Nueva Vizcaya State University

College of Engineering

NVSU-TYPE TRANSPORT MECHANISM

A thesis proposal presented to the

Faculty of the College of Engineering
NUEVA VIZCAYA STATE UNIVERSITY
Bambang, Nueva Vizcaya

In Partial Fulfillment
of the Requirements for the Degree
Bachelor of Science in Mechanical Engineering

Agustin, Jan Carlo V.

Benolirao, Noel Paul G.
Besa, John Michael F.
Binay-An, Katreena T.
Dela Cruz, Greg S.
Fernandez, Sunshine C.
Pacipas, King Janperson I.
Sagyawan, Efrilyne C.
Serquiña, Glorilynn B.
Ubina, Ivy Joy A.

May 2019
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APPROVAL SHEET

This thesis entitled “NVSU-TYPE TRANSPORT MECHANISM FOR VARIABLE

LOADS” has been prepared and submitted by Jan Carlo V. Agustin, Noel Paul G. Benolirao, John
Michael F. Besa, Katreena T. Binay-an, Greg S. Dela Cruz, Sunshine C. Fernandez, King
Janperson I. Pacipas, Efrilyne C. Sagyawan, Glorilynn B. Serquiña, and Ivy Joy A. Ubina, in
partial fulfillment of the requirements for graduation with the degree of BACHELOR OF
SCIENCE IN MECHANICAL ENGINEERING.

RANIER SAM G. MATEO, ME

Adviser

APPROVED in partial fulfillment of the requirements for graduation with the DEGREE OF
BACHELOR OF SCIENCE IN MECHANICAL ENGINEERING by the oral Examination
Committee

_______________________________ _______________________________
Member Member

_______________________________ _______________________________
Member Member

__________________________________
Chair

ACCEPTED as a partial fulfillment of the requirements for graduation with the degree of
BACHELOR OF SCIENCE IN MECHANICAL ENGINEERING.

MARY B PASION, MENG’G- MSME SIMPHER R. GUYONG, ME

Dean, College of Engineering Chairman, ME Department

Recorded:

ROSALIA D. ALEMAN
Administrative Officer V, Acting Registrar

Date:

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ACKNOWLEDGEMENT

The Proponent of this study would like to express their heartfelt gratitude and deepest

appreciation to people who gave their full support for the completion of the study.

Andres Z. Taguiam, Ph.D., our beloved university president for his vitality and novelty

rendered to the university.

Carlo F. Vadil, DPA., the campus administrator for his unending support to student

development.

Engr. Mary B. Pasion, Dean of College of Engineering, for her unending support and

encouragement that she had imparted to us.

Engr. Simpher R, Guyong, our Chairman, Bachelor of Science in Mechanical

Engineering for his time and effort in monitoring the condition of research study.

Engr. Ranier Sam G. Mateo, our adviser for his guidance, patience and wisdom for the

preparation of the research project.

And to the faculty of the College of Engineering for the learning and patience they have

shown us towards achieving our endeavors.

To all our family and friends for their motivation and inspirations in so many ways.

Lastly, Our Almighty God for guiding us and providing all our needs to complete this

project study.

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DEDICATION

Every challenging work needs perseverance as well as guidance of elders especially those

who are very close to our hearts, our humble effort, this thesis is dedicated to:

Our families and parents for their financial support, understanding and encouragement in

pursuing the study;

Our friends who support and motivate us;

Our Adviser who assisted us to make this project study possible;

The College of Engineering where dreams are pursued and helped us mold of what we

became; and

Above all, our Almighty God for the blessings, guidance and wisdom which enabled us to

complete the work.

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TABLE OF CONTENTS
TITLE PAGE……………………………………………………………………………. i

APPROVAL SHEET……………………...…………………………………………….. ii

ACKNOWLEDGEMENT………………………………………………………………. iii

DEDICATION…………………………………………………………………………... iv

TABLE OFCONTENT………………...……………………………………………….. v

LIST OF TABLES...………………..…………………………………………………... vii

LIST OF FIGURES………………….………………………………………………….. viii

Chapter 1: INTRODUCTION

The Problem and its Background…………….…………………………………. 1

Objective of the study…………………………………………………………… 6

Scope and Delimitation of the study…………………………………………….. 7

Statement of the Problem……………………………………………………….. 7

Significance of the Study……………………………………………………….. 8

Conceptual Framework………………………………………………………… 9

Definition of terms…..………………………………………………………….. 10

Chapter II: REVIEW OF RELATED LITERATURE AND STUDIES

Review of related literature……….…………….……………………………….. 14

Chapter III: RESEARCH METHODOLOGY

Introduction………………………………………………………………………. 48

Methodology……………………………………………………………………... 48

Research Design…...……………………………………………………………... 50

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Description of the Design and Working Principles……………………………… 53

Research Environment…………………………………………………………… 53

Respondents of the study………………………………………………………… 54

Data gathering tool……………………………………………………………….. 54

Data gathering procedure………………..……………………………………….. 54

Design formulas………………………………………………………………….. 55

Materials and Billing……………………………………………………………... 59

Tools and Equipment…………………………………………………………….. 60

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LIST OF TABLES

Table Title Page

1 Design parameters of the rolling shear mechanism…………………… 35

2 The design result of the new rolling shear mechanism………………… 35

3 Advantages and Disadvantages of Linkage Mechanism………………… 44

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LIST OF FIGURES
Figure Title Page

1 The relative contribution of different modes of transport to economic… 3

growth
2 The top 20 research field of the transportation infrastructure 4
3 Conceptual Framework…………………………………………………. 9
4 Three-Bar Linkage……………………………………………................ 14
5 Four-Bar Linkage…………………………………………….…………. 15
6 Watt and Stephenson 6-bar linkage.…………………………................. 17
7 Sketch of a seven-bar rolling mechanism………………………………. 18
8 Motion cycle of the rolling shear mechanism…………………………... 22

9 Fixed and moving centrodes of two rigid bodies……………………...... 23

10 Schematic diagram and Topological Structure of the mechanism……… 24
11 Kinematic model of the seven-bar linkage……………………………... 25
12 Design parameters of the rolling shear mechanism………………...…... 30
13 Centrodes and profiles of the shear blades……………………….…….. 31
14 Motion simulation of rolling shear mechanism………………………… 36
15 Fixed centrode of upper shear blade and lower horizontal shear blade… 36
16 Moving centrode of upper shear blade and are profile of upper shear…. 37
blade
17 Trajectory of arc middle point on the upper shear blade………………. 37
18 Trajectory of the lowest moving point W on upper shear blade………. 38
19 Comparison of shear angle and stress before and after the design……... 38
20 Free body diagram of linear pathway…………………………………... 39
21 Free body diagram of inclined pathway………………………………... 40
22

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CHAPTER I

THE PROBLEM AND ITS BACKGROUND

Rationale

In eighteenth century, there was interdependence between shipping activity and the degree

of economic development. Civilizations who managed to exploit natural advantages like

waterways have managed to develop economically. Countries such as Egypt, China, Greece and

the Roman Empire grew economically by developing river and maritime transportation routes.

Since the eighteenth century, the importance of transport was highlighted by Adam Smith. In

Smithian concept, transport was a productive branch that creates value, but not the use-value. In

the nineteenth century, the links between the national economy and transport were points of

interest in theoretical research. Kohl studied the structure of transport networks correlated with

the geographical distribution of natural resources, on the example of Russia, highlighting the

importance of an internal transport system for the future development of cities.

Faster development of a transport system compared to the whole economy can be a

disadvantage for a country in terms of inequality conditions generated in the formation and

development of various industrial and commercial locations. Due to advanced transport

infrastructure, local economy gets in the position to not be able to develop industrially because the

local community has the opportunity to procure the necessary goods from other economically

developed regions. The effects on the economy of transport activity, can be direct or indirect.

Direct effects refer to the availability of markets, in which case transport provides connections to

large market outlets and saving time and money. The indirect impact is related to the economic

multiplier effect when the price of goods or services increases with diversification. The fact that
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transport makes the connection between international markets indicate a vulnerability to random

shocks suffered by the economy of a region or internationally. One such example is the financial

crisis of 2008 that led to the decrease in the volume of goods imported or exported to developed

countries or developing due to production contraction. The relationship between transport and

economic growth is not a direct one, but rather related to its influence on the structures and

processes of production, location and size of enterprises, structures and processes of distribution

and other characteristics of production organization. Increasing specialization in the production

process, pronounced separation stages of international value-added and increasing economic

activities of companies leads to increased transport volumes and increase the average length of

haul.

Since the 1970s, value creating processes determined the intensification of transport

activity. Between 1985 and 1998 freight transport measured in ton-km increased by 54% at EU

level, while GDP growth was only 35% (Gilbert & Nadeau, 2001). As can be seen rising tendency

is manifested by the year 2007 with an increase of 5.4%, while in 2008 and 2009 record decreases

by intervening economic crisis, the effects were felt between 2010-2012. The EU is one of the

world's leading providers of services, equipment and transport technologies. EU companies

Control almost 30% of the global air transport and 40% of global maritime fleet. Transport

equipment accounts for 60% of exports of EU member states.

An important part of transport activities is conducted in an international competitive

environment, especially in the case of air and sea transport. Access on markets outside the EU

countries is crucial for transport system of the EU.

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Figure 1. The relative contribution of different modes of transport to economic growth. (Filip et

al, 2014)

Transportation infrastructure has an enormous impact on sustainable development. In order

identify multiple impacts of transportation infrastructure and show emerging trends and

challenges, this paper presents a scient metric review based on 2543 published articles from 2000

to 2017. In addition, the hierarchy of key concepts was analyzed to show emerging research

objects, methods and levels according to the clustering information, which includes title, keyword

and abstract. The results expressed by visual graphs compared high-impact authors, collaborative

relationships among institutions in developed and developing countries. In addition, representative

research issues related to the economy, society and environment were identified such as cost

overrun, spatial economy, prioritizing structure, local development and land value. Additionally,

two future directions, integrated research of various effects and structure analysis of transportation

network, are recommended. The findings of this study provide researchers and practitioners with

an in-depth understanding of transportation infrastructure’s impacts on sustainable development

by visual expression.

