UNIT I

BASICS OF MECHANISMS

V.KAVINRAJ

Mechanics: It is that branch of scientific analysis which deals with motion, time and force. Kinematics is the study of motion, without considering the forces which produce that motion. Kinematics of machines deals with the study of the relative motion of machine parts. It involves the study of position, displacement, velocity and acceleration of machine parts. Dynamics of machines involves the study of forces acting on the machine parts and the motions resulting from these forces. LINK / KINEMATIC LINK/ ELEMENT: Each part of a machine which moves relative to some other part is called kinematic link

From the above Reciprocating steam engine (Slider crank mechanism) kinematic links are: Link (1): Frame & guides, Link (2): Crank, Link (3): Connecting rod, Link (4): Slider

TYPES OF LINKS: I. Rigid Link: It is one which does not undergo any deformation while transmitting motion. Example: The deformation of a connecting rod, crank of a reciprocating steam engine is not appreciable, they can be considered as rigid links. II. Flexible Link: It is one which is partly deformed in a manner not to affect the transmission of motion. Example: Belts, ropes, chain drives & wires are flexible links. III. Fluid Link: It is one which is formed by having a fluid & the motion is transmitted through the fluid by pressure or compression only. Example: Hydraulic presses, jacks and brakes. TYPES OF RIGID LINKS: Binary link: Link which is connected to other links at two points. (Fig.1.3 a) Ternary link: Link which is connected to other links at three points. (Fig.1.3 b) Quaternary link: Link which is connected to other links at four points. (Fig1.3 c)

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TYPES OF CONSTRAINED MOTIONS: (i) Completely constrained motion: When the motion between a pair is limited to a definite direction irrespective of the direction of force applied. Example:

(ii) Incompletely constrained motion: When the motion between a pair can take place in more than one direction.

(iii) Successfully / partially constrained motion: When the motion between two elements of a pair is possible in more than one direction but is made to have motion only in one direction by using some external means.

Kinematic Pair: The two links of a machine when in contact with each other are said to form a pair while transmitting the motion. Types of kinematic pairs: (i) Based on nature of contact between elements: (a) Lower pair. If the joint by which two members are connected has surface contact, the pair is known as lower pair. E.g. pin joints, shaft rotating in bush, slider in slider crank mechanism.

Fig.1.6 Lower pairs

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(b) Higher pair. If the contact between the pairing elements takes place at a point or along a line, such as in a ball bearing or between two gear teeth in contact, it is known as a higher pair.

Fig.1.7 Higher pairs (ii) Based on relative motion between pairing elements: (a) Siding pair. Sliding pair is constituted by two elements so connected that one is constrained to have a sliding motion relative to the other. DOF = 1 (b) Turning pair (revolute pair). When connections of the two elements are such that only a constrained motion of rotation of one element with respect to the other is possible, the pair constitutes a turning pair. DOF = 1 (c) Cylindrical pair. If the relative motion between the pairing elements is the combination of turning and sliding, then it is called as cylindrical pair. DOF = 2 (d) Rolling pair. When the pairing elements have rolling contact, the pair formed is called rolling pair. E.g. Bearings, Belt and pulley. DOF = 1 (e) Spherical pair. A spherical pair will have surface contact and three degrees of freedom. E.g. Ball and socket joint. DOF = 3 (f) Helical pair or screw pair. When the nature of contact between the elements of a pair is such that one element can turn about the other by screw threads, it is known as screw pair. E.g. Nut and bolt. DOF = 1

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(iii) Based on the nature of mechanical constraint. (a) Closed pair. Elements of pairs held together mechanically due to their geometry constitute a closed pair. They are also called form-closed or self-closed pair.

Fig: closed pair Fig: Force closed pair (cam & follower) (b) Unclosed or force closed pair. Elements of pairs held together by the action of external forces constitute unclosed or force closed pair .E.g. Cam and follower

Grashoffs law for a four bars mechanism:

It states that the sum of the shortest and longest link lengths should not be greater than the sum of the remaining two link lengths if there is to be continuous relative motion between the two links S+L<P+Q Where S = Shortest link length, L = Longest link length, P, Q = intermediate length

Both joints of the shortest link are capable of 360 degrees of rotation in a Grashoffs linkages.

DEGREES OF FREEDOM (DOF): It is the number of independent coordinates required to

describe the position of a body in space. A free body in space can have six degrees of freedom. i.e., linear positions along x, y and z axes and rotational/angular positions with respect to x, y and z axes. In a kinematic pair, depending on the constraints imposed on the motion, the links may lose some of the six degrees of freedom.

