Engineering
 Thus, the DOF of the Slider Crank Mechanism is:

DOF = 3(n-1) - 2P1 - 1P2

P1 – No. of kinematic pairs with 1 D.O.F.

P2 – No. of kinematic pairs with 2 D.O.F.

Here n =4, P1=4 and P2=0.

Therefore
DOF = 3(4-1) – 2* 4 = 9-8 =1.

Therefore, the Slider Crank Mechanism has zero DOF, which means that its
configuration and motion are completely determined by the fixed dimensions and
prescribed motion of the mechanism. This is because the mechanism is a single degree of
freedom mechanism, and its motion is limited to rotation about a single axis.

Regenerate response

2) What are the different ways a Slider-Crank Mechanism can manifest? Provide
practical examples/
Answer:
The Slider-Crank Mechanism can manifest in several ways, depending on the
specific application and design requirements. Here are some of the most common ways a
Slider-Crank Mechanism can be used:

Example 1: Reciprocating Engine

Example 2: Oscilating Pump

Example 3: Windshield Wiper Mechanism

3) Why slider crank mechanisms are preferable in some applications?

Answer:

MCT-213L MECHANISMS
Department of Mechatronics and Control Engineering
 Slider-crank mechanisms are widely used in many applications due to several
advantages they offer. Here are some of the reasons why slider-crank mechanisms are
preferable in some applications:

 Compact Design: The slider-crank mechanism is a relatively compact design, as it

can be made with fewer parts than other types of mechanisms. This makes it a
popular choice for applications where space is limited or where a smaller footprint
is desirable.

 High Efficiency: Slider-crank mechanisms are also known for their high
efficiency. The linear motion of the slider is converted to rotational motion with
minimal energy loss, resulting in high power transmission efficiency.

 Versatility: The slider-crank mechanism is a versatile mechanism that can be used

in a wide range of applications. It can be used for pumping fluids, cutting metal,
generating electricity, and other tasks.

 Low Cost: Because of its relatively simple design, the slider-crank mechanism
can be manufactured at a relatively low cost. This makes it a cost-effective option
for many applications.

 Low Maintenance: Slider-crank mechanisms are also known for their low
maintenance requirements. Because of their simple design, they can be easily
disassembled and maintained, and they require minimal lubrication.

Overall, the slider-crank mechanism is a popular choice for many applications because of
its compact design, high efficiency, versatility, low cost, and low maintenance
requirements.

Observations and Calculations:

Length of links: __L = 31.5cm____R = 6.5cm__

Crank
Rotation Experimental Analytical

Displacement Velocity Acceleration Displacement Velocity

(deg) [in] or [mm]
Acceleration
[in] or [mm]
0 0.0110 0.000 0.000
0 0.00667 121.372
0.1 0.0022 0.104 4.972
15 0.0233 115.249
0.45 0.00667 0.407 9.445
30 0.03 97.756

MCT-213L MECHANISMS
Department of Mechatronics and Control Engineering
 0.9 0 0.879 12.994
45 0.04 71.410
1.5 0.000886 1.473 15.325
60 0.04 39.988
2.1 -0.0330 2.137 16.317
75 0.0533 7.820
2.9 0 2.815 16.022
90 0.03667 -21.154
3.45 -0.000446 3.457 14.636
105 0.03667 -44.290
4 -0.000446 4.023 12.426
120 0.03 -60.682
4.45 -0.000435 4.485 9.664
135 0.0233 -70.958
4.75 0.0110 4.824 6.577
150 0.01677 -76.610
4.95 -0.0044 5.031 3.322
165 0.0333 -79.231
5 0 5.100 0.000
180 -0.0333 -79.968
4.95 0.0044 5.031 -3.322
195 -0.0333 -79.231
4.75 -0.0110 4.824 -6.577
210 -0.01677 -76.610
4.45 0.000435 4.485 -9.664
225 -0.0233 -70.958
4 0.000446 4.023 -12.426
240 -0.03 -60.682
3.45 0.000446 3.457 -14.636
255 -0.03667 -44.290
2.9 0 2.815 -16.022
270 -0.03667 -21.154
2.1 0.0330 2.137 -16.317
285 -0.0533 7.820
1.5 -0.000886 1.473 -15.325
300 -0.04 39.988
0.9 0 0.879 -12.994
315 -0.04 71.410
0.45 -0.00667 0.407 -9.445
330 -0.03 97.756
0.1 -0.0022 0.104 -4.972
345 -0.0233 115.249
0 -0.0110 0.000 0.000
360 -0.00677 121.372