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Engineering 774
755
Business Economics 578
444
Geography 238
136
Public Administration 136
114
Computer Science 110
95
Constructional Building… 77
74
Public Environmental… 63
60
Telecommiunications 58
55
Physical Geography 51
49
Agriculture 40

0 200 400 600 800 1000

Figure 2. The top 20 research field of the transportation Infrastructure, (Wang et al, 2018)

In many industrial manufacturing product different machines was made for transport

mechanism that are useful wherever items needed to be transported and fed from one place to another,

making the process easier, faster and more convenient because human labor is a lot less efficient and

not very cost-effective in the long run. In China, 90% of the factory replaces human with robots because

of fewer defects and a higher rate of production. The Changying Precision Technology Company

factory in Dongguan has automated production lines that use robotic arms to produce parts for cell

phones. The factory also has automated machining equipment, autonomous transport trucks, and

other automated equipment in the warehouse. There are still who works, three workers check and

monitor each production line and there are other employees who monitor a computer control

system. Previously, there were 650 employees at the factory. With the new robots, there's now

only 60. Weiqiang, general manager told the People's Daily that the number of employees could

drop to 20 in the future.

Transportation is essential to our life that coordinate the movement of people, goods and

vehicles in order to utilize routes most efficiently. In order to maintain a functioning economy,

people must be able to circulate between the various points that are important to them and do so

with ease. Transportation is not just the movement of people but movement of goods that are often

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overlooked by transportation planners but it includes the shipment of raw materials, finished

products and even wastes. Raw materials such as minerals, energy, food and other resources are

obvious candidates for transportation as most occur in limited concentrations away from their

eventual points of consumption. Movement of finished goods from manufacturers to their eventual

end users also requires a well-established transport network.

Peak Energy (in all of its forms) is the massive and fatal threat to the modern transportation

system. It disrupts the system insidiously at first before ultimately rendering it useless. As energy

becomes scarcer, it also increases in price. Over the past few years, those increases have taken a

toll on economic activity. In the future they will render whole sectors of the economy unprofitable

and ultimately not viable. As bad as that is, continued energy shortages will eventually manifest

themselves in the form of actual fuel shortages. When that occurs, hard decisions will need to made

on what to ship and when. In an orderly Power down scenario, those exact choices would be made

based on their relative importance to human life so that no one starves or dies as a result of

decreasing energy supplies. Unfortunately, the human track record in dealing with crisis situations

has been less than stellar. In all likelihood, government actions may staunch the crisis for a few

years, before the level of available energy decline begins undoing the global transportation system

altogether.

Many transport mechanisms available in the market today have only a single function and

inefficient that is why the transport mechanism is hereby proposed and to provide a wide range of

uses and to increase the productivity output of the user. Manual lifting and carrying is a tiring and

sometimes dangerous process that can be easily avoided with the use of a transport mechanism for

variable loads. The researchers aim to produce a transport mechanism that can increase

efficiency in the workplace when compared to moving loads by hand, makes it quick and easy to

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transport goods and materials from one place to another, saving time and saving human energy in

the process. The transport mechanism is not battery powered or run on electric power, thus, it’s an

eco-friendly mechanism which helps save money in the long run. The mechanism is light, easy to

store and incredibly portable. In this project, we apply the path of generation synthesis and coupler

synthesis and the study to fabricate our own model of transport mechanism for a variable load.

In day to day life, we may have to carry so many goods and objects of various quantities

through stairs especially in offices, schools, colleges, hotels, industries, apartments etc. where the

lifts may not be available, may be crowded with people or may be under repair. It is highly tiresome

to carry various objects through stairs manually for higher floors for so many times. The various

applications may be carrying bundles of answer sheets in a school or a college, carrying furniture

in different buildings, different apparatus in colleges, in hospitals etc., carrying electronic items in

houses and offices. In this regard the research is up to create a way to lift an object at stairs through

a more comfortable and tireless manner without forcing the user to apply greater force, with the

use of the NVSU-Type linkage mechanism.

Objectives of the Study

The research paper aims to manipulate the NVSU-type transport mechanism using the

seven-bar linkage mechanism to be able to produce an improved box transport mechanism which

will have better mobility and versatility than the conventional ones. The study specifically aims to

determine;

1. The different factors that may affect the mobility and versatility of the transport mechanism

like speed, applied load, maximum load capacity of the mechanism, and other loads that

may be present and may affect the mechanism.

2. The environmental factors that can affect the performance of the mechanism like the

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terrain.

3. Other mechanisms that may help improve the present box transport mechanisms.

Scope and Delimitation of the Study

This study focuses in designing and fabricating a portable transporting mechanism by

manipulating linkages for variable loads. The mechanism to be developed is simple yet can carry

loads and transport it even in elevated areas. This study aims in to create a transport mechanism, a

mechanism that can move linearly and inclined with high quality, easily operated and also save

time. The system will use seven bar linkages to provide the ideal rotation, movement or slide.

The amount of load is only limited to a certain value depending on the material to be used

for the box transport mechanism. The proposed project will be utilized for transporting loads for

climbing up or downstairs, or be used conventionally. Calculations of forces that affect the whole

system were considered for the design of the study. This study will be conducted at the Nueva

Vizcaya State University, Bambang Campus.

Statement of the problem

Technology saves time and money, producing a mechanism that consist a seven-bar linkage

that is affordable and portable is of great help as lifting heavy loads with just our body may cause

back injuries. Often lifting may affect our health thus, the transport mechanism may help lift

variable loads to higher points and/or can be used conventionally for easier transport of loads. Its

flexibility and versatility will be beneficial to various places of application.

Some specific problems were also considered:

1. What are the design considerations and variable manipulations for the transport mechanism?

2. What are the materials, supply and equipment needed to fabricate the research project?

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3. What are the processes involved in the fabrication of the proposed study?

4. What is the return on the cost investment of the research study?

Significance of the study

The researchers aim to produce a transport mechanism that can help improve productivity

in the workplace in terms of transport of goods making it easier to move objects from one place to

another saving time and energy in the process. The results of the study could be beneficial to the

following:

Storage Industry. Having this transport mechanism for variable loads specifically

benefits industries that require the transport of materials and goods. The transport

mechanism will help workers transfer a variety of materials with less effort. The

transport mechanism, being a small materials handling equipment, the transport

mechanism may also help transport goods to narrow aisles and spaces.

Merchandising. The transport mechanism will help for faster and more efficient

transport of products for stores and shops. As new products are becoming available

online, the variety of these products may also become bigger in size and soon will

have shipping or delivery difficulties, the transport mechanism may come in handy

to these changes. The transport mechanism may help transport heavy goods with

different shapes and sizes.

Future Academic Researchers. This study will help future researchers expand their range

of data and imagination, and will also serve as a guide for similar projects involving

the seven-bar linkage. The study may also provide ideas for improving current

projects on transport mechanisms.

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Conceptual Framework of the Study

INPUT
Reference materials, internet, books
Design of Transport Mechanism
C++, Numerical Analysis and Variable Loads
Mathematical Linkage Modeling Mathematical Computation

PROCESS
DESIGNING FABRICATING TESTING & ADJUSTMENT
(Manufacturing) (Manufacturing)
Mathematical Computation
Design of Transport Welding Prototype of Transport
Mechanism Grinding Mechanism
AutoCAD Layout Cutting Initial Design
Physical Layout +other manufacturing Adjustment Parameters
a. Materials processes
b. Instrumentation

OUTPUT
NVSU-type Transport Mechanism

Figure 3. Conceptual Framework of the Study

Figure 1 shows the input, throughput and output of the design and fabrication of a transport

mechanism for variable loads to be conducted at Nueva Vizcaya State University Bambang

Campus. The input of the study includes the idea information that an idea is usually generated with

intent but can also be created unintentionally. Ideas often form during brainstorming session or

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through discussions. Reference materials, internet and books are also included in order to ascertain

something. The design of transport mechanism for variable loads also included in constructing the

transport mechanism for variable loads. The throughput of the study shows the procedures and

processes for conducting study, designing, fabricating, testing and adjustment. In designing,

planning idea information and blueprint are included. The researcher thinking about the activities

required to achieve desired goals. It is the first and foremost activity to achieved desired results.

The design, materials needed, welding, grinding, and cutting are the process to achieve a desired

result in fabricating. The testing process includes the fabricated transport mechanism, design

transport mechanism and human work. If the testing process fails the researchers need to adjust to

acquire a desired fit, appearance, or result. The output of the study is the fabricated transport

mechanism

Definition of Terms

Conveyor. It consists of two or more pulleys that is an endless loop of carrying medium—the

conveyor belt— rotates about them. To move the belt and the material it carries forward,

one or both pulleys are powered and this belt conveyors, in general materials handling such

as those moving boxes along inside a facility form a different class of belt conveyors from

those that are used to transport large volumes of resources and agricultural materials. In the

study, the conveyor served for comparison for the box transport mechanism. (Raymond

Handling Corporation, 2015)

Degree of freedom. The degree of freedom defined modes in which a mechanical device or system

can move. (Rouse, 2009). This is the factors that affects the range of state in the system.

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Linkage. It is a system of solid, usually metallic, links (bars) connected to two or more other

links by pin joints (hinges), sliding joints, or ball-and-socket joints so as to form a closed

chain or a series of closed chains. When one of the links is fixed, the possible movements

of the other links relative to the fixed link and to one another will depend on the number

of links and the number and types of joints. (Britannica Encyclopedia, 2015). The

assembly of bodies that are connected to each other which produces a motion and force.

Mobility. It is an important property in mechanism analysis measured in terms of degrees of

freedom (DoF) of the utilized linkages (Myszka, 2017). It can also be defined as the

number of actuators needed to operate the mechanism. A mechanism actuator could be

manually moving one link to another position, connecting a motor to the shaft of one link,

or pushing a piston of a hydraulic cylinder. The number of degrees of freedom of a

mechanism is also called the mobility, and it is given the symbol. the configuration of a

mechanism is completely defined by positioning one link, that system has one degree of

freedom. Most commercially produced mechanisms have one degree of freedom. In

contrast, robotic arms can have three, or more, degrees of freedom. When the configuration

of a mechanism is completely defined by positioning one link, that system has one degree

of freedom. Most commercially produced mechanisms have one degree of freedom. In

contrast, robotic arms can have three, or more, degrees of freedom.

Mobility is used in the study as one performance factor of the mechanism.

Mechanism. It is a device designed to transform input forces and movement into a desired

set of output forces and the movement. Mechanisms generally consist of moving

components as gears and gear trains, belt and chain drives, cam and follower mechanisms,

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and linkages as well as friction devices such as brakes and clutches, and structural

components such as the frame, fasteners, bearings, springs, lubricants and seals, as well as a

variety of specialized machine elements such as splines, pins and keys. The mechanism is the

one to be manipulated in the study; specifically, the seven-bar linkage mechanism. (Chabay,

2017)

Seven-bar linkage. A mechanical linkage is an assembly of bodies connected to manage forces

and movement. The movement of a body, or link, is studied using geometry so the link is

considered to be rigid. The connections between links are modeled as providing ideal

movement, pure rotation or sliding for example, and are called joints. A linkage modeled

as a network of rigid links and ideal joints is called a kinematic chain. It may be constructed

from open chains, closed chains, or a combination of open and closed chains. Each link

in a chain is connected by a joint to one or more other links. Thus, a kinematic chain can

be modeled as a graph in which the links are paths and the joints are vertices, which is

called a linkage graph.

