Experiment No.

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Aim:- To study the various types of kinematics link, pair, chain and mechanism.
Apparatus Used:- Various types of model of kinematics link, pair, chain and
mechanism.

Theory:-
1.) Kinematics Link:- A link is defined as a member or combination of member
connecting other member and having relative motion to them.

Types of Kinematics Link:- There are three types of kinematics link.

A.) Rigid Link:- A rigid link is one which do not under go any deformation while
transmitting motion. Example- connecting rod, crank, slider.

B.) Flexible Link:- It is one which while transmitting motion partially deformed in a
manner not to effect the transmission. Example- Belt and spring.

C.) Fluid link:- It is one which deformed by having fluid in a closed vessel and the
motion is transmitting through the fluid pressure as in the case of a hydraulic pressure,
hydraulic jack & fluid.

2.) Kinematic Pair:- A joint of two links having relative motion between them is
known as kinematics pair.

Classification of kinematic Pair:- It can be classified as:-

A.) According to the type of contact between link.
B.) According to the type of relative motion between the link.
C.) According to the type of mechanical constraints between the link.

A.) According to the type of contact between link:-

a.) Lower Pair:- A kinematics pair is known as the lower pair if the two links has
surface contact or area contact between them. Also the surface of the links are similar.

b.) Higher Pair:- If the two links as line or point contact is known as higher pair the
contact surface of the two links are not similar.

B.)According to the type of relative motion between the link:-

a.) Sliding pair:- A kinematics pair known as sliding pair of the two links have
sliding motion related to each other.
b.) Rolling Pair:- When the two links of the pair have a rolling motion relative to
each other is called rolling motion.
 c.) Turning Pair:- When two links has a turning or revolving motion between them
is called turning pair.
d.) Screw Pair:- If two links have a turning as well as sliding motion between them
is called screw pair.
e.) Spherical Pair:- If one link is in the form of a sphere turner inside a fixed links is
called Spherical pair.

C.) According to the type of mechanical constraints between the

link:-
a.) Closed Pair:- In this case the two links of the pair are held together mechanically.
b.) Open Pair:- In this case the elements of the pair are in contact due to force of
gravity.

3.) Kinematics Chain:- It is defined as the combination of kinematics pair joined

in such away that each link part of two other links and the motion of each relative to
each other is definite or where the kinematics pair are coupled in such a way that the
last link is joined to fixed link.

4.)Mechanism:-
a.) Simple Mechanism:- A mechanism which has force link is called simple mechanism.
b.) Compound Mechanism:- A mechanism which has more than four link is called
compound mechanism.
c.) Complex Mechanism:- it is formed by inclusion of ternary of high floating links to a
simple mechanism.
d.) Spatial Mechanism:- When all the links of the mechanism lie in different plane.
e.) Planer Mechanism:- When all the links of the mechanism lie in same plane.