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DIFFERENCE BETWEEN MACHINE VS MECHANISM VS STRUCTURE Machine Relative motion exists between its pair It transforms available energy into useful work Members are used to transfer both energy and motion Positive Degree of Freedom Dynamo, Machine tools, etc., Mechanism Relative motion exists between its pair No energy transfer Members are used to transfer only motion Positive Degree of Freedom Umbrella, Folding chair, etc., Structure No relative motion exists between its pair It does not convert the available energy into work Structural members are used to carry loads Zero Degree of Freedom Roof, Trusses, bridges

KINEMATIC CHAIN: A kinematic chain is a group of links either joined together or

arranged in a manner that permits them to move relative to one another. If the links are connected in such a way that no motion is possible, it results in a locked chain or structure.

TYPES OF JOINTS IN A KINEMATIC CHAIN:

(a) Binary Joint: If two links are joined at the same connection, it is called a binary joint. Example: A joint with two binary joints named B as shown in the below figure. (b) Ternary Joint: If three links are joined at a connection, it is known as a ternary joint. One ternary joint is equal to two binary joints i.e. T = 2B Example: Ternary links are named T as shown in the below figure. (c) Quaternary Joint: If four links are joined at a connection, it is known as quaternary joint. One quaternary joint is equal to three binary joints i.e. Q = 3B Example: Quaternary links are named Q as shown in the below figure.

INVERSION OF MECHANISM:
The process of obtaining the different mechanisms by fixing different links in a kinematic chain is known as Inversion of Mechanisms or Kinematic Inversion.

TYPES OF INVERSION OF MECHANISM Inversion of Four Bar Mechanism Inversion of Single Slider Crank Mechanism. Inversion of Double Slider Crank Mechanism.
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FOUR BAR MECHANISM

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 fourbar 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. It consists of four rigid links which are connected in the form of a quadrilateral by four pin-joints. i. The link which is fixed is called fixed link (1). ii. A link makes complete revolution is called Crank (2). iii. The link opposite to the fixed link is called Coupler (3). iv. The fourth link is called Lever or Rocker (4).

INVERSION OF FOUR BAR MECHANISM First Inversion (Crank & Lever Mechanism):
If any of the adjacent links of link d, i.e., link a or c is fixed. The link d (crank) can have full revolution and the link (b) opposite to it oscillates.

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Application: Beam Engine (Crank & Lever Mechanism):

When the crank rotates about the fixed centre A and the lever oscillates about a fixed centre D. The purpose of this mechanism is to convert rotary motion into reciprocating motion.

Second Inversion (Double Crank mechanism):

If the shortest link (d) is fixed then the links a and c rotates full circle and link b also complete one revolution relative to fixed link d.

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Application: Coupling Rod of a Locomotive (Double Crank Mechanism):

It is meant for transmitting rotary motion from one wheel to the other wheel.

Third Inversion (Double Lever Mechanism):

If the link opposite to the shortest link. i.e., link b is fixed and the two links a and c would oscillate.

Application: Watts indicator (Double Lever Mechanism):

It consists of four links which are: Fixed link at A, link AC, link CE and link BFD. The links CE and BFD act as lever. It is also called Watts straight line mechanism and the dotted line shows the position of the mechanism.
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SLIDER CRANK CHAIN: This is a kinematic chain having four links. It has one sliding pair and three turning pairs. Link 2 has rotary motion and is called crank. Link 3 has got combined rotary and reciprocating motion and is called connecting rod. Link 4 has reciprocating motion and is called slider. Link 1 is frame (fixed). This mechanism is used to convert rotary motion to reciprocating and vice versa. The slider-crank mechanism is considered one of the most used systems in the mechanical field. The purpose of the slider-crank mechanism is to convert the linear motion of the piston to rotational motion of the crankshaft. By definition: Slider Crank Mechanism SCM is one type of the four bar linkages which has three revolute joints and one sliding joint. One of the common applications of this mechanism is in internal combustion engines. The Automobile engine represents the typical application of the Slider Crank Mechanism. When one link of a kinematic chain fixed it is called a mechanism. A mechanism is used to transmitting or transforming motion or it is used to convert one type of motion into another. A mechanism is usually a piece of a larger process or mechanical device. Sometimes an entire machine may be referred to as a mechanism. It has a wide range of applications. The inversions of slider crank mechanism are widely used in mechanical fields. Some examples are reciprocating steam engine, oscillating cylinder engine, pendulum pump, crank and slotted

Inversions of slider crank chain: Inversions of slider crank mechanism is obtained by fixing links 2, 3 and 4. I INVERSION OF SLIDER CRANKS MECHANISM RECIPROCATING ENGINE This inversion is obtained when link 1 is fixed and links 2 & 4 are made the crank & the slider respectively. This mechanism is also known as slider crank chain or reciprocating engine mechanism because it is used in internal combustion engines. It is also used in reciprocating pumps as it converts rotary motion into reciprocating motion and vice-versa.