The seven-bar linkage is a mechanism that is constructed from seven links and eight joints.

For the study, the seven-bar linkage will be used or be utilized, or will be based upon for

the final design of the study.

Variable load. It is a load applied over an area or surface. It can be applied in any direction

specified by a vector normal to the contact surface. The word variable means the load may

vary depending on the application. The variable load will serve as a parameter for the study.

(Autodesk, 2012)

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Chapter II

REVIEW OF RELATED LITERATURE

I. Design of Linkage Mechanism

Linkage mechanism

Linkage mechanism is composed of more than 1 lever attached with each other forming

assembly of bodies having its own movement and force. In general, linkages may be constructed

from open chains, closed chains or combination. By function, the function generation could be the

relative motion between the links that are connected to the frame while path generation is the used

to form path of the tracer point.

In the design of this mechanism involves coupler as one of the important links that connect two

cranks as well as connecting rod connecting the crank with slider. (Norton, R. 2010).

Concept of Linkage

The concept of linkage relies on the numbering of pairs of elements connected through the

links. Links, defined as a rigid non-elastic piece serves to transmit force from one piece to another

in order to trigger motion. If the combination when relative motion of link is possible and by

identifying that the motion of every link relative to other links are definitely measured or

determined, it becomes kinematic chain system. Subsequently, when one of the links of a

kinematic chain is being fixed, it forms mechanism.

In order that a linkage may constitute a kinematic chain, the number of fixed points, or points

whose motion are determined by means outside the particular linkage in question, must bear such

relation to the total number of links that the linkage may form a four-bar linkage or a combination

of two or more four-bar linkages. (Doughtie & James, 2005)

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Figure 4. Three-Bar Linkage, (Doughtie & James, 2005)

Linkages are capable of performing tasks such as describing straight lines or curves and

executing motions at differing speeds. Linkage is link has two or more joints, and the joints have

various degrees of freedom to allow motion between the links. It is called a mechanism if two or

more links are movable with respect to a fixed link. Mechanical linkages are usually designed to

take an input and produce a different output, altering the motion, velocity, acceleration, and

applying mechanical advantage.

Types of Linkages according to functionality

1. Four-Bar Linkage. A four-bar linkage, also called a four-bar, is the simplest movable closed

chain linkage. It consists of four bodies, called bars or links, connected in a loop by four joints.

Generally, the joints are configured so the links move in parallel planes, and the assembly is

called a planar four-bar linkage. If the linkage has four hinged joints with axes angled to

intersect in a single point, then the links move on concentric spheres and the assembly is called

a spherical four-bar linkage. Bennett's linkage is a spatial four-bar linkage with hinged joints

that have their axes angled in a particular way that makes the system movable. (Patil, H. &

Poojari, R. 2015)

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Figure 5. Four-Bar Linkage

2. Five-Bar Linkage. Five-bar linkage is a kind of two-degree of freedom mechanism, which

has great superiority in realizing motion trajectory and can make different trajectory output

through controlling the motion import of two driving links and adopting different mechanism

forms. Since two degrees of freedom is A bit bad design they tend to be avoided. Sometimes

you see these with a cam/Gear connection serving as link 5. It is easily mistaken as four-bar as

the fifth bar is of limited movement. These can be seen also in robotics setups where corner

connected four-bar would not fit. (Zhou & Zou ,2001)

3. Six-Bar Linkage. When a 4-bar linkage cannot create required motions, one typically resorts

to a 6-bar linkage. Within most 6-bar linkages, one can find what is essentially an input stage

and out output stage; thus, the simple linear input becomes a complex input to the second stage

thereby producing an even more interesting output. Unfortunately, there are no simple

synthesis methods, like 3 precision points, for 6-bar linkages. However, thinking of them as

combinations of 4-bar linkages, with some links and joints shared, can help. In addition, there

are several standard known 6-bar linkages that can be good synthesis starting points. The

Watt I 6-bar linkage is essentially a 4-bar linkage stacked on top of another 4-bar linkage. It

starts with a 4-bar linkage, and the coupler and crank links are made as ternary links and their

free pivot points become attachment points for links 5 and 6. Links 5 and 6 can also be made

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as ternary links, and thus either can be output links. With either link 5 or 6 assumed to be a

binary link, only 12 link parameters need to be determined. The Watt II 6-bar linkage uses one

4-bar linkage to drive the rocker of another 4-bar linkage; this allows continuous rotary input

to generate a reciprocating arc motion. The linkage can optimize to minimize the curve of the

arc and create as close to straight-line motion by determining only 11 link parameters. The

LegoTM sketch model, shown with its near straight-line motion coupler curve, would be driven

by another 4-bar to create a Watt II linkage.

The Stephenson I 6-bar linkage replaces the Watt I binary follower with a ternary link and

thus stacks what would appear to be a 5-bar linkage on top of a 4-bar linkage, but the ternary

nature of the crank and follower make the system have one degree of freedom, and only

requires the determination of 12 link parameters. The Stephenson II 6-bar linkage is a 4-bar

linkage on top of a 5-bar linkage, again with the coupling between the two making the system

have one degree of freedom; however, it requires the determination of 14 link parameters. The

Stephenson III 6-bar linkage is a variation of the Watt II, where a 4-bar linkage is used to drive

another 4-bar linkage, but instead of driving the rocker, it essentially forms a variable length

rocker (or crank)! Hence the system behaves as a 4-bar linkage, where the crank’s length varies

with its input angle. This can be a very useful design, where synthesis only requires

determination of 10 parameters.

Synthesis of 6-bar linkages can get very complicated very quickly, and this is where

analysis programs rapidly take over from intuition and sketch models. An analysis program

can allow you to program nested loops that vary each of the link geometries through reasonable

ranges by using a field search. If each of N parameters are allowed to vary over a range of K

values, while the crank link position moves through M increments, then only J = M*NK

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calculation steps need to be made. Each step may itself require a couple dozen parameters to

be computed to relate the output point to the crank angle and the link length parameters. The

plot, where M = 35, shows how painfully large J can become. Compare the number of

calculations needed for brute-force synthesis of a 4-bar linkage compared to a 6-bar linkage.

This is where brute force calculations can then yield to more sophisticated search algorithms

which incorporate logical conditions to direct the search.

A very useful half-step to sophisticated searches is to use a coarse - fine field search.

In the first coarse search, the link lengths are varied over a large range, but with only 4 steps

each. Hence only 109 cycles are required, which is tolerable for those with a 1 GHz or faster

processor1. From this coarse search, a set of reasonable link lengths can usually be selected

that yields a useful coupler curve. The fine search is then run, again with 4 steps, where the

total range of change in each link parameter is the step size used in the course search. This

allows one to converge on a reasonable design within a few hours. This design can then be input

into a CAD program or linkage analysis program for refinement and calculation of other

parameters. (Slocum,2008)

Figure 6. Watt and Stephenson 6-bar linkages, (Slocum,2008)

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4. Seven-Bar Linkage.

i. Kinematic Design of a Seven-Bar Linkage with Optimized Centrodes for Pure-

Rolling Cutting

A seven-bar linkage has two degrees of freedom, which can be used in many

machines with variable trajectories. Of all associated machines, a typical example is the

seven-bar pure-rolling cutting mechanism, which generates pure-rolling motion between

two contacting bodies.

Figure 7. Sketch of a seven-bar rolling mechanism, (Liu et al, 2017)

The design of pure-rolling mechanism is essentially a problem of trajectory synthesis of

linkages, for which many synthesized methods are available. The synthesis can be carried out

either for a set of given points or for a continuous trajectory. The synthesis results are either exact

or approximate. Normally exact synthesis is difficult to implement in practice and approximate

methods are used to approximate the given points or continuous trajectory as much as possible. To

evaluate the trajectory deviation of approximate synthesis, some trajectory deviation measurement

functions are introduced, including deterministic error, Fourier deviation, shape similarity,

ambiguity function, and shape feature matching deviation.

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Generally, there are two different ways to accomplish approximate synthesis, namely,

direct and indirect synthesis methods. The direct synthesis method generates a mechanism directly

according to the given points or continuous trajectory. Nelson Larsen used an atlas of coupler

curves to analyze the four-bar linkage, but the computation accuracy was unsatisfactory. Kramer

extended the selective precision synthesis method to generate four-bar motion mechanism with

prescribed input crank rotations, which used the Hooke-and-Jeeves search method to handle the

equality constraints during the synthesis process. Subbian and Flugrad implemented the

continuation method to deal with the sets of polynomial equations in the four-bar path generation

synthesis, which was proved to be more effective. Nevertheless, even with these numerical

methods, the nonlinear synthesis equations of high order are still difficult to solve (2008). Cabrera

et al. used the genetic optimization algorithm to optimize the position error between the given

target points and the points reached by the resulting mechanism during the synthesis of four-bar

planar mechanisms. In order to obtain both effectiveness and high accuracy, many other

optimization algorithms are also adopted in the trajectory synthesis of the mechanism, such as

simulated annealing and stochastic method. (2002)

The indirect synthesis method is used to search for the matching trajectory from the

predefined trajectory atlas, instead of directly generating a mechanism scheme, which is done by

analyzing the expected trajectory and then exporting the corresponding mechanism types and sizes.

If there is a similar scheme, the minimum trajectory deviation will be obtained. The indirect

synthesis method mainly relies on the mass data-storage capacity and rapid retrieval ability of a

computer. Although the rapid improvement of computers promotes the application and

development of the indirect synthesis, the difficulties of the establishment of a trajectory atlas, the

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mass data-storage capacity of a computer, and the approach to effectively search for the best

matching trajectory are still challenging problems to be solved.

