Introduction to Kinematics of Machines in Mechanical Engineering File: Dr.

Roble

This article/resource deals with introduction of kinematics of machines which is base of any real
life mechanism and for a successful mechanism to run, it has to follow Grashoff's law, Kennedy's
theorem etc. Here attempt is made to highlight all probable basic concepts to start study of
science of kinematics of machine. This Article gives basic overview of kinematic links,
kinematic chains, mechanism and its inversion for getting real life application from it.

Introduction to Kinematics

Kinematics is the branch of science which deals with motion without considering the forces
which causes the motion. On the other hand, kinetics is the branch of science which also takes
forces which causes motion as well as weight and inertia effects in study.

Kinematic Link and Kinematic Pair

Link: It is defined as a machine element having relative motion with respect to other parts of
machine element.

Kinematic pair is defined as a joint of two links which permits relative motion between
elements or links. Kinematic pair is constituted when there is mechanical contact between them
and having arrangement of mechanism.

Lower pair is said to be constituted when two elements have surface contact between them.

Higher pair is said to be constituted when two element have point contact between them.

Kinematic Chain

Kinematic chain is one in which number of links are so connected that relative motion of any
point on a link with respect to any other point on the other link follows a governing law

L = 2/3(J+2) Where, L = Number of links, J = Number of Joints

or
J = 3/2(L)-2, Where, H = Number of Higher pairs
One Higher pair = Two lower pair
The criterion for a chain to be constrained:

J+H/2 = 3/2(L)-2,
Where, H = Number of Higher pairs and J =Number of binary joints in chain
If R.H.S. = L.H.S. , Chain is said to be locked.

Mechanism
 If the one of the link of constrained kinematic chain is fixed, it results into 'Mechanism'
 A mechanism with four links is called simple mechanism. Mechanism with single degree
of freedom are having only even number of links.
 Real life example is automobile propelling system which contains links in form of piston,
connecting rod and cranks shaft to which flywheel and rear tire is attached.
  Mechanism should follow Grashoff's law
Grashoff's Law "The sum of lengths of shortest and longest link should not be greater
than the sum of the remaining link lengths if there is to be continuous relative motion
between the links"
 Example, Linkage mechanism of excavator and its system.

Inversion of kinematic chain

  The different mechanism obtained by fixing one of the links of kinematic chain is called
inversion of kinematic chain.
 Four bar mechanism and single slider mechanism if inverted; they give following
inversion for different application in real world.
Inversion of Four Bar Chain

 Beam Engine (Crank & lever mechanism)

 Connecting rod of locomotive (Double crank mechanism)
 Watt's Indicator mechanism (Double lever mechanism)

Inversion of single slider crank chain

 Pendulum pump (Bull engine)
 Oscillating cylinder engine
 Rotary IC Engines (Gnome engine)
 Crank and solotted lever quick return motion mechanism
 Whitworth's Quick return motion mechanism

Double Slider Crank Chain

 Elliptical trammels
 Scotch yoke mechanism
 Oldham's coupling

Other basic concepts in Kinematics

 The centre which goes on changing from one instance to another is called instantaneous
centre.
In order to find the location and number of location of instantaneous center of rotation of body,
body/mechanism must follow this law/theorem,
Kennedy's Theorem : If three bodies have plane motions, their instantaneous center lie on a
straight line.
And Number of instantaneous centre = n(n-1)/2; where n=number of links

Real life applications of Kinematics of Machines

1. Piston and Cylinder assembly of an automobile

2. Fuel system combined with accelerator in automobile
3. Pantograph
4. Heavy earth moving machinery
5. Railway engine and its supporting flywheel motions
6. Steering of an automobile
7. Scissor
8. Jack