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II INVERSION OF SLIDER CRANKS MECHANISM

ROTARY INTERNAL COMBUSTION ENGINES Sometimes back, rotary internal combustion engines were used in aviation. But now-a-days gas turbines are used in its place. It consists of seven cylinders in one plane and all revolves about fixed centre D, as shown in Fig. while the crank (link 2) is fixed. In this mechanism, when the connecting rod (link 4) rotates, the piston (link 3) reciprocates inside the cylinders forming link 1.

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WHITWORTH QUICK RETURN MOTION MECHANISM This mechanism is mostly used in shaping and slotting machines. In this mechanism, the link CD (link 2) forming the turning pair is fixed, as shown in Fig. The link 2 corresponds to a crank in a reciprocating steam engine. The driving crank CA (link 3) rotates at a uniform angular speed. The slider (link 4) attached to the crank pin at A slides along the slotted bar PA (link 1) which oscillates at a pivoted point D. The connecting rod PR carries the ram at R to which a cutting tool is fixed. The motion of the tool is constrained along the line RD produced, i.e. along a line passing through D and perpendicular to CD.

III INVERSION OF SLIDER CRANKS MECHANISM

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OSCILLATING CYLINDER ENGINE The arrangement of oscillating cylinder engine mechanism, as shown in Fig. is used to convert reciprocating motion into rotary motion. In this mechanism, the link 3 forming the turning pair is fixed. The link 3 corresponds to the connecting rod of a reciprocating steam engine mechanism. When the crank (link 2) rotates, the piston attached to piston rod (link 1) reciprocates and the cylinder (link 4) oscillates about a pin pivoted to the fixed link at A.

CRANK AND SLOTTED LEVER QUICK RETURN MOTION MECHANISM This mechanism is mostly used in shaping machines, slotting machines and in rotary internal combustion engines. In this mechanism, the link AC (i.e. link 3) forming the turning pair is fixed, as shown in Fig. The link 3 corresponds to the connecting rod of a reciprocating steam engine. The driving crank CB revolves with uniform angular speed about the fixed centre C. A sliding block attached to the crank pin at B slides along the slotted bar AP and thus causes AP to oscillate about the pivoted point A. A short link PR transmits the motion from AP to the ram which carries the tool and reciprocates along the line of stroke RR. The line of stroke of the ram (i.e. RR) is perpendicular to AC produced.

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IV INVERSION OF SLIDER CRANKS MECHANISM

HAND PUMP In this mechanism, the inversion is obtained by fixing the cylinder or link 4 (i.e. sliding pair), as shown in Fig. In this case, when the crank (link 2) rotates, the connecting rod (link 3) oscillates about a pin pivoted to the fixed link 4 at A and the piston attached to the piston rod (link 1) reciprocates. The duplex pump which is used to supply feed water to boilers has two pistons attached to link 1, as shown in Fig.

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DOUBLE SLIDER CRANK MECHANISM.

A kinematic chain which consists of two turning pairs and two sliding pairs is known as double slider crank chain
ELLIPTICAL TRAMMEL

An elliptical trammel (also known as Trammel of Archimedes) is used to draw the ellipses of various sizes. It is an inversion of double slider crank chain in which there are two sliding pairs and two turning pairs. Slider 1 (Link 4) moves vertically while slider 2 (Link 2) moves horizontally. The frame is kept fixed (Link 1).Link 3 is a rod to which the pencil or router is attached to draw an ellipse. The four links of an elliptical trammel is shown in figure

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SCOTCH YOKE MECHANISM The scotch yoke mechanism is used to convert the rotary motion into reciprocating motion and vice-versa. It consists of two sliding pairs and two turning pairs. Link-1 is fixed Link-2 rotates Link-3 is a slider Link-4 is also a slider

OLDHAMS COUPLING Oldhams coupling is used to connect two shafts which are not in alignment but their axes are parallel. The coupling consists of two flanges (C & D) which are keyed to their respective shafts. The inner faces of flanges are grooved. In between the two flanges, a cylindrical piece (link 4) is fitted as shown in figure. There is a tongue running across on each face of cylindrical piece. The rotary motion from flange C to flange D is transferred via cylindrical piece. The cylindrical piece rotates and slides in between the two flanges when the two flanges rotate.
The velocity of sliding for the cylindrical piece is given by V = r Where v = velocity of sliding = angular velocity of shaft r = distance between the axes of two shafts

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