For the problem here, the design of seven-bar linkages for pure rolling needs to meet both

the trajectory and also other requirements for machining, that is, steel plates cutting. The shear

motion of a rolling shear mechanism is generally realized by means of the relative motion between

the upper shear blade and the lower shear blade. The expected shear motion should be a pure-

rolling motion without slipping. In this regard, Wang and Huang developed an optimized model

for rolling shear mechanism with single shaft and double eccentricity, choosing four motion

positions as access points to acquire the expected motions, while the phase difference was set to

be identical. Yang et al. used the constraints of equal radius of crank and equal length of linkage

to set up an optimization model of rolling shear mechanism with roll guide groove. Sun et al.

designed a rolling shear mechanism by optimizing the trajectory of the lowest moving point of the

upper shear blade, but the upper shear blade could not perform pure-rolling motion relative to the

lower blade due to the horizontal slide. Synthesis-optimized model was built to design a rolling

shear mechanism, using a guiding rod as an additional design variable, while identical phase

difference and identical length between the designed guide rod and the expected guide rod are

adopted for four positions. In order to improve shear quality, decrease blade wear, and prolong

blade life of the cutting machine, generally, the pure-rolling motion between the shear blades can

be transformed into a series of moving positions and phase angles of the seven-bar linkages, with

which an optimized method is adopted to obtain proper linkage sizes. In certain situations, the

synthesis can only satisfy some key points; the motion accuracy of the designed pure-rolling

cutting mechanism is thus low. It is difficult to realize the pure-rolling motion during the whole

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cutting process, due to the fact that the cutting performance was not considered or embodied in the

synthesis. (2017)

This paper proposes a method for the kinematic design of a seven-bar linkage to generate

pure-rolling motion by optimizing the centrodes. The introduced method is developed based upon

the interrelation between the centrodes and contacting lines of pure-rolling motion. A case study

of seven-bar rolling shear mechanism is included to demonstrate the method to accomplish the

pure-rolling motion. A genetic optimization algorithm is used to obtain mechanism sizes with the

metric function of minimum approximation error between mechanism centrodes and expected

trajectories of shear blade. The constraints of the formulated optimization problem for the pure-

rolling mechanism include the design requirements of the opening distance, the maximum amount

of overlap error, and peak value of shearing force. Moreover, the performance of the newly

designed rolling shear mechanism is investigated and compared with the original one, which shows

the advantages of the new method.

A new approach to design a seven-bar linkage for pure-rolling cutting by optimizing

centrodes is presented in this paper. Using the genetic optimization algorithm, the proposed

method allows the designer to obtain an optimum linkage which minimizes the error between the

centrodes of mechanisms and profiles of pure rolling. With the proposed method, a seven-bar

rolling shear mechanism is designed which has better performance compared to the original one

in the following aspects:(1)The horizontal slipping of the designed rolling shear mechanism has

been reduced by 78.0%, which increases the cutting efficiency and reduces the wear of the shearing

blade.(2)The standard deviation of the lowest moving point on the upper shear blade has been

reduced by 80.1%, which indicates better quality of steel plates.(3)The peak value of shear stress,

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which indicates the power performance of rolling shear mechanism, is decreased by 29% for long

service life.

Design Model

A. Design Issues and Problem Formulation

The seven-bar linkage has 2 degrees of freedom, corresponding to cranks AB and EF as

driving links, which rotate by the same angular velocity and with a constant phase difference,

sharing a power input. Link CDG, to which the upper blade is attached, outputs motion. Generally,

the lower shear blade is fixed on the frame, while the upper shear blade moves relative to the lower

shear blade to cut the steel plate between them, as shown in Figure 8. (Liu et al 2017)

Figure 8. Motion cycle of the rolling shear mechanism. (Liu et al, 2017)

The horizontal sliding of the upper shear blade should be as little as possible to reduce the

wear of the blade. Meanwhile, the cutting depth of the upper shear blade should be the same to

reduce the bending deformation of the steel plate, ensuring a stable cutting quality of the steel

plate. Thus, the ideal motion of the upper blade should be pure-rolling cutting relative to the steel

plate during the shearing process, to make sure there is no horizontal sliding between the blade

and the steel plate at the cutting contact point.

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One of the rigid bodies is usually chosen to be fixed and another moves relative to the

chosen one for convenience during the motion analysis of two rigid bodies, as shown in Figure 8.

Rigid body II is fixed in coordinate system 𝑂𝑓 − 𝑥𝑓 𝑦𝑓 . Rigid body I, on which a moving coordinate

system 𝑂𝑚 − 𝑥𝑚 𝑦𝑚 is built, moves in the fixed coordinate system 𝑂𝑓 − 𝑥𝑓 𝑦𝑓 . A point 𝑂𝑚 of body

I has a velocity 𝑣𝑂𝑚 and body I rotates about point 𝑂𝑚 with angular velocity 𝑤𝑂𝑚 . The motion

state of body I at any moment is either (a) entire translation or (b) rotation about a specific on

body I, of which the velocity in the fixed coordinate system is zero. The point 𝑃 is called the

instantaneous velocity center, and the entire translation can be regarded as the point being at

infinity. So, the motion of body I can be treated as a pure rotation about 𝑃 at any moment. As

rigid body I moves, the instantaneous velocity center 𝑃 traces a trajectory in the fixed coordinate

system 𝑂𝑓 − 𝑥𝑓 𝑦𝑓 , which is called the fixed centrode 𝑇1 , and a trajectory in the moving

coordinate system 𝑂𝑚 − 𝑥𝑚 𝑦𝑚 , which is called the moving centrode 𝑇2 . The motion of body I can

be regarded as the pure-rolling motion of the moving centrode along with the fixed centrode with

no sliding. (Liu et al, 2017)

Figure 9. Fixed and moving centrodes of two rigid bodies. (Liu et al, 2017)

As the thickness of the steel plate is far less than the width of the steel plate and the length

of the blade, the contact line of the shear blade and steel plate is usually treated as a contact

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point in practice. Thus, the ideal cutting motion can be regarded as the pure-rolling motion

between the upper shear blade and the lower shear blade with no sliding at the contact point.

The objective is to synthesize the linkage for pure-rolling shear motion, so that the profiles of

the upper and lower blades coincide with the moving and fixed centrodes of the output link,

respectively, during the shearing process.

B. Kinematic Design Model

A seven-bar linkage is chosen to establish the kinematic design model, of which the topological

structure can be obtained, as shown in Figure 10.

Figure 10. Schematic diagram and topological structure of the mechanism, (Liu et al, 2017)

Links 𝐴𝐵and 𝐸𝐹 are assigned as the driving links, while the ternary link 𝐶𝐷𝐺 is assigned

as the output coupler, to which the upper shear blade is attached. Link 𝐴𝐹𝐻, which is also a ternary

link assigned number 7, is chosen as the frame. So, there are 6 movable links, corresponding to 6

angles {𝜃𝑖 , 𝑖 = 1,2, … ,6}, as shown in Figure 5. Vector equations of closed-

loop HGDEFH and HGCBAH are listed as follows: (Liu et al, 2017)

HG+GD+DE=HF+FE,
HG+GC+CB=HA+AB

Eq. (1) Vector equations of closed loop

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Figure 11. Kinematic model of the seven-bar linkage. (Liu et al, 2017)

Usually, joints A and F are designed with the same height for convenience of structure design and

power transmission. For the convenience of the modeling, vectors HK and KF are introduced to

take the place of vectors HA and HF, as shown in Figure 11. The lengths of

vectors HK and KF represent the vertical and horizontal distances of joint F relative to joint H,

respectively.

So, can be obtained from the new closed-loop HGDEFKH and HGCBAFKH as

HG+GD+DE=HK+KF+FE,
HG+GC+CB=HK+KF+FA+AB

Eq. (2) New Vector equation of closed loop

A fixed coordinate system 𝐻 − 𝑥𝑦 and a moving coordinate system 𝐿 − 𝑥𝑚 𝑦𝑚 are

established at the hinged point 𝐻 and the center of the driven link 𝐶𝐷, respectively. Besides the

basic length parameters {𝐿𝑖 , 𝑖 = 1,2, … ,6}, of the 6 movable links shown in Figure 11, 𝐿7 , 𝐿8 and

𝑎 are introduced to determine the dimensions of link 𝐶𝐷G, and 𝐿9, 𝐿10 , and 𝐿11 are introduced

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for vectors AF, HK, and KF. Thus, the length parameters of the linkage are {𝐿𝑖 , 𝑖 = 1,2, … ,11} .

Expanding (2) yields

L6cosꝋ 6+L5cosꝋ 5+ L4cosꝋ 4+L11- L2cosꝋ 2=o,

L6sinꝋ 6+L5sinꝋ 5+ L4sinꝋ 4+L10 -L2sinꝋ 2=0,
L6cosꝋ 6+L8cos(ꝋ 5+α) + L3cosꝋ 3+L9+L11- L1cosꝋ 1=o
L6sinꝋ 6+L8sin(ꝋ 5+α) + L3sinꝋ 3-L10- L1sinꝋ 1=o

Eq. (3) Expanded length parameters of linkages

The driving links AB and EF, have the same angular velocity with a constant phase difference,

sharing a power input. That means 𝜃1 − 𝜃2 = 𝜃𝐶 . The differentiation with respect to time of (3)

yields.

-L6ω6sinsꝋ 6-L5ω5sinꝋ 5-L4ω4sinꝋ 4+L2ω2sinꝋ 2 = 0,

L6ω6cosꝋ 6+ L5ω5cosꝋ 5+ L4ω4cosꝋ 4- L2ω2cosꝋ 2=0,
-L6ω6sinꝋ 6-L8ω5sin (ꝋ 5 + α) -L3ω3sinꝋ 3+L1ω1sinꝋ 1 = 0,
L6ω6cosꝋ 6+L8ω5cos (ꝋ 5 + α) +L3ω3cosꝋ 3-L1ω1sinꝋ 1 = 0,

Eq. (4) Differentiation with respect to time

where𝜔1 = 𝜔2 , which are given quantities, denoting the angular velocity of links AB and EF.

Thus, 𝜃5 , 𝜃6 , 𝜔5 and 𝜔6 can be obtained by solving (3) and (4)

The driven link CDF should generate pure-rolling cutting motion between the upper and lower

blades. During the cutting process, the instantaneous center P forms the moving centrode relative

to the driven link CDG and the fixed centrode relative to the fixed frame, represented by curves Γ1

and Γ2 , as displayed in Figure 11. In order to derive the kinematic equations of centrodes,

coordinate transformation matrix is used to transform the points from moving coordinate system

to fixed coordinate system, which is related to rotation angle and translation distance. Let the

coordinates of instantaneous center P be (𝑥, 𝑦) in the fixed coordinate system 𝐻 − 𝑥𝑦 and

(𝑥𝑚 − 𝑦𝑚 ) in the moving coordinate system −𝑥𝑚 𝑦𝑚 . An additional coordinate system 𝐺 −

𝑥𝐺 𝑦𝐺 , which is established at hinged point G as shown in Figure 10, is introduced to implement

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coordinate transform between the fixed and moving coordinate systems. The two sets of

coordinates (𝑥, 𝑦) and (𝑥𝑚 − 𝑦𝑚 ) are related by

𝑥 𝑥𝑚
{𝑦} = MHGMGL{𝑦𝑚 }
1 1
Eq. (5), Transformation Matrix
where matrix 𝑀𝐻𝐺 is the homogeneous transformation matrix from the fixed coordinate system

𝐻 − 𝑥𝑦 to 𝐺 − 𝑥𝑃 𝑦𝑃 and 𝑀𝐺𝐿 is the one from 𝐺 − 𝑥𝑃 𝑦𝑃 to the moving coordinate system 𝐿 −

𝑥𝑚 𝑦𝑚 . They are given as

𝑐𝑜𝑠ꝋ5 − 𝑠𝑖𝑛ꝋ5 𝐿6 𝑐𝑜𝑠ꝋ6

𝑀𝐻𝐺 = [𝑠𝑖𝑛ꝋ5 𝑐𝑜𝑠ꝋ5 𝐿6 𝑠𝑖𝑛ꝋ6 ]
0 0 1

𝑐𝑜𝑠𝛽2 − 𝑠𝑖𝑛𝛽2 𝐿𝐺𝐿 𝑐𝑜𝑠𝛽1

𝑀𝐺𝐿 = [−𝑠𝑖𝑛𝛽2 𝑐𝑜𝑠𝛽2 𝐿𝐺𝐿 𝑠𝑖𝑛𝛽1 ]
0 0 1
Eq. (6), Homogeneous Matrix Transformation
where 𝜃1 and 𝜃2 are orientation angles of links 𝐷𝐺 and 𝐺𝐻, 𝛽1 is the angle between

vectors GD and GL, and is the orientation angle of the x-axis of system 𝐿 − 𝑥𝑚 𝑦𝑚 in

coordinate system 𝐺 − 𝑥𝐺 𝑦𝐺 ; 𝐿𝐺𝐿 represents the length of 𝐺𝐿. Substituting the above equation

into (5) and upon differentiation with respect to time, one has

ẋ −𝜔5 𝑠𝑖𝑛ꝋ5 − 𝜔5 𝑐𝑜𝑠ꝋ5 − 𝐿6 𝜔6 𝑠𝑖𝑛ꝋ6 𝑐𝑜𝑠𝛽2 𝑠𝑖𝑛𝛽2 𝐿𝐺𝐿 𝑐𝑜𝑠𝛽1 𝑥𝑚

{ẏ} = [ 𝜔5 𝑐𝑜𝑠ꝋ5 − 𝜔5 𝑠𝑖𝑛ꝋ5 𝐿6 𝜔6 𝑐𝑜𝑠ꝋ6 ] [−𝑠𝑖𝑛𝛽2 𝑐𝑜𝑠𝛽2 𝐿𝐺𝐿 𝑠𝑖𝑛𝛽1] {𝑦𝑚 }
0 0 0 0 0 0 1 1
Eq. (7), Matrix in differential form
where ẋ and ẏ are the velocities of instantaneous center P. 𝜔5 and 𝜔6 are the angular velocities

of links 𝐿5 and 𝐿6 . As the velocity of instantaneous velocity center P at any moment in the fixed

coordinate system 𝐻 − 𝑥𝑦 is zero, namely, ẋ = ẏ = 0 , by arranging and rewriting the above

equation, the moving centrode of link system CDG is expressed as

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𝑥𝑚 = 𝐿𝐺𝐿 𝜔5 cos(𝛽1 + 𝛽2 ) + 𝐿6 𝜔6 cos(𝛽2 + ꝋ6 − ꝋ5 ),

𝑦𝑚 = 𝐿𝐺𝐿 𝜔5 sin(𝛽1 + 𝛽2 ) + 𝐿6 𝜔6 sin(𝛽2 + ꝋ6 − ꝋ5 ).

Eq. (8), Moving centrode of link

Substituting (8) into (5), the fixed centrode is obtained as

𝑥 = 𝐿𝐺𝐿 (𝜔5 + 1) cos(𝛽1 + ꝋ5 ) + 𝐿6 (𝜔6 + 1) cos ꝋ6

𝑦 = 𝐿𝐺𝐿 (𝜔5 + 1) sin(𝛽1 + ꝋ5 ) + 𝐿6 (𝜔6 + 1) sin ꝋ6
Eq. (9), Fixed centrode
So far, both the moving and the fixed centrodes have been obtained, upon which optimal sizes and

positions of the mechanism can be searched to ensure that the trajectories of moving and fixed

centrodes cooperate with each other in the way of pure rolling.

Optimization Design Case

In this section, a design case of seven-bar rolling shear mechanism, as a kind of common

pure-rolling cutting mechanism, is considered. The ideal shear motion of a rolling shear

mechanism should be pure-rolling motion between the upper shear blade and the lower shear blade.

With the generated moving centrodes and fixed centrodes coinciding with the motion contact lines

of the upper shear blade and lower shear blade, respectively, the pure-rolling motion can be

obtained. Hence, the optimization objective function and the constraints could be determined by

pure-rolling motion and cutting performance requirements. A genetic optimization method is

employed to determine the proper linkage sizes of rolling shear mechanism thanks to its

effectiveness and convenience. the design of seven-bar linkages for pure rolling needs to meet

both the trajectory and also other requirements for machining, that is, steel plates cutting.

The shear motion of a rolling shear mechanism is generally realized by means of the

relative motion between the upper shear blade and the lower shear blade. The expected

shear motion should be a pure-rolling motion without slipping. In this regard, Wang and

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Huang developed an optimized model for rolling shear mechanism with single shaft and

double eccentricity, choosing four motion positions as access points to acquire the expected

motions, while the phase difference was set to be identical. Yang et al. used the constraints

of equal radius of crank and equal length of linkage to set up an optimization model of

rolling shear mechanism with roll guide groove. Sun et al. designed a rolling shear

mechanism by optimizing the trajectory of the lowest moving point of the upper shear

blade, but the upper shear blade could not perform pure-rolling motion relative to the lower

blade due to the horizontal slide. In synthesis-optimized model was built to design a rolling

shear mechanism, using a guiding rod as an additional design variable, while identical

phase difference and identical length between the designed guide rod and the expected

guide rod are adopted for four positions. In order to improve shear quality, decrease blade

wear, and prolong blade life of the cutting machine, generally, the pure-rolling motion

between the shear blades can be transformed into a series of moving positions and phase

angles of the seven-bar linkages, with which an optimized method is adopted to obtain

proper linkage sizes. In certain situations, the synthesis can only satisfy some key points;

the motion accuracy of the designed pure-rolling cutting mechanism is thus low. It is

difficult to realize the pure-rolling motion during the whole cutting process, due to the fact

that the cutting performance was not considered or embodied in the synthesis.

A. Design Parameters

The design parameters of a rolling shear mechanism are given by the cutting process. These

design parameters include the width of sheared plate B, the maximum shearing thickness ℎ𝑚𝑎𝑥 ,

the shearing overlap S, and the shearing angle 𝛼, as shown in Figure 12. The width B determines
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the horizontal width of the lower shear blade, and the shearing overlap S gives the overlapping

amount between the upper and the lower shear blades in the shearing process. The shear

angle 𝛼 refers to the contact point between the lower shear blade and the tangent of arc upper shear

blade.

Figure 12. Design parameters of the rolling shear mechanism. (Liu et al, 2017)

B. Optimization Model
Based on the design parameters, the expected trajectories (or profiles) of upper and lower

shear blades can be obtained. The purpose of genetic optimization model is to seek a set of optimal

mechanism sizes to minimize the deviation between centrodes and expected trajectories of upper

and lower shear blades, subject to some specific design requirements. The detailed optimization

model is as follows.

Optimization Variables

The design variables of a rolling shear mechanism are generally the lengths of links and

pivoting joint positions. These design variables are defined as optimization variables, expressed

by a vector t:

𝒕 = [𝒕𝟏 , 𝒕𝟐 , … , 𝒕𝒏 ]𝑻 , 𝒕 ∈ 𝑹𝒏 ,
𝑬𝒒, (10), Vector t expression

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in which each variable 𝑡𝑖 (𝑖 = 1,2, … 𝑛) represents the size parameter of a mechanism scheme,

such as the lengths of links {𝐿𝑖, 𝑖 = 1,2, … 11} and phase angles {𝜃𝑖, 𝑖 = 1,2, … 6}. Each optimal

scheme can be expressed by vector 𝑡 ∗ , called optimal point.

Optimization Objective Function

The objective of the design optimization is to make the moving centrode approach the

profile of the upper shear blade and the fixed centrode approach the profile of the lower shear

blade as much as possible. Accordingly, the objective function of the optimization design can be

defined as the sum of approaching errors, including the approaching error for moving centrode and

upper shear blade, together with the approaching error for fixed centrode and lower shear blade,

which will be minimized as follows:

𝒎𝒊𝒏 𝑼(𝒕)
𝑼(𝒕) = 𝑼𝟏 (𝒕) + 𝑼𝟐 (𝒕),
𝑬𝒒. (11), Approaching Error

where 𝑈1 (𝑡)and 𝑈2 (𝑡) are the curve approximation errors between moving centrode and upper

shear blade and fixed centrode and lower shear blade, respectively. The errors should be evaluated

in the moving coordinate system 𝑂𝑚 − 𝑥𝑚 𝑦𝑚 and the fixed coordinate system 𝑂 − 𝑥𝑦 on upper

and lower shear blade, as shown in Figure 13

Figure 13. Centrodes and profiles of the shear blades. (Liu et al, 2017)

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The geometric equations of the moving centrode and profile of the upper shear blade in the

moving coordinate system 𝑂𝑚 − 𝑥𝑚 𝑦𝑚 can be written as

𝒚𝒎 = 𝒈𝒎𝒕 (𝒙𝒎 ),
𝒚𝒎 = 𝒇𝒎 (𝒙𝒎 )(𝒙𝒎𝟏 ≤ 𝒙𝒎 ≤ 𝒙𝒎𝒎 ).
Eq. (12), The geometric equations of the moving centrode

Also, equations of the fixed centrode and profile of the lower shear blade in the fixed

coordinate system 𝑂 − 𝑥𝑦 can be written as;

𝒚 = 𝒈𝒕 (𝒙),
𝒚 = 𝑪 (𝒙𝟏 ≤ 𝒙 ≤ 𝒙𝒏 ),
𝑬𝒒. (13), The fixed centrode and profile of the lower shear blade

where 𝑥𝑛 − 𝑥1 = 𝐵 and C is a constant, describing the position of the sheared plate. The

errors 𝑈1 (𝑡) and 𝑈2 (𝑡) can be determined by

𝑛
1
𝑈1 (𝑡) = √ ∑(𝑔𝑡 (𝑥𝑖 ) − 𝐶)2 ,
𝑛
𝑖=1

𝑛
1
𝑈2 (𝑡) = √ ∑(𝑔𝑚𝑡 (𝑥𝑚𝑖 ) − 𝑓𝑚 (𝑥𝑚𝑖 ))2 .
𝑛
𝑖=1

Eq. (14), Approaching Error

Hence, the objective function of optimization for the pure-rolling cutting mechanism design
can be expressed as

𝑛 𝑛
1 1
𝑈(𝑡) = √ ∑(𝑔𝑡 (𝑥𝑖 ) − 𝐹(𝑥𝑖 ))2 + √ ∑(𝑔𝑚𝑡 (𝑥𝑚𝑖 ) − 𝑓𝑚 (𝑥𝑚𝑖 ))2 .
𝑛 𝑛
𝑖=1 𝑖=1

Eq. (15), Optimized Approaching Error

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Mechanism Constraints
The constraints of a rolling shear mechanism mainly include some motion parameters and

performance parameters, such as the opening distance, the shearing overlap error of the upper

and lower shear blade, and the peak value of shearing force.