MCT-213L MECHANISMS
Department of Mechatronics and Control Engineering
Procedure:
The slider crank mechanism is a simple mechanical system consisting
of a slider, a crank, and a connecting rod. Here is a step-by-step procedure for
operating the slider crank mechanism:

 Start by fixing the crankshaft to a stationary base. The crankshaft is a

rotating component that provides a reciprocating motion to the slider.
 Attach the connecting rod to the crankshaft and to the slider. The connecting
rod transmits motion from the crankshaft to the slider.
 Move the crankshaft to rotate the crank. As the crank rotates, it causes the
connecting rod to move back and forth, which in turn causes the slider to
move in a reciprocating motion.
 The slider can be used to perform various tasks such as drilling, stamping, or
sawing. For example, if the slider is attached to a drill bit, it can be used to
drill holes in a workpiece.
 The slider can also be used to convert reciprocating motion into rotary
motion. For example, if the slider is attached to a wheel, it can be used to
drive the wheel in a circular motion.
 Finally, it is important to maintain the slider crank mechanism by lubricating
the moving parts and checking for wear and tear on a regular basis.

Overall, the slider crank mechanism is a versatile and reliable mechanical system
that can be used for a wide range of applications, from simple drilling and sawing
to more complex motion and power transfer tasks.

You have been asked to fill a table by recording displacement of slider as a result of
incrementally rotating the crank. You will then compare the results with those of analytical
solution as discussed in the class.

In General, the experimental results compared well with the analytical

results. There were some inconsistencies due to differences in real world
operation versus theoretical operation, as well as some degree of error
introduced by the instrumentation methods

MCT-213L MECHANISMS
Department of Mechatronics and Control Engineering
Steps:

1. Measurement of link lengths and dimensions:

2. Initial position setup

3. Incremental rotation of crank:

4. Resulting displacement of slider

5. Repeat to fill the table

6. Compute the corresponding positions using analytical method

Plots
 Crank Rotation Vs Displacement

 Crank Rotation Vs Velocity

MCT-213L MECHANISMS
Department of Mechatronics and Control Engineering
 Crank Rotation Vs Acceleration

Conclusions:
In conclusion, the slider-crank mechanism is a crucial mechanical system with
many practical applications. The design and analysis of the mechanism involve the use of
analytical methods and experimental testing to validate the predictions of the models. The results
of these experiments can be used to improve the accuracy of the analytical models and to
optimize the performance of the mechanism for specific applications.

Additional Tasks:

MCT-213L MECHANISMS
Department of Mechatronics and Control Engineering
 Take the data collected during the lab session; then fit a polynomial using Python/Matlab. In
Matlab, one can explore existing toolbox(es) for curve fitting. Potentially, cubic spline can be
a good starting point. Once done, compute the velocity and acceleration by taking time
derivates of the polynomial consecutively. Plot and then analyze the results.

Code

import matplotlib.pyplot as p

x =[0, 15, 30, 45, 60, 75, 90, 105, 120, 135, 150, 165, 180, 195, 210, 225, 240, 255, 270, 285,
300, 315, 330, 345, 360]
y =[0, 0.1, 0.45, 0.9, 1.5, 2.1, 2.9, 3.45, 4, 4.45, 4.75, 4.95, 5, 4.95, 4.75, 4.45, 4, 3.45, 2.9, 2.1,
1.5, 0.9, 0.45, 0.1, 0]

p.plot(x, y, "b")
p.xlabel("Crank Rotation (deg)")
p.ylabel("Displacement")
p.title("Graph Between Crank rotation and Displacement")
p.show()

n = []
for i in range(1, 25):
j = (y[i] - y[i-1])/(x[i] - x[i-1])
n.append(j)

n.append(-0.00677)
# print👎
p.plot(x, n, "g")
p.xlabel("Crank Rotation (deg)")
p.ylabel("Velocity")
p.title("Graph Between Crank rotation and Velocity")
p.show()

l = []
for i in range(1, 25):
k = (n[i] - n[i-1])/(x[i] - x[i-1])
l.append(k)

l.append(0)
# print(l)
p.plot(x, l, "y")
p.xlabel("Crank Rotation (deg)")
p.ylabel("Acceleration")
p.title("Graph Between Crank rotation and Acceleration")
p.show()

MCT-213L MECHANISMS
Department of Mechatronics and Control Engineering
Plots

 Crank Rotation Vs Displacement

 Crank Rotation Vs Velocity

MCT-213L MECHANISMS
Department of Mechatronics and Control Engineering
 Crank Rotation Vs Acceleration

MCT-213L MECHANISMS
Department of Mechatronics and Control Engineering