1. Opening Distance Constraint. In order to make the sheared plate get through smoothly

between the two shear blades, the clearance between the upper and lower shear blades after

shearing, also known as the opening distance (H), which is the function of design variable t,

should be greater than the designed value K associated with the thickness of sheared plate:

𝐻 (𝑡) ≥ 𝐾

2. Overlap Error Constraint. The overlap error in direction of plate width should be limited to

a given amount. The overlap amount is the distance from the lowest moving point of upper

shear blade to the lower shear blade. The coordinates of the lowest moving point W in the

fixed coordinate system can be obtained by a geometrical relationship as shown in

Figure 12. It can be written as

𝑥𝑤 = 𝑥𝑣 − 𝑅𝑠𝑖𝑛𝛽,

𝑦𝑤 = 𝑦𝑣 − 𝑅(1 − 𝑐𝑜𝑠𝛽)

Eq. (16), Overlap Error Constraint

where R and 𝛽 are the arc radius and the dip angle of upper shear blade, respectively,

and (𝑥𝑣 , 𝑦𝑣 ) is the coordinate of middle point V on upper shear blade in the fixed

coordinate system. Thus, the overlap error constraint is expressed as

|𝛥𝑆| = |𝐶 − 𝑦𝜔 − 𝑆| ≤ 0.1. 𝑆.

Eq. (17), Overlap Error Constraint

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3. Peak Value of Shearing Force Constraint. Generally, the forces applied on upper shear

blade refer to both shear force and other forces, such as friction force. The peak value of

shear force constraint can be introduced by limiting the maximum shearing force that

usually appears in the initial shear stage. The shearing force of a rolling shear mechanism

is expressed as;

𝒉 𝒕𝒂𝒏𝜶 𝟏
𝑷 = 𝟎. 𝟔𝝈𝒃 𝜹 (𝟏 + 𝒛 + )
𝒕𝒂𝒏𝜶 𝟎. 𝟔𝜹 𝟏 + 𝟏𝟎𝟎𝜹/𝝈𝒃 𝒀𝟐 𝑿

Eq. (18), Peak Value of Shearing Force Constraint

where 𝜎𝑩 and 𝛿 are the ultimate strength and percentage elongation of material for sheared

plate Z, represents the conversion coefficient, Y is the ratio of shear blade gap with the

thickness of steel plate, and X is the ratio of the distance between shear blade edge and steel

plate with the thickness of steel plate. The shearing force constraint may be limited by shear

angle 𝛼, because the peak value of shearing force can be highly correlated to the shear

angle. Therefore, it may be given by means of specified shear angle 𝛼0 , which is written

as

𝛼𝑠𝑡 ≥ 𝛼0

where 𝛼𝑠𝑡 is the initial shear angle of upper shear blade. According to the above discussion

for determining the sizes of rolling shear mechanism, the final design vector, marked as 𝑡 ∗ ,

where the mechanism sizes achieve pure-rolling motion of the upper shear blade, can be

obtained by means of the genetic optimization algorithm.

Result and Analysis

According to the optimization functions and given shearing requirements, the seven-bar

mechanism for pure-rolling cutting will be synthesized and the kinematic performance will be

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analyzed and compared to the original one.

A. Optimization Results

The seven-bar mechanism for pure-rolling cutting is shown in Figure 13. The actual design

parameters of sheared plate are used as the design parameters of rolling shear mechanism, as shown

in Table 1.

Table 1. Design parameters of the rolling shear mechanism (Liu et al, 2017)
Plate width B Maximum Overlap Shear angle 𝜶 Opening
Thickness (𝒉𝒎𝒂𝒙) amount S distance H
3500 mm 50 mm 5 mm 2.24° ≥200 mm

The length of each link and initial phase angles of two cranks are used as optimization

variables. Given that the constant C should be set as −400 mm, the constraint of initial shearing

angle is selected as follows 𝑎𝑠𝑡 ≥ 1.5°. Meanwhile, the optimization model of rolling shear

mentioned above can be established, together with the genetic optimization algorithm employed.

Therefore, the lengths of linkages, the coordinate of fixed hinge point F, and the initial phase angle

of crank AB of the new mechanism can be obtained, as shown in Table 2.

Table 2. The design result of the new rolling shear mechanism, (Liu et al, 2017)

Result parameters Value (mm)

Length of link AB 114.9
Length of link EF 114.9
Length of link BC 864.1
Length of link ED 864.1
Length AF 2400.0
Length of link CD 2400.0
Length of link DG 856.7
Length of link HG 807.2
Coordinate of fixed hinge point F (-1638.1, 1033.0)
Initial phase angle of crank AB 114.0°

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B. Kinematic Performance Analysis

Figure 14. Motion simulation of rolling shear mechanism, (Liu et al, 2017)

A major kinematic performance concerned for this design is a pure-rolling motion between

two blades and is described by deviations between fixed and moving centrodes and contacting

lines, which is intuitively exhibited through the trajectory of the lowest moving point and arc

middle point of upper shear blade. The cutting performance is illustrated by the comparison of the

shear angle and shear stress between the original design and the new design in this paper.

Simulation and performance analysis of the rolling shear mechanism based on Pro/E and

MATLAB software were conducted. Figure 14 shows the motion simulation model of the rolling

shear mechanism.

Figure 15. Fixed centrode of upper shear blade and lower horizontal shear blade. (Liu et al, 2017)
The comparison of the fixed centrode of the upper shear blade and the lower shear blade
between the original and optimal results is shown in Figure 15. The designed fixed centrode has
better straightness in the segment, which can approximate the horizontal contact line in a better

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way and is in accordance with the objective function. Notice that the axes are not isometric for
clear demonstration.

Figure 16. Moving centrode of upper shear blade and are profile of upper shear blade. (Liu et al,
2017)
Figure 16 shows that the designed moving centrode approximates the symmetrical arc perfectly,

which means that it approximates the moving contact arc perfectly, which is in accordance with

the objective function. Notice that the axes are not isometric for clear demonstration.

Figure 17. Trajectory of arc middle point on the upper shear blade. (Liu et al, 2017)

Figure 17 shows the trajectory of arc middle point on the upper shear blade, which presents

the cutting process part. Notice that the axes are not isometric for clear demonstration. The results

demonstrate that the horizontal slipping of the designed upper shear blade is confirmed as

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0.97 mm, compared to the original result of 4.88 mm, reduced by 80.1%, which illustrates that the

designed upper shear blade profile is better in the realization of pure-rolling motion and also

indirectly proves the validity of the method of designing rolling shear mechanism sizes.

Figure 18. Trajectory of the lowest moving point W on upper shear blade. (Liu et al, 2017)

Figure 18 shows that the trajectory of the lowest moving point of upper shear blade is

approximately a straight line, and its straightness reflects overlapping evenness of upper and lower

shear blade. Notice that the axes are not isometric for clear demonstration. The standard deviation

of optimal result in trajectory sets of upper arc lowest moving point during shearing process is

confirmed as 0.415 mm, compared to the original result of 1.890 mm, being reduced by 78.0%,

indicating more uniform overlap between upper and lower shear blade.

Figure 19. Comparison of shear angle and stress before and after the design.

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The changes of shear angle and stress before and after the design are shown in Figure19,

which indicates that the initial angle of the designed rolling shear mechanism at the beginning of

the cutting process is roughly 1.5°, while the original initial angle is 0.9°. This improvement will

be of great interest to improving the initial peak value of shear force. The shear angle increases to

about 2.2° when the shearing process comes to the stable rolling stage, no matter in the original

design or in the new design. The peak value of shear stress of the designed rolling shear mechanism

is roughly 1.2 𝑥 107 , decreasing by 29% in comparison with the original shear stress peak

of 1.7 𝑥 107 . Moreover, the above figures, along with shear angle changing curve, show that the

shear stress and shear angle change oppositely. Therefore, it is beneficial to improve the initial

shear angle in order to reduce the initial shear stress.

Variable loads

A. Linear pathway

a.) Linear Pathway b.) Free body diagram

Figure 20. Free body diagram of linear pathway, (Agbanlog, 2016)
Where:
W= Variable loads (kg)
F= Exerted force by the 7-bar linkage (N)
Fg= Gravitational force (N)
Ff= Frictional force (N)
L= Length of the transport mechanism (m)

B. Inclined Pathway

An inclined plane is one of the six types of simple machines. It is exactly what it sounds

like - it is a plane (a flat surface) that is inclined, or slanted at an acute angle. Inclined planes

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connect a lower level to a higher level, they make work easier. In science, 'work' is when you apply

force (a push or a pull) and it moves an object.

a.) Inclined pathway b.) Free body diagram

Figure 21. Free body diagram of Inclined pathway

where:
W= Variable loads (kg)
F= Exerted force by the 7-bar linkage (N)
Fg= Gravitational force (N)
Ff= Frictional force (N)
L= Length of the stair (m)
h= Height of the stair (m)
θ= Angle of Elevation (‫)ﹾ‬

Strength of Materials

A. General principles of the use of safety factors in design and assessment

Any structure or component can be made to fail if it is subjected to loadings in excess of

its strength. Structural integrity is achieved by ensuring that there is an adequate safety margin or

reserve factor between strength and loading effects. The basic principles of ‘allowable stress’ and

‘limit state’ design methods to avoid failure in structural components. The use of risk as a means

of defining adequate safety is introduced where risk is defined as the product of probability of

failure multiplied by consequences of failure. The need to consider the effects of uncertainties in

loading information, calculation of stresses, input data and material properties is emphasized. The

way in which the effect of different levels of uncertainty can be dealt with by use of partial safety

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factors in limit state design is explained. The need to consider all potential modes of failure,

including the unexpected, is emphasized and an outline given of safety factor treatments for crack

tip dependent and time dependent modes. The relationship between safety factors appropriate for

the design stage and for assessment of structural integrity at a later stage is considered. The effects

of redundancy and system behavior on appropriate levels of safety factors are discussed.

(Burkedin, 2007)

Strength of Components

A. Load applied on component

Structures or components can fail, collapse, rupture or break if the components or structures

is subjected to loading that over the material strength. Thus, there is a need to ensure there is proper

safety margin and the basic principles used is the allowable stress and limit state design method.

These methods basically divide the material strength with appropriate yield by the safety factor of

1.5 or ultimate strength by the safety factor of 2.5-3.0. Thus, FOS is important to avoid the

structures and components fail.

Factor of safety greatly affect the design of a structures and components as when the design

exhibits the stresses that over the limit of the material strength, the structure or component will fail

and break. However, when the FOS is too high, it will be over-design and the design most probably

will be too bulky, less aesthetic values and eventually increase the costing from excessive material

usage.

B. Selection of materials and other factors

According to the studies of Balli et al, metal forming is one of the oldest production

processes and yet, it is one the most commonly used manufacturing technologies even today. In

order to achieve the desirable punch motion, today many mechanical presses use multiple links.

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The metal forming operations like shearing, bending and deep drawing require different variable

motions of the punch, like shearing requires very short stroke of the ram and deep drawing requires

a slow and long stroke of the punch. The common materials used in constructing the linkage

mechanism are cast iron, alloy steel, plastic, and aluminum alloy. However, in selecting the

materials there are factors to be considered like cost, availability and its mechanical properties.

(2003)

Manufacturing Processes

A linkage is a mechanism formed by connecting two or more levers together. Linkages can

be designed to change the direction of a force or make two or more objects move at the same time.

Many different fasteners are used to connect linkages together yet allow them to move freely such

as pins, end-threaded bolts with nuts, and loosely fitted rivets. A linkage is a mechanism formed

by connecting two or more levers together. Linkages can be designed to change the direction of a

force or make two or more objects move at the same time. Many different fasteners are used to

connect linkages together yet allow them to move freely such as pins, end-threaded bolts with nuts,

and loosely fitted rivets. There are two general classes of linkages: simple planar linkages and

more complex specialized linkages; both are capable of performing tasks such as describing

straight lines or curves and executing motions at differing speeds. The names of the linkage

mechanisms given here are widely but not universally accepted in all textbooks and references.

Linkages can be classified according to their primary functions Function generation: the relative

motion between the links connected to the frame Path generation: the path of a tracer point. Motion

generation: the motion of the coupler Eight link. Different simple planar linkages are identified by

function: (Norton, 2004).

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A system has the advantage that the system has a time delay between moving packages and

this delay can be used to introduce any alterations in the package or move the package for any

other purpose and likewise. Unlike a conveyor system whose actions can’t be performed unless

programmable module is used to produce stopping of the belt occurring at irregular intervals this

is costly. A transport mechanism transfers and includes shifting of boxes by using simple and basic

mechanical principle. Upon their experimentation, they have encountered some problems in

constructing the transport mechanism here are some of the problems they have encountered and

how they solved it,

a.) “At first we made a simple planar four bar chain out of MS plates by using nut and

screw as fasteners. We set it up with a motor of very high speed. On running the mechanism, the

links were wobbling and it was very unstable.”

b.) A bushing for smoother rotation of the links. It reduced the noise. But still did not

solve the wobbling problem. We then tried changing the motor to a lower speed wiper motor of

35 & 50rpm. As wiper motors come with different speed settings, we had two speeds in one motor.

The motor worked well. The wobbling was reduced to a certain extent but not up to satisfactory

levels. Then we figured the problem was the mechanism. It worked but not quite right. It wasn’t

able to produce a continuous motion as during the return stroke it got stuck at the box. So, we

decided to try out a crank-rocker mechanism. We disassembled the mechanism from the frame and

connected the upper links at a distance equal to the lower link which remains parallel to the frame.

After doing the above we were finally able to get our mechanism up and running smoothly and

produce a continuous transfer of boxes with required time delay. (Shindel et al, a 2018)

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Application of Linkage Mechanism

It is useful in transferring any material from one location to another, more often in the

application of bulky and heavy materials where human effort is not enough to carry such materials

or load. This can also be efficient for quick material handling in transporting wide variety of

products in the industries like in medical production fields, packaging industries, bottle filling and

drink production. Other applications can be in automotive and even in pharmaceutical.

Table 3. Advantages and Disadvantages of Linkage Mechanism

Advantages Disadvantages

Replacing human operators in tedious tasks. Technology limits

Replacing humans in tasks that should be done Unpredictable development costs

in dangerous environment (i.e. fire, space,

volcanoes, nuclear facilities, underwater, etc.)

Making task that are beyond the human Initial cost is relatively high

capabilities such as handling too heavy loads,

too large objects, too hot or too cold substances

or the requirement to make things too fast or

too slow.

Economy improvement

Based on the advantages mentioned above, the researcher focuses on fabricating linkage

mechanism which provides easier access in transporting objects. The table shows the different

benefits of using it manually rather than electric or engine powered. On the other hand, as any

other machines, manually operated linkage mechanism also has its disadvantages. Despite of all

the advantages provided, no machine can be produced that works at a hundred percent efficiency.

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However, the disadvantages mentioned are not strong enough to affect the overall performance of

the linkage mechanism

Synthesis
Linkage contains of one or more lever that is connected by links, either rigid piece or non-

elastic substance which serves to transmit force from one piece to another or to cause or control

motion. A linkage mechanism is composed of one or more lever that attached each other together

and its assembly of bodies connected to manage force and movement. In order that a linkage may

constitute a kinematic chain, the number of fixed points, or points whose motion are determined

by means outside the particular linkage in question, must bear such relation to the total number of

links that the linkage may form a four-bar linkage or a combination of two or more four-bar

linkages. Mechanical linkages are usually designed to take an input and produce a different output,

altering the motion, velocity, acceleration, and applying mechanical advantage. Linkages are

classified according to its functionality first is a four-bar linkage, also called a four-bar, is the

simplest movable closed chain linkage. It consists of four bodies, called bars or links, connected

in a loop by four joints. Generally, the joints are configured so the links move in parallel planes,

and the assembly is called a planar four-bar linkage. If the linkage has four hinged joints with axes

angled to intersect in a single point, then the links move on concentric spheres and the assembly

is called a spherical four-bar linkage (Doughtie & James, 2005). Five-bar linkage is a kind of two-

degree of freedom mechanism, which has great superiority in realizing motion trajectory and can

make different trajectory output through controlling the motion import of two driving links and

adopting different mechanism forms. Since two degrees of freedom is A bit bad design they tend

to be avoided. Sometimes you see these with a cam/Gear connection serving as link 5. Next, is the

6-bar linkages, one can find what is essentially an input stage and out output stage; thus, the simple

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linear input becomes a complex input to the second stage thereby producing an even more

interesting output.6-bar linkages can get very complicated very quickly, and this is where analysis

programs rapidly take over from intuition and sketch models. Lastly is the seven-bar linkage

having two degrees of freedom, which can be used in many machines with variable trajectories.

Of all associated machines, a typical example is the seven-bar pure-rolling cutting mechanism,

which generates pure-rolling motion between two contacting bodies. A seven-bar linkage for pure-

rolling cutting by optimizing centrodes is presented in this paper. Using the genetic optimization

algorithm, the proposed method allows the designer to obtain an optimum linkage which

minimizes the error between the centrodes of mechanisms and profiles of pure rolling (Zhou &

Zou, 2001).

In designing a transport mechanism, the design issue and problem formulation of seven bar

linkages is considered by Liu et al, in order to synthesize the linkage for pure-rolling shear motion,

the profiles of the upper and lower blades coincide with the moving and fixed centrodes of the

output link, respectively, during the shearing process. Also considered its kinematic design model

to ensure that the trajectories of moving and fixed centrodes cooperate with each other in the way

of pure rolling. Design optimization is to make the moving centrode approach the profile of the

upper shear blade and the fixed centrode approach the profile of the lower shear blade as much as

possible. Factor of safety greatly affect the design of a structures and components as when the

design exhibits the stresses that over the limit of the material strength, the structure or component

will fail and break. The linear and inclined pathway with respect to variable loads must be

considered as well as the standard angle of inclination of 30° as per written on the PSME code of

2018. A seven-bar linkage mechanism is useful in transferring any material from one location to

another, more often in the application of bulky and heavy materials where human effort is not

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enough to carry such materials or load. This can help on the prevention of slippage and its strength

is applicable for variable loads. Some advantage of seven bar linkage mechanism is replacing

human operators in tedious tasks, and a huge enhancement over using human labor to perform the

activity. Also, it has disadvantages first are the technology limits, where current technology is

unable to automate all the desired tasks. Second is the unpredictable development costs. The

research study is differing from the reviewed studies because it can do various functions that can

help human operators in tedious task. The related literature and studies of Transport Mechanism

with Variable Loads played an important role to researcher's part (Liu, 2017).

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Chapter III
RESEARCH METHODOLOGY
INTRODUCTION

This chapter gives an outline of research methods that were followed in the study. The

researchers will have to create a seven-bar linkage wherein the design testing will be conducted at

Bambang Nueva Vizcaya as their chosen locale and the period of time that the researchers will

stay at this locale will depend on their data gathering. The design focuses on the manipulation of

seven bar linkage to be used in the NVSU-transport mechanism that aims to lessen the work input

of a man in transferring any product from one place to another most particularly through stairs.

The researchers also include the respondents of the study who has more knowledge and are able

to guide them through the whole duration of this study. The researchers added the important

considerations in designing, description of the design and working principle. The instrument that

was used for data collection is also described and the procedures that were followed to carry out

this study are included. The researcher also discusses the data treatment and the formula to be

used.

Methodology

The study involves the designing and fabrication of the NVSU-type transport mechanism

for variable loads. The construction of this transport mechanisms involves the material to be used,

the process of design and the output equipment.

In order to design the proposed NVSU-type transport mechanism, there are several things

to consider such as the purpose of the research, availability of the materials to be used, the cost of

the equipment and the construction of the machine.

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START

Methodology
.

System Design and Manipulation

Purchasing of Materials

Fabrication

Testing

Adjustments

N
Working

Data Gathering

Final Revisions

End

Figure 3.1 Flow Chart of the Study

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The flow chart represents the step-by-step progression through a procedure or system in

designing and manipulating. The sequence of the operations includes the methodology͵ developing

proposals system design, purchasing of materials͵ fabrication and testing. Proceed to the next step

if the machine meets the main objective of this study and if not, make some adjustments until the

objective of the study is satisfied. When the machine condition is already accepted ͵ other proposal

and recommendation can be conclude. The end of the flowchart in the study is the final revision

of the research project.

Research Design

The research study is a design research approach for it aims to design and enhance a seven-

bar linkage transport mechanism for variable loads. This study was conducted to know about the

best ways or better ways to transport different goods that vary depending on application. The study

focuses on the quantitative style of approach and specifically uses the experimental design which

uses scientific method to establish cause-effect relationship among a group of variables in a

research study.

Tri-wheel Assembly

b. Post and bushing

a. Small pulley design c. Swivel caster holder d.Swivel caster wheel

g. Bolt and washer

e. Big pulley f.Wheel support
Tri-wheel Assembly

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Conveyor Assembly

a. Roller
b. Support tube c. Support tube d. Linkage

e. Stand f. Complete wheel g. Bracer support Conveyor Assembly

Assembly

Linkage mechanism Assembly

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Description of the Design and Working Principles

In designing this transport mechanism, some criteria must be considered. This includes the

use of local materials, adequate capacity, reduction in time and energy spent in carrying variable

loads, use of materials for ease in repair and maintenance.

The NVSU-type transport mechanism consists of the following basic units; the platform,

lifting mechanism, expansion rails, climbing wheels and handle. The platform unit is 400cm by

400cm in dimension made of flat-bars which are spaced one inch from each other. The lifting

mechanism is responsible for lifting the platform to at least 300cm. The climbing wheels are made

of three wheels each side, triangularly placed for better climbing ability. The wheels can either be

plastic or rubber. The handle is made of metal tubes which are welded together to form the proper

dimensions. The expansion rails are normally in retracted position with the help of springs. The

rails can be expanded depending on the size or dimension of the material to be handled.

Research Environment

The Nueva Vizcaya State University has four (4) colleges: The College of Industrial

Technology; the College of Teacher Education; the College of Arts and Sciences; and the College

of Engineering. One of the programs of College of Engineering is the Bachelor of Science in

Mechanical Engineering in which the researchers was enrolled. The Mechanical engineering

department has a laboratory room where all necessary equipment and apparatuses of the

department are kept. Hence, experiments and laboratory work to be undertaken by the group are

to be done in the Mechanical Engineering Department Laboratory Room. Experiment which

includes testing will be conducted at chosen establishments such as the Bambang public market,

Palay buying station and Nueva Vizcaya Agricultural Terminal (NVAT).

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Respondents of the Study

Our study focuses on lessening work, time, energy and money spent by workers while

transporting goods that’s why we the researchers considered our thesis adviser and the College of

Engineering specifically the Professors of Mechanical Engineering Department to be one of the

respondents for they have the knowledge about the study most especially the seven-bar linkage

manipulation. Also, persons in the establishments such as the Bambang public market, NVAT, and

the Palay buying station be a respondent because most of them can benefit to the success of this

research study as we all know these establishments are the ones commonly transporting goods

through stairs

Data Gathering Tools

Solidwork Software. It is a PC helped drafting programming track that empowers the

customer to make accurate 2-and 3-dimensional drawings utilized as a part of development and

assembling. Persons who figure out how to utilize Solidwork can make scaled drawings that are

utilized to make equipment, arrange structure ventures, plan electrical hardware, and assemble

homes and business structures.

Microsoft office. It is a family of client software, server software, and services developed

by Microsoft. In this study Microsoft office such word and excel are used.

Data Gathering Procedure

Prior to the methodology, the researchers secured a written permit to the Nueva Vizcaya

State University specifically to the College of Engineering to conduct a test of the NVSU-type

transport mechanism at Nueva Vizcaya Agricultural Terminal (NVAT), Palay Buying Station, and

Bambang Public Market. After given the permission to do the survey, the researchers explained

the purpose of the study to the selected respondents and this will not only be use by them but also

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benefit them utmost. The researchers will collect the data by means of survey questionnaire that

consists of effectivity, functionality, and reliability of the said transport mechanism.

After collecting all data, the problem encountered by the respondents will be identified and

recommendation from them will be a great help for the enhancement of it.

Design Formulas
Force Determination for variable loads
1. Inclined pathway

FFf = 𝜇 𝑁

FFf = μ (mg sinθ)

where:
W= Variable loads (kg)
F= Exerted force by the 7-bar linkage (N)
Fg= Gravitational force (N)
Ff= Frictional force (N)
FFf = Force due to friction
h= Height of the stair (m)
θ= Angle of Elevation (‫)ﹾ‬

2. Linear pathway

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F=Wa
Where:
W= Variable loads (kg)
F= Exerted force by the 7-bar linkage (N)
Fg= Gravitational force (N)
Ff= Frictional force (N)
a = acceleration (m/s2)

Length Determination of the Belt

Measure the center of the driver gear to the center of the driven pulley. The pitch length of

the pulley can be known by (John and Stephens 1984)

𝜋 (𝐷−𝑑)2
L = 2 (D+d) + 2C + 4𝐶

Where:
L = Length of the belt
D= Diameter of the bigger pulley
d = Diameter of the smaller pulley
C = center distance of the two pulleys

CALCULATIONS
 Force linear path
F = 𝑚𝑔
Where:
F = force (N, lbs.)
M = mass (kg)
𝑚
G = Gravity (𝑠2 )

Assumed mass are;

 40 kg
𝑚
F = (40 kg) (9.81𝑠2 ) = 392.4 N

 50 kg
𝑚
F = (50 kg) (9.81𝑠2 ) = 490.5 N

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 60 kg
𝑚
F = (60 kg) (9.81𝑠2 ) = 588.6 N

 70 kg
𝑚
F = (70 kg) (9.81𝑠2 ) = 686.7 N

 80 kg
𝑚
F = (80 kg) (9.81𝑠2 ) = 784.8 N

 90 kg
𝑚
F = (90 kg) (9.81𝑠2 ) = 882.9 N

 100 kg
𝑚
F = (100 kg) (9.81𝑠2 ) = 981 N

 Frictional Force for the inclined plane

Ffr = 𝜇𝑁 = (mgsin𝜃) 𝜇𝑘
Where:
Ffr = Frictional Force (N)
𝑚 = Mass (kg)
𝑚
𝑔 = Gravity (𝑠2 )
fficient of Friction (0.8)

Assumed mass are;

 40 kg
𝑚
Ffr = [(40 𝑘𝑔) (9.81 𝑠2 ) sin(30°)](0.8) = 156. 96 N

 50 kg
𝑚
Ffr = [(50 𝑘𝑔) (9.81 𝑠2 ) sin(30°)](0.8) = 196.2 N

 60 kg
𝑚
Ffr = [(60 𝑘𝑔) (9.81 𝑠2 ) sin(30°)](0.8) = 235 .44 N

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 70 kg
𝑚
Ffr = [(70 𝑘𝑔) (9.81 𝑠2 ) sin(30°)](0.8) = 274.68 N

 80 kg
𝑚
Ffr = [(80 𝑘𝑔) (9.81 𝑠2 ) sin(30°)](0.8) = 313. 92 N

 90 kg
𝑚
Ffr = [(90 𝑘𝑔) (9.81 𝑠2 ) sin(30°)](0.8) = 353. 16 N

 100 kg
𝑚
Ffr = [(100 𝑘𝑔) (9.81 𝑠2 ) sin(30°)](0.8) = 392.4 N

 Length of the Belt

𝜋 (𝐷1 −𝐷2 )2
L= 2 (𝐷1 + 𝐷2 ) + 2𝐶 + 4𝐶

Where:
D1 = Diameter of the small pulley (mm or in.)
D2 = Diameter of the large pulley (mm or in.)
L = Length of the belt (mm or in.)
C = Center Distance (mm or in.)
For D1 = 120 mm; D2 = 80 mm; C = 200 mm;
𝜋 (120 𝑚𝑚−80 𝑚𝑚)2
L= 2 (120 𝑚𝑚 + 80 𝑚𝑚) + 2(200 𝑚𝑚) + 4(200 𝑚𝑚)

L = 716.16 mm

 Bearing Shear
𝐹
𝑆𝑐 =
𝐴𝑏
Where:
SC = Compressive Stress of the bolt (Psi or Pa)
F = Force (N or lbs.)
AB = Surface Area of the bolt (mm2 or in2)

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Materials and Billings

The list of materials and their respective costs that were purchased in order to construct the

prototype of the Chicken Dressing Machine

TABLE 3.2 Materials and Billings

NO MATERIAL DESCRIPTION QUANTITY AMOUNT
1. ANGLE BAR 1 pc 230
2. FLAT BAR 2 pcs 210
3. SQUARE BAR 1 pc 125
4. ROUND BAR 1 pc 90
5. STEEL PIPE 1 pc 220
6. PLASTIC OR RUBBER WHEEL 6 pcs 300
7. SPRING 4 pcs 500
8. WELDING ROD 1 box 150
9. GRINDING DISK 1 pc 148
10 CUTTING DISK 4 pcs 456
11. METAL CHALK 1 pc 35

TOTAL AMOUNT 2464

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Tools and Equipment

The tools and equipment to use in constructing the NVSU-type transport mechanism with

their definition and functions.

a. b. c. d.

e. f. g. h. i.

a. Push Pull Rule. It is a measuring instrument consisting of narrow strip marked in feet or

meters that used in measuring length.

b. Hacksaw. A kind of hand tool especially designed for cutting frame parts into desired

dimensions. It consists of a frame and a hacksaw blade.

c. Vernier caliper. A linear measuring instrument consisting of a scaled rule with a projecting

arm at one end, to which is attached a sliding Vernier with a projecting arm that forms a

jaw with the other projecting arm.

d. Combination Wrench. It is a hand tool that is used in tightening and loosening bolts and

nuts.

e. L-Square. The title sheet square refers to a specific long-armed square that has additional

uses for measurement͵ especially of angles͵ as well as right angles.

f. Drill. Small portable drilling machine resembling a breast drill but designed to be held and

operated by hand

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g. Portable Grinder. Also known as a side grinder or disc grinder is a handheld power tool

used for cutting͵ grinding͵ and polishing.

h. Vice grip. Variously shaped hand tool having a pair of pivoted jaws used for bending ͵

holding or cutting.

i. Vice grip. Used to join two pieces of metal by heating the edges and putting them together

so that they cool down and harden into one